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added Covariance to to compute the covariance of a generic mesh (without the use of divergence theorem)

This commit is contained in:
ganovelli 2008-08-19 09:43:24 +00:00
parent 1ac5c66e78
commit 4e81e65145
1 changed files with 378 additions and 308 deletions
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76
vcg/complex/trimesh/inertia.h
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@ -36,6 +36,9 @@ First Release (not working!)
Revision 1.13 2005/11/17 00:42:03 cignoni Revision 1.13 2005/11/17 00:42:03 cignoni
****************************************************************************/ ****************************************************************************/
#ifndef _VCG_INERTIA_
#define _VCG_INERTIA_
/* /*
The algorithm is based on a three step reduction of the volume integrals The algorithm is based on a three step reduction of the volume integrals
to successively simpler integrals. The algorithm is designed to minimize to successively simpler integrals. The algorithm is designed to minimize
@ -73,6 +76,8 @@ class Inertia
typedef typename MeshType::FacePointer FacePointer; typedef typename MeshType::FacePointer FacePointer;
typedef typename MeshType::FaceIterator FaceIterator; typedef typename MeshType::FaceIterator FaceIterator;
typedef typename MeshType::FaceContainer FaceContainer; typedef typename MeshType::FaceContainer FaceContainer;
typedef typename MeshType::CoordType CoordType;
typedef typename MeshType::ScalarType ScalarType;
private : private :
enum {X=0,Y=1,Z=2}; enum {X=0,Y=1,Z=2};
@ -285,9 +290,9 @@ void InertiaTensor(Matrix44<ScalarType> &J )
} }
// Calcola autovalori ed autovettori dell'inertia tensor. /** Compute eigenvalues and eigenvectors of inertia tensor.
// Gli autovettori fanno una rotmatrix che se applicata mette l'oggetto secondo gli assi id minima/max inerzia. The eigenvectors make a rotation matrix that aligns the mesh along the axes of min/max inertia
*/
void InertiaTensorEigen(Matrix44<ScalarType> &EV, Point4<ScalarType> &ev ) void InertiaTensorEigen(Matrix44<ScalarType> &EV, Point4<ScalarType> &ev )
{ {
Matrix44<ScalarType> it; Matrix44<ScalarType> it;
@ -300,9 +305,74 @@ void InertiaTensorEigen(Matrix44<ScalarType> &EV, Point4<ScalarType> &ev )
ev.Import(evd); ev.Import(evd);
} }
/** Compute covariance matrix of a mesh, i.e. the integral
int_{M} { (x-b)(x-b)^T }dx where b is the barycenter and x spans over the mesh M
*/
static void Covariance(MeshType m, vcg::Point3<ScalarType> & bary, vcg::Matrix33<ScalarType> &C){
// find the barycenter
FaceIterator fi;
ScalarType area = 0.0;
bary.Zero();
for(fi = m.face.begin(); fi != m.face.end(); ++fi)
if(!(*fi).IsD())
{
bary += vcg::Barycenter( *fi )* vcg::DoubleArea(*fi);
area+=vcg::DoubleArea(*fi);
}
bary/=area;
C.SetZero();
// C as covariance of triangle (0,0,0)(1,0,0)(0,1,0)
vcg::Matrix33<ScalarType> C0;
C0.SetZero();
C0[0][0] = C0[1][1] = 2.0;
C0[0][1] = C0[1][0] = 1.0;
C0*=1/24.0;
// integral of (x,y,0) in the same triangle
CoordType X(2/3.0,2/3.0,0);
vcg::Matrix33<ScalarType> A,At,DC; // matrix that bring the vertices to (v1-v0,v2-v0,n)
for(fi = m.face.begin(); fi != m.face.end(); ++fi)
if(!(*fi).IsD())
{
CoordType n = (*fi).N().Normalize();
const CoordType &P0 = (*fi).P(0);
const CoordType &P1 = (*fi).P(1);
const CoordType &P2 = (*fi).P(2);
A.SetColumn(0,P1-P0);
A.SetColumn(1,P2-P0);
A.SetColumn(2,n);
CoordType delta = P0 - bary;
At= A;
At.Transpose();
/* DC is calculated as integral of (A*x+delta) * (A*x+delta)^T over the triangle,
where delta = v0-bary
*/
DC.SetZero();
DC+= A*C0*At;
vcg::Matrix33<ScalarType> tmp;
tmp.OuterProduct(X,delta);
DC+= A * tmp;
tmp.Transpose();
DC+= tmp * At;
tmp.OuterProduct(delta,delta);
DC+=tmp*0.5;
DC*=fabs(A.Determinant()); // the determinant of A is the jacobian of the change of variables A*x+delta
C+=DC;
}
}
}; // end class Inertia }; // end class Inertia
} // end namespace tri } // end namespace tri
} // end namespace vcg } // end namespace vcg
#endif