189 lines
4.9 KiB
C++
189 lines
4.9 KiB
C++
/****************************************************************************
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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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Revision 1.2 2005/10/13 14:59:57 ganovelli
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versione con svd
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Revision 1.1 2005/03/14 17:04:24 ganovelli
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created
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****************************************************************************/
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#ifndef __VCGLIB_FITTING3
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#define __VCGLIB_FITTING3
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#include <vector>
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#include <vcg/space/plane3.h>
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#include <vcg/math/matrix44.h>
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#include <vcg/math/matrix33.h>
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#include <vcg/math/lin_algebra.h>
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namespace vcg {
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template <class S>
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bool PlaneFittingPoints( std::vector< Point3<S> > & samples,Plane3<S> &p){
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int j;
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Matrix44<S> m;m.SetZero();
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typename std::vector< Point3<S> > ::iterator i;
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Point3<S> c; c.Zero();
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for(i = samples.begin(); i != samples.end(); ++i)
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c+=*i;
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c/=samples.size();
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for(i = samples.begin(); i != samples.end(); ++i){
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Point3<S> p = (*i)-c;
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for(j = 0 ; j < 3;++j)
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*(Point3<S>*)&m[j][0] += p * p[j];
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}
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m[0][3]= m[1][3]=m[2][3]=0.0;
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m[3][3]= 1.0;
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m[3][0]= m[3][1]=m[3][2]=0.0;
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int n;
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Matrix44<S> res;
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Point4<S> e;
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Point3<S> d;
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Jacobi(m,e,res,n);
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S mx = fabs(e[0]); int mxi=0;
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for(j=1; j < 3; ++j) if( (fabs(e[j]) < mx) ) {mx=fabs(e[j]); mxi = j;}
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d[0]=res[0][mxi];
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d[1]=res[1][mxi];
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d[2]=res[2][mxi];
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p.SetOffset(c*d/d.Norm());
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p.SetDirection(d/d.Norm());
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return true;
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}
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template<class S>
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inline double FIT_VExp( const Point3<S> & x, const int i )
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{
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assert(i>=0);
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assert(i<4);
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if(i==0) return 1;
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else return x[i-1];
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}
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/** Fitting di piani: trova il piano che meglio approssima
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l'insieme di punti dato
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*/
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template<class S>
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bool PlaneFittingPointsOld( std::vector< Point3<S> > & samples, Plane3<S> & p )
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{
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Point3<S> d;
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const int N = 4;
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S P[N][N]; // A = s' . s
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S U[N][N];
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int i,j,k,n;
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n = (int)samples.size();
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if(n<3)
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return false;
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//printf("\n p_prima: %f %f %f %f \n",p.Offset(),p.Direction()[0],p.Direction()[1],p.Direction()[2]);
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for(i=0;i<N;++i)
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{
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for(j=i;j<N;++j)
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{
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P[i][j] = 0;
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for(k=0;k<n;++k)
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P[i][j] += FIT_VExp(samples[k],i) * FIT_VExp(samples[k],j);
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}
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for(j=0;j<i;++j)
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P[i][j] = P[j][i];
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}
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//printf("D \n");
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//for(i=0;i<N;++i){
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// printf("\n");
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// for(j=0;j<N;++j)
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// printf("%2.3f\t",P[i][j]);
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//}
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//
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Matrix44<S> m;
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for(i=0;i<N;++i)
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for(j=0;j<N;++j)
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m[i][j]=P[i][j];
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// Point4<S> s;s.Zero();
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//
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// s.Normalize();
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// printf("\n RES %f %f %f %f \n",s[0],s[1],s[2],s[3]);
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//printf("\n GJ \n");
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// for(i=0;i<N;++i){
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// printf("\n");
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// for(j=0;j<N;++j)
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// printf("%2.3f\t",m[i][j]);
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// }
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for(i=0;i<N;++i)
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{
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U[i][i] = 1.0;
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for(j=0;j<i;++j)
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U[i][j] = 0.0;
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for(j=i+1;j<N;++j)
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{
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if(P[i][i]==0.0)
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return false;
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U[i][j] = P[i][j]/P[i][i];
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for(k=j;k<N;++k)
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P[j][k] -= U[i][j]*P[i][k];
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}
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}
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//printf("\n U \n");
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//for(i=0;i<N;++i){
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// printf("\n");
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// for(j=0;j<N;++j)
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// printf("%2.3f\t",U[i][j]);
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//}
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S norm = Point3<S>(U[1][2]*U[2][3]-U[1][3],-U[2][3],1).Norm();
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p.SetDirection(Point3<S>(U[1][2]*U[2][3]-U[1][3],-U[2][3],1));
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p.SetOffset(-(U[0][2]*U[2][3]-U[0][3]+U[0][1]*U[1][3]-U[0][1]*U[1][2]*U[2][3])/norm);
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//printf("\n p: %f %f %f %f \n",p.Offset(),p.Direction()[0],p.Direction()[1],p.Direction()[2]);
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return true;
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}
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} // end namespace
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#endif
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