1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
|
//##########################################################################
//# #
//# CLOUDCOMPARE #
//# #
//# This program is free software; you can redistribute it and/or modify #
//# it under the terms of the GNU General Public License as published by #
//# the Free Software Foundation; version 2 or later of the License. #
//# #
//# This program is distributed in the hope that it will be useful, #
//# but WITHOUT ANY WARRANTY; without even the implied warranty of #
//# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the #
//# GNU General Public License for more details. #
//# #
//# COPYRIGHT: EDF R&D / TELECOM ParisTech (ENST-TSI) #
//# #
//##########################################################################
#include "ccIndexedTransformation.h"
//Qt
#include <QFile>
#include <QTextStream>
//System
#include <assert.h>
#include <string>
ccIndexedTransformation::ccIndexedTransformation()
: ccGLMatrix()
, m_index(0)
{
}
ccIndexedTransformation::ccIndexedTransformation(const ccGLMatrix& matrix)
: ccGLMatrix(matrix)
, m_index(0)
{
}
ccIndexedTransformation::ccIndexedTransformation(const ccGLMatrix& matrix, double index)
: ccGLMatrix(matrix)
, m_index(index)
{
}
ccIndexedTransformation::ccIndexedTransformation(const ccIndexedTransformation& trans)
: ccGLMatrix(trans)
, m_index(trans.m_index)
{
}
bool ccIndexedTransformation::toAsciiFile(QString filename, int precision/*=12*/) const
{
QFile fp(filename);
if (!fp.open(QFile::WriteOnly | QFile::Text))
return false;
QTextStream stream(&fp);
stream.setRealNumberNotation(QTextStream::FixedNotation);
stream.setRealNumberPrecision(precision);
//save transformation first (so that it can be loaded as a ccGLMatrix!)
for (unsigned i=0; i<4; ++i)
{
stream << m_mat[i] << " " << m_mat[i+4] << " " << m_mat[i+8] << " " << m_mat[i+12] << endl;
}
//save index next
stream << m_index;
return (fp.error() == QFile::NoError);
}
bool ccIndexedTransformation::fromAsciiFile(QString filename)
{
QFile fp(filename);
if (!fp.open(QFile::ReadOnly | QFile::Text))
return false;
QTextStream stream(&fp);
//read the transformation first
for (unsigned i=0; i<4; ++i)
{
stream >> m_mat[i];
stream >> m_mat[i+4];
stream >> m_mat[i+8];
stream >> m_mat[i+12];
}
//read index
stream >> m_index;
return (fp.error() == QFile::NoError);
}
ccIndexedTransformation ccIndexedTransformation::operator * (const ccGLMatrix& M) const
{
return ccIndexedTransformation( *static_cast<const ccGLMatrix*>(this) * M, m_index);
}
ccIndexedTransformation& ccIndexedTransformation::operator *= (const ccGLMatrix& M)
{
ccGLMatrix temp = (*this) * M;
(*this) = temp;
return (*this);
}
//ccIndexedTransformation ccIndexedTransformation::operator * (const ccIndexedTransformation& trans) const
//{
// return ccIndexedTransformation( static_cast<ccGLMatrix*>(this) * trans, m_index);
//}
//
//ccIndexedTransformation& ccIndexedTransformation::operator *= (const ccIndexedTransformation& trans)
//{
// ccGLMatrix temp = (*this) * M;
// (*this) = temp;
//
// return (*this);
//}
ccIndexedTransformation& ccIndexedTransformation::operator += (const CCVector3& T)
{
*static_cast<ccGLMatrix*>(this) += T;
return (*this);
}
ccIndexedTransformation& ccIndexedTransformation::operator -= (const CCVector3& T)
{
*static_cast<ccGLMatrix*>(this) -= T;
return (*this);
}
ccIndexedTransformation ccIndexedTransformation::transposed() const
{
ccIndexedTransformation t(*this);
t.transpose();
return t;
}
ccIndexedTransformation ccIndexedTransformation::inverse() const
{
ccIndexedTransformation t(*this);
t.invert();
return t;
}
ccIndexedTransformation ccIndexedTransformation::Interpolate( double index,
const ccIndexedTransformation& trans1,
const ccIndexedTransformation& trans2)
{
double dt = trans2.getIndex() - trans1.getIndex();
if (dt == 0.0)
{
assert(index == trans1.getIndex());
return trans1;
}
//we compute the transformation matrix between trans1 and trans2
double t = (index - trans1.getIndex())/dt;
assert(t >= 0 && t <= 1);
ccGLMatrix mat = ccGLMatrix::Interpolate(static_cast<PointCoordinateType>(t),trans1,trans2);
return ccIndexedTransformation(mat, index);
}
bool ccIndexedTransformation::toFile(QFile& out) const
{
if (!ccGLMatrix::toFile(out))
return false;
assert(out.isOpen() && (out.openMode() & QIODevice::WriteOnly));
//index (dataVersion>=34)
if (out.write((const char*)&m_index,sizeof(double)) < 0)
return WriteError();
return true;
}
bool ccIndexedTransformation::fromFile(QFile& in, short dataVersion, int flags)
{
if (!ccGLMatrix::fromFile(in, dataVersion, flags))
return false;
assert(in.isOpen() && (in.openMode() & QIODevice::ReadOnly));
if (dataVersion<34)
return CorruptError();
//index (dataVersion>=34)
if (in.read((char*)&m_index,sizeof(double)) < 0)
return ReadError();
return true;
}
|
