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50 lines
1.4 KiB
50 lines
1.4 KiB
// This file is part of libigl, a simple c++ geometry processing library.
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//
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// Copyright (C) 2019 Alec Jacobson <alecjacobson@gmail.com>
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//
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// This Source Code Form is subject to the terms of the Mozilla Public License
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// v. 2.0. If a copy of the MPL was not distributed with this file, You can
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// obtain one at http://mozilla.org/MPL/2.0/.
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#ifndef RIGID_ALIGNMENT_H
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#define RIGID_ALIGNMENT_H
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#include "igl_inline.h"
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#include <Eigen/Core>
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namespace igl
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{
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// Find the rigid transformation that best aligns the 3D points X to their
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// corresponding points P with associated normals N.
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//
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// min ‖(X*R+t-P)'N‖²
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// R∈SO(3)
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// t∈R³
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//
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// Inputs:
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// X #X by 3 list of query points
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// P #X by 3 list of corresponding (e.g., closest) points
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// N #X by 3 list of unit normals for each row in P
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// Outputs:
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// R 3 by 3 rotation matrix
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// t 1 by 3 translation vector
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//
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// See also: icp
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template <
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typename DerivedX,
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typename DerivedP,
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typename DerivedN,
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typename DerivedR,
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typename Derivedt
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>
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IGL_INLINE void rigid_alignment(
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const Eigen::MatrixBase<DerivedX> & X,
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const Eigen::MatrixBase<DerivedP> & P,
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const Eigen::MatrixBase<DerivedN> & N,
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Eigen::PlainObjectBase<DerivedR> & R,
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Eigen::PlainObjectBase<Derivedt> & t);
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}
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#ifndef IGL_STATIC_LIBRARY
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# include "rigid_alignment.cpp"
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#endif
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#endif
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