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1) in "ComputeWeightedRigidMatchMatrix" I changed: 

std::vector<double> weights       ----->to------>     std::vector<ScalarType> weights
tmp.Trasp();		          ----->to------>     tmp.Transpose();
QQ.Zero();		          ----->to------>     QQ.SetZero();
RM.Zero();		          ----->to------>     RM.SetZero();
ccm.Trasp();		          ----->to------>     ccm.Transpose();
QQ.Jacobi(d,v,nrot);	          ----->to------>     Jacobi(QQ,d,v,nrot);
q.RotMatrix(Rot);	          ----->to------>     q.ToMatrix(Rot);
tr= (bfix - Rot.Apply(bmov));     ----->to------>     tr= (bfix - Rot *bmov);		
Trn.Translate(tr);	          ----->to------>     Trn.SetTranslate(tr);	


2) in "ComputeRigidMatchMatrix" I changed:
return ComputeRigidMatchMatrix(res,Pfix,Pmov,qtmp,tr); 	----->to------>	 return ComputeWeightedRigidMatchMatrix(res,Pfix,Pmov,weights,qtmp,tr);
This commit is contained in:
Paolo Cignoni 2008-07-23 17:19:51 +00:00
parent a880db7489
commit 6a4631b94b
1 changed files with 10 additions and 10 deletions
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20
vcg/math/point_matching.h
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@ -101,7 +101,7 @@ static bool ComputeRigidMatchMatrix(std::vector<ScalarType> weights,
{ {
Quaterniond qtmp; Quaterniond qtmp;
Point3d tr; Point3d tr;
return ComputeRigidMatchMatrix(res,Pfix,Pmov,qtmp,tr); return ComputeWeightedRigidMatchMatrix(res,Pfix,Pmov,weights,qtmp,tr);
} }
@ -141,7 +141,7 @@ static
bool ComputeWeightedRigidMatchMatrix(Matrix44x &res, bool ComputeWeightedRigidMatchMatrix(Matrix44x &res,
std::vector<Point3x> &Pfix, std::vector<Point3x> &Pfix,
std::vector<Point3x> &Pmov, std::vector<Point3x> &Pmov,
std::vector<double> weights, std::vector<ScalarType> weights,
Quaternionx &q, Quaternionx &q,
Point3x &tr Point3x &tr
) )
@ -155,20 +155,20 @@ bool ComputeWeightedRigidMatchMatrix(Matrix44x &res,
cyc=ccm; cyc=ccm;
tmp=ccm; tmp=ccm;
tmp.Trasp(); tmp.Transpose();
cyc-=tmp; cyc-=tmp;
Matrix44x QQ; Matrix44x QQ;
QQ.Zero(); QQ.SetZero();
Point3x D(cyc[1][2],cyc[2][0],cyc[0][1]); Point3x D(cyc[1][2],cyc[2][0],cyc[0][1]);
Matrix33x RM; Matrix33x RM;
RM.Zero(); RM.SetZero();
RM[0][0]=-ccm.Trace(); RM[0][0]=-ccm.Trace();
RM[1][1]=-ccm.Trace(); RM[1][1]=-ccm.Trace();
RM[2][2]=-ccm.Trace(); RM[2][2]=-ccm.Trace();
RM+=ccm; RM+=ccm;
ccm.Trasp(); ccm.Transpose();
RM+=ccm; RM+=ccm;
QQ[0][0] = ccm.Trace(); QQ[0][0] = ccm.Trace();
@ -185,7 +185,7 @@ bool ComputeWeightedRigidMatchMatrix(Matrix44x &res,
Point4d d; Point4d d;
Matrix44x v; Matrix44x v;
int nrot; int nrot;
QQ.Jacobi(d,v,nrot); Jacobi(QQ,d,v,nrot);
// printf("Done %i iterations\n %f %f %f %f\n",nrot,d[0],d[1],d[2],d[3]); // printf("Done %i iterations\n %f %f %f %f\n",nrot,d[0],d[1],d[2],d[3]);
// print(v); // print(v);
// Now search the maximum eigenvalue // Now search the maximum eigenvalue
@ -199,12 +199,12 @@ bool ComputeWeightedRigidMatchMatrix(Matrix44x &res,
} }
// The corresponding eigenvector define the searched rotation, // The corresponding eigenvector define the searched rotation,
Matrix44x Rot; Matrix44x Rot;
q.RotMatrix(Rot); q.ToMatrix(Rot);
// the translation (last row) is simply the difference between the transformed src barycenter and the trg baricenter // the translation (last row) is simply the difference between the transformed src barycenter and the trg baricenter
tr= (bfix - Rot.Apply(bmov)); tr= (bfix - Rot *bmov);
//res[3][0]=tr[0];res[3][1]=tr[1];res[3][2]=tr[2]; //res[3][0]=tr[0];res[3][1]=tr[1];res[3][2]=tr[2];
Matrix44x Trn; Matrix44x Trn;
Trn.Translate(tr); Trn.SetTranslate(tr);
res=Rot*Trn; res=Rot*Trn;
return true; return true;