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72 lines
2.7 KiB
72 lines
2.7 KiB
/**************************************************************************** |
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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) 2004-2016 \/)\/ * |
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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 POLAR_DECOMPOSITION_VCG |
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#define POLAR_DECOMPOSITION_VCG |
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#include <vcg/math/matrix33.h> |
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#include <vcg/math/matrix44.h> |
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#include <Eigen/Dense> |
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#include <Eigen/SVD> |
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namespace vcg{ |
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/** \addtogroup math */ |
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/* @{ */ |
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/// Extract the rotational part of a matrix by polar decomposition |
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/// m = R*S. Polar decomposition is computed by taking r = m * sqrt(m^t*m)^{-1} |
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template <class S> |
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void RotationalPartByPolarDecomposition( const vcg::Matrix33<S> & m, vcg::Matrix33<S> &r ){ |
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Eigen::Matrix<S,3,3> tmp,s; |
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r.setZero(); |
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s.setZero(); |
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tmp = m*m.transpose(); |
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Eigen::Matrix<S,3,3> res; |
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Eigen::Matrix<S,3,3> e; |
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bool ss = SingularValueDecomposition<vcg::Matrix33<S> >(tmp,&e[0],res); |
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Eigen::JacobiSVD<Eigen::MatrixXd> svd(A); |
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sol=svd.solve(b); |
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e[0]=math::Sqrt(e[0]); |
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e[1]=math::Sqrt(e[1]); |
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e[2]=math::Sqrt(e[2]); |
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tmp = tmp*e.asDiagonal()*res.transpose(); |
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bool s1 = SingularValueDecomposition<vcg::Matrix33<S> >(tmp,&e[0],res.transpose()); |
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e[0]=1/e[0]; |
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e[1]=1/e[1]; |
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e[2]=1/e[2]; |
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tmp = res*e.asDiagonal()*tmp.transpose(); |
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r = m*tmp; |
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} |
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/*! @} */ |
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}; |
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#endif
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