update bundled_deps

2026-02-04 09:58:44 +03:00 · 2024-11-09 14:05:44 +08:00
parent 17c9bfd127
commit cfc606fea9
1662 changed files with 710 additions and 168 deletions
--- a/bundled_deps/libigl/igl/procrustes.cpp
+++ b/bundled_deps/libigl/igl/procrustes.cpp
@@ -0,0 +1,140 @@
+// This file is part of libigl, a simple c++ geometry processing library.
+//
+// Copyright (C) 2014 Stefan Brugger <stefanbrugger@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla Public License
+// v. 2.0. If a copy of the MPL was not distributed with this file, You can
+// obtain one at http://mozilla.org/MPL/2.0/.
+#include "procrustes.h"
+#include "polar_svd.h"
+#include "polar_dec.h"
+
+template <
+  typename DerivedX,
+  typename DerivedY,
+  typename Scalar,
+  typename DerivedR,
+  typename DerivedT>
+IGL_INLINE void igl::procrustes(
+    const Eigen::PlainObjectBase<DerivedX>& X,
+    const Eigen::PlainObjectBase<DerivedY>& Y,
+    bool includeScaling,
+    bool includeReflections,
+    Scalar& scale,
+    Eigen::PlainObjectBase<DerivedR>& R,
+    Eigen::PlainObjectBase<DerivedT>& t)
+{
+  using namespace Eigen;
+  assert (X.rows() == Y.rows() && "Same number of points");
+  assert(X.cols() == Y.cols() && "Points have same dimensions");
+
+  // Center data
+  const VectorXd Xmean = X.colwise().mean();
+  const VectorXd Ymean = Y.colwise().mean();
+  MatrixXd XC = X.rowwise() - Xmean.transpose();
+  MatrixXd YC = Y.rowwise() - Ymean.transpose();
+
+  // Scale
+  scale = 1.;
+  if (includeScaling)
+  {
+     double scaleX = XC.norm() / XC.rows();
+     double scaleY = YC.norm() / YC.rows();
+     scale = scaleY/scaleX;
+     XC *= scale;
+     assert (std::abs(XC.norm() / XC.rows() - scaleY) < 1e-8);
+  }
+
+  // Rotation
+  MatrixXd S = XC.transpose() * YC;
+  MatrixXd T;
+  if (includeReflections)
+  {
+    polar_dec(S,R,T);
+  }else
+  {
+    polar_svd(S,R,T);
+  }
+//  R.transposeInPlace();
+
+  // Translation
+  t = Ymean - scale*R.transpose()*Xmean;
+}
+
+
+template <
+  typename DerivedX,
+  typename DerivedY,
+  typename Scalar,
+  int DIM,
+  int TType>
+IGL_INLINE void igl::procrustes(
+    const Eigen::PlainObjectBase<DerivedX>& X,
+    const Eigen::PlainObjectBase<DerivedY>& Y,
+    bool includeScaling,
+    bool includeReflections,
+    Eigen::Transform<Scalar,DIM,TType>& T)
+{
+  using namespace Eigen;
+  double scale;
+  MatrixXd R;
+  VectorXd t;
+  procrustes(X,Y,includeScaling,includeReflections,scale,R,t);
+
+  // Combine
+  T = Translation<Scalar,DIM>(t) * R * Scaling(scale);
+}
+
+template <
+  typename DerivedX,
+  typename DerivedY,
+  typename DerivedR,
+  typename DerivedT>
+IGL_INLINE void igl::procrustes(
+    const Eigen::PlainObjectBase<DerivedX>& X,
+    const Eigen::PlainObjectBase<DerivedY>& Y,
+    bool includeScaling,
+    bool includeReflections,
+    Eigen::PlainObjectBase<DerivedR>& S,
+    Eigen::PlainObjectBase<DerivedT>& t)
+{
+  double scale;
+  procrustes(X,Y,includeScaling,includeReflections,scale,S,t);
+  S *= scale;
+}
+
+template <
+  typename DerivedX,
+  typename DerivedY,
+  typename DerivedR,
+  typename DerivedT>
+IGL_INLINE void igl::procrustes(
+    const Eigen::PlainObjectBase<DerivedX>& X,
+    const Eigen::PlainObjectBase<DerivedY>& Y,
+    Eigen::PlainObjectBase<DerivedR>& R,
+    Eigen::PlainObjectBase<DerivedT>& t)
+{
+  procrustes(X,Y,false,false,R,t);
+}
+
+template <
+  typename DerivedX,
+  typename DerivedY,
+  typename Scalar,
+  typename DerivedT>
+IGL_INLINE void igl::procrustes(
+    const Eigen::PlainObjectBase<DerivedX>& X,
+    const Eigen::PlainObjectBase<DerivedY>& Y,
+    Eigen::Rotation2D<Scalar>& R,
+    Eigen::PlainObjectBase<DerivedT>& t)
+{
+  using namespace Eigen;
+  assert (X.cols() == 2 && Y.cols() == 2 && "Points must have dimension 2");
+  Matrix2d Rmat;
+  procrustes(X,Y,false,false,Rmat,t);
+  R.fromRotationMatrix(Rmat);
+}
+
+#ifdef IGL_STATIC_LIBRARY
+template void igl::procrustes<Eigen::Matrix<double, 3, 2, 0, 3, 2>, Eigen::Matrix<double, 3, 2, 0, 3, 2>, double, Eigen::Matrix<double, 2, 2, 0, 2, 2>, Eigen::Matrix<double, 2, 1, 0, 2, 1> >(Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 2, 0, 3, 2> > const&, Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 2, 0, 3, 2> > const&, bool, bool, double&, Eigen::PlainObjectBase<Eigen::Matrix<double, 2, 2, 0, 2, 2> >&, Eigen::PlainObjectBase<Eigen::Matrix<double, 2, 1, 0, 2, 1> >&);
+#endif