81 lines
2.9 KiB
C
81 lines
2.9 KiB
C
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/****************************************************************************
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* VCGLib o o *
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* Visual and Computer Graphics Library o o *
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* _ O _ *
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* Copyright(C) 2004 \/)\/ *
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* Visual Computing Lab /\/| *
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* ISTI - Italian National Research Council | *
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* \ *
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* All rights reserved. *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; either version 2 of the License, or *
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* (at your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License (http://www.gnu.org/licenses/gpl.txt) *
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* for more details. *
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* *
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****************************************************************************/
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/****************************************************************************
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History
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$Log: not supported by cvs2svn $
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****************************************************************************/
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#ifndef POLAR_DECOMPOSITION_VCG
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#define POLAR_DECOMPOSITION_VCG
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#include <vcg/math/matrix33.h>
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#include <vcg/math/matrix44.h>
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#include <vcg/math/lin_algebra.h>
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namespace vcg{
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/** \addtogroup math */
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/* @{ */
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/// Extract the rotational part of a matrix by polar decomposition
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/// m = R*S. Polar decomposition is computed by taking r = m * sqrt(m^t*m)^{-1}
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template <class S>
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void RotationalPartByPolarDecomposition( const vcg::Matrix33<S> & m, vcg::Matrix33<S> &r ){
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vcg::Matrix33<S> tmp,s;
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r.SetZero();
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s.SetZero();
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tmp= m;
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tmp.Transpose();
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tmp = m*tmp;
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Matrix33<S> res;
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Point3<S> e;
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bool ss = SingularValueDecomposition<vcg::Matrix33<S> >(tmp,&e[0],res);
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res.Transpose();
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e[0]=math::Sqrt(e[0]);
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e[1]=math::Sqrt(e[1]);
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e[2]=math::Sqrt(e[2]);
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tmp = tmp*Matrix33Diag<S>(e)*res;
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bool s1 = SingularValueDecomposition<vcg::Matrix33<S> >(tmp,&e[0],res);
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tmp.Transpose();
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e[0]=1/e[0];
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e[1]=1/e[1];
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e[2]=1/e[2];
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tmp = res*Matrix33Diag<S>(e)*tmp;
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r = m*tmp;
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}
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/*! @} */
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};
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#endif
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