147 lines
5.2 KiB
C++
147 lines
5.2 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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#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 <eigenlib/Eigen/Core>
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#include <eigenlib/Eigen/Eigenvalues>
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namespace vcg {
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/*! \brief compute the covariance matrix of a set of point
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It returns also the barycenter of the point set
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*/
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template <class S >
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void ComputeCovarianceMatrix(const std::vector<Point3<S> > &pointVec, Point3<S> &barycenter, Eigen::Matrix<S,3,3> &m)
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{
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// first cycle: compute the barycenter
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barycenter.SetZero();
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typename std::vector< Point3<S> >::const_iterator pit;
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for( pit = pointVec.begin(); pit != pointVec.end(); ++pit) barycenter+= (*pit);
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barycenter/=pointVec.size();
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// second cycle: compute the covariance matrix
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m.setZero();
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Eigen::Vector3f p;
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for(pit = pointVec.begin(); pit != pointVec.end(); ++pit) {
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((*pit)-barycenter).ToEigenVector(p);
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m+= p*p.transpose(); // outer product
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}
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}
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/*! \brief Compute the plane best fitting a set of points
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The algorithm used is the classical Covariance matrix eigenvector approach.
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*/
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template <class S>
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void FitPlaneToPointSet(const std::vector< Point3<S> > & pointVec, Plane3<S> & plane)
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{
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Eigen::Matrix3f covMat=Eigen::Matrix3f::Zero();
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Point3<S> b;
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ComputeCovarianceMatrix(pointVec,b,covMat);
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Eigen::SelfAdjointEigenSolver<Eigen::Matrix3f> eig(covMat);
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Eigen::Vector3f eval = eig.eigenvalues();
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Eigen::Matrix3f evec = eig.eigenvectors();
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eval = eval.cwiseAbs();
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int minInd;
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eval.minCoeff(&minInd);
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Point3<S> d;
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d[0] = evec(0,minInd);
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d[1] = evec(1,minInd);
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d[2] = evec(2,minInd);
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plane.Init(b,d);
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}
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/*! \brief compute the weighted covariance matrix of a set of point
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It returns also the weighted barycenter of the point set.
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When computing the covariance matrix the weights are applied to the points transposed to the origin.
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*/
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template <class S >
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void ComputeWeightedCovarianceMatrix(const std::vector<Point3<S> > &pointVec, const std::vector<S> &weightVec, Point3<S> &bp, Eigen::Matrix<S,3,3> &m)
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{
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assert(pointVec.size() == weightVec.size());
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// First cycle: compute the weighted barycenter
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bp.SetZero();
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S wSum=0;
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typename std::vector< Point3<S> >::const_iterator pit;
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typename std::vector< S>::const_iterator wit;
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for( pit = pointVec.begin(),wit=weightVec.begin(); pit != pointVec.end(); ++pit,++wit)
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{
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bp+= (*pit)*(*wit);
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wSum+=*wit;
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}
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bp /=wSum;
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// Second cycle: compute the weighted covariance matrix
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// The weights are applied to the points transposed to the origin.
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m.setZero();
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Eigen::Matrix<S,3,3> A;
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Eigen::Vector3f p;
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for( pit = pointVec.begin(),wit=weightVec.begin(); pit != pointVec.end(); ++pit,++wit)
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{
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(((*pit)-bp)*(*wit)).ToEigenVector(p);
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m+= p*p.transpose(); // outer product
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}
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m/=wSum;
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}
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/*! \brief Compute the plane best fitting a set of points
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The algorithm used is the classical Covariance matrix eigenvector approach.
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*/
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template <class S>
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void WeightedFitPlaneToPointSet(const std::vector< Point3<S> > & pointVec, const std::vector<S> &weightVec, Plane3<S> & plane)
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{
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Eigen::Matrix3f covMat=Eigen::Matrix3f::Zero();
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Point3<S> b;
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ComputeWeightedCovarianceMatrix(pointVec,weightVec, b,covMat);
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Eigen::SelfAdjointEigenSolver<Eigen::Matrix3f> eig(covMat);
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Eigen::Vector3f eval = eig.eigenvalues();
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Eigen::Matrix3f evec = eig.eigenvectors();
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eval = eval.cwiseAbs();
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int minInd;
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eval.minCoeff(&minInd);
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Point3<S> d;
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d[0] = evec(0,minInd);
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d[1] = evec(1,minInd);
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d[2] = evec(2,minInd);
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plane.Init(b,d);
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}
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} // end namespace
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#endif
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