AlignT.cc 5.37 KB
Newer Older
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48
/*===========================================================================*\
*                                                                            *
*                              OpenFlipper                                   *
 *           Copyright (c) 2001-2015, RWTH-Aachen University                 *
 *           Department of Computer Graphics and Multimedia                  *
 *                          All rights reserved.                             *
 *                            www.openflipper.org                            *
 *                                                                           *
 *---------------------------------------------------------------------------*
 * This file is part of OpenFlipper.                                         *
 *---------------------------------------------------------------------------*
 *                                                                           *
 * Redistribution and use in source and binary forms, with or without        *
 * modification, are permitted provided that the following conditions        *
 * are met:                                                                  *
 *                                                                           *
 * 1. Redistributions of source code must retain the above copyright notice, *
 *    this list of conditions and the following disclaimer.                  *
 *                                                                           *
 * 2. Redistributions in binary form must reproduce the above copyright      *
 *    notice, this list of conditions and the following disclaimer in the    *
 *    documentation and/or other materials provided with the distribution.   *
 *                                                                           *
 * 3. Neither the name of the copyright holder nor the names of its          *
 *    contributors may be used to endorse or promote products derived from   *
 *    this software without specific prior written permission.               *
 *                                                                           *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS       *
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED *
 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A           *
 * PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER *
 * OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,  *
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,       *
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR        *
 * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF    *
 * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING      *
 * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS        *
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.              *
*                                                                            *
\*===========================================================================*/


#include <Eigen/Dense>

namespace align{


template< class MeshT >
49
void moveToCOG(MeshT& _mesh) {
50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76

  ACG::Vec3d mean(0.0);
  for (typename MeshT::VertexIter v_it = _mesh.vertices_begin(); v_it != _mesh.vertices_end(); ++v_it) {
    mean += _mesh.point(*v_it);
  }

  mean /= (double)_mesh.n_vertices();

  for (TriMesh::VertexIter v_it = _mesh.vertices_begin(); v_it != _mesh.vertices_end(); ++v_it) {
    _mesh.set_point(*v_it, _mesh.point(*v_it) - mean);
  }
}


template< class MeshT >
void rotate(MeshT& _mesh) {
  using namespace Eigen;

  Matrix3Xd data = Matrix3Xd::Zero(3, _mesh.n_vertices());
  size_t i(0);
  for (typename MeshT::VertexIter v_it = _mesh.vertices_begin(); v_it != _mesh.vertices_end(); ++v_it, ++i) {
    const ACG::Vec3d tmp = _mesh.point(*v_it);
    data.col(i) = Vector3d(tmp[0], tmp[1], tmp[2]);
  }

  Matrix3d covar = (data * data.transpose()) / (double)_mesh.n_vertices();

77
  JacobiSVD<Matrix3d> svd(covar, ComputeFullU | ComputeFullV);
78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132

  const Matrix3d& u = svd.matrixU();

  Eigen::Vector3d v0 = u.col(0);
  Eigen::Vector3d v1 = u.col(1);
  Eigen::Vector3d v2 = v0.cross(v1);

  v0.normalize();
  v1.normalize();
  v2.normalize();

  Matrix3d trans;
  trans.col(0) = v0;
  trans.col(1) = v1;
  trans.col(2) = v2;

  Matrix3d invTrans = trans.inverse();

  ACG::Matrix4x4d mat;
  mat.identity();
  for (i = 0; i < 3; ++i) {
    for (size_t j = 0; j < 3; ++j) {
      mat(i,j) = invTrans(i,j);
    }
  }

  for (typename MeshT::VertexIter v_it = _mesh.vertices_begin(); v_it != _mesh.vertices_end(); ++v_it, ++i) {
    const ACG::Vec4d tmp(_mesh.point(*v_it)[0], _mesh.point(*v_it)[1], _mesh.point(*v_it)[2], 1.0);
    const ACG::Vec4d res = mat * tmp;

    _mesh.set_point(*v_it, ACG::Vec3d(res[0], res[1],res[2]));
  }
}

template< class MeshT >
void moveCenterOfBBToOrigin(MeshT& _mesh) {

  ACG::Vec3d min(DBL_MAX);
  ACG::Vec3d max(-DBL_MAX);
  for (typename MeshT::VertexIter v_it = _mesh.vertices_begin(); v_it != _mesh.vertices_end(); ++v_it) {
    min.minimize(_mesh.point(*v_it));
    max.maximize(_mesh.point(*v_it));
  }

  const ACG::Vec3d diag = max - min;
  const ACG::Vec3d center = min + 0.5*diag;

  for (typename MeshT::VertexIter v_it = _mesh.vertices_begin(); v_it != _mesh.vertices_end(); ++v_it) {
    _mesh.point(*v_it) -= center;
  }
}

} // namespace align

#define ALIGNT_CC