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ApplySimilarity finished and tested

This commit is contained in:
Massimiliano Corsini 2011-05-25 06:58:39 +00:00
parent d6400c816c
commit f0a1d1d567
1 changed files with 32 additions and 3 deletions
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33
vcg/math/shot.h
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@ -515,9 +515,38 @@ void Shot<S, RotationType>::ApplySimilarity(const Matrix44<S> & M)
/// Given a similarity transformation such that p' = s R p + T modifies the reference frame accordingly.
template <class S, class RotationType>
void Shot<S, RotationType>::ApplySimilarity(const Similarity<S> & S)
void Shot<S, RotationType>::ApplySimilarity(const Similarity<S> & Sm)
{
//...TODO...
Matrix44<S> rotM;
Extrinsics.rot.ToMatrix(rotM);
// similarity decomposition
vcg::Matrix44<S> R;
Sm.rot.ToMatrix(R);
vcg::Matrix44<S> T;
T.SetIdentity();
T.ElementAt(0,3) = Sm.tra[0];
T.ElementAt(1,3) = Sm.tra[1];
T.ElementAt(2,3) = Sm.tra[2];
vcg::Matrix44d S44;
S44.SetIdentity();
S44 *= Sm.sca;
S44.ElementAt(3,3) = 1.0;
vcg::Matrix44<S> M = T * R * S44;
// roto-translate the viewpoint
Extrinsics.tra = M * Extrinsics.tra;
vcg::Matrix44<S> M2 = M;
M2 = M2 * (1.0 / Sm.sca);
Extrinsics.rot = rotM * M2.transpose();
Extrinsics.rot.ElementAt(3,0) = 0;
Extrinsics.rot.ElementAt(3,1) = 0;
Extrinsics.rot.ElementAt(3,2) = 0;
}