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/****************************************************************************
* VCGLib o o *
* Visual and Computer Graphics Library o o *
* _ O _ *
* Copyright(C) 2004-2016 \/)\/ *
* Visual Computing Lab /\/| *
* ISTI - Italian National Research Council | *
* \ *
* All rights reserved. *
* *
* 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; either version 2 of the License, or *
* (at your option) any later version. *
* *
* 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 (http://www.gnu.org/licenses/gpl.txt) *
* for more details. *
* *
****************************************************************************/
#ifndef VCG_POINT_MATCHING_SCALE
#define VCG_POINT_MATCHING_SCALE
#include <vcg/math/matrix44.h>
#include <vcg/space/point3.h>
#include <vcg/space/box3.h>
#include <wrap/newuoa/include/newuoa.h>
namespace vcg {
template <class Scalar>
struct RotoTranslation
{
RotoTranslation(){}
Scalar _v[6];
void toMatrix(vcg::Matrix44<Scalar> & m)
{
vcg::Matrix44<Scalar> rot,tra;
rot.FromEulerAngles(_v[0],_v[1],_v[2]);
tra.SetTranslate(vcg::Point3<Scalar>(_v[3],_v[4],_v[5]));
m = tra * rot;
}
};
class PointMatchingScale {
private:
static std::vector<vcg::Point3d> *fix;
static std::vector<vcg::Point3d> *mov;
static vcg::Box3d b;
public:
/**
* Compute a scaling transformation that bring PMov point as close as possible to Pfix
*/
static void computeScalingMatchMatrix(
vcg::Matrix44d &res,
std::vector<vcg::Point3d> &Pfix,
std::vector<vcg::Point3d> &Pmov)
{
fix = &Pfix;
mov = &Pmov;
b.SetNull();
for(std::vector<vcg::Point3d>::iterator i = Pmov.begin(); i != Pmov.end(); ++i)
b.Add(*i);
double scale = 1.0;
min_newuoa(1,&scale,errorScale);
res.SetTranslate( b.Center()*(1.0-scale));
res[0][0] = res[1][1] = res[2][2] = scale;
}
/**
* Compute a rototranslation + scaling transformation that bring PMov point as close as possible to Pfix
*/
static void computeRotoTranslationScalingMatchMatrix(
vcg::Matrix44d &res,
std::vector<vcg::Point3d> &Pfix,
std::vector<vcg::Point3d> &Pmov)
{
fix = &Pfix;
mov = &Pmov;
b.SetNull();
for(std::vector<vcg::Point3d>::iterator i = Pmov.begin(); i != Pmov.end(); ++i)
b.Add(*i);
double x[7]={1.0,0.0,0.0,0.0,0.0,0.0,0.0};
min_newuoa(7,&x[0],errorRotoTranslationScale);
// rtm = rototranslation
RotoTranslation<double> rt;
vcg::Matrix44d rtm;
memcpy(&rt._v[0],&x[1],6*sizeof(double));
rt.toMatrix(rtm);
// res= scaling w.r.t. barycenter
res.SetTranslate( b.Center()*(1.0-x[0]));
res[0][0] = res[1][1] = res[2][2] = x[0];
res = rtm*res;
}
static double errorScale(int n, double *x)
{
assert(n==1); (void)n;
double dist = 0;
std::vector<vcg::Point3d>::iterator i = mov->begin();
std::vector<vcg::Point3d>::iterator ifix = fix->begin();
for(; i != mov->end(); ++i,++ifix)
dist += vcg::SquaredDistance(((*i)-b.Center())*(*x)+b.Center() , *ifix);
return dist;
}
static double errorRotoTranslationScale(int n, double *x) {
assert(n==7); (void)n;
double dist = 0;
std::vector<vcg::Point3d>::iterator i = mov->begin();
std::vector<vcg::Point3d>::iterator ifix = fix->begin();
RotoTranslation<double> rt;
vcg::Matrix44d m;
memcpy(&rt._v[0],&x[1],6*sizeof(double));
rt.toMatrix(m);
for(; i != mov->end(); ++i,++ifix) {
dist += vcg::SquaredDistance( m*(((*i)-b.Center())*(x[0])+b.Center()),*ifix);
}
return dist;
}
};
}
#endif
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