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Thomas Pitiot
CGoGN
Commits
fd9a5728
Commit
fd9a5728
authored
Dec 12, 2013
by
untereiner
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[CGoGN] adding ShapeMatching + Linear Shape Matching + Quadratic Shape Matching
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include/Algo/Simulation/ShapeMatching/shapeMatching.h
include/Algo/Simulation/ShapeMatching/shapeMatching.h
+89
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include/Algo/Simulation/ShapeMatching/shapeMatching.hpp
include/Algo/Simulation/ShapeMatching/shapeMatching.hpp
+158
-0
include/Algo/Simulation/ShapeMatching/shapeMatchingLinear.h
include/Algo/Simulation/ShapeMatching/shapeMatchingLinear.h
+86
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include/Algo/Simulation/ShapeMatching/shapeMatchingLinear.hpp
...ude/Algo/Simulation/ShapeMatching/shapeMatchingLinear.hpp
+156
-0
include/Algo/Simulation/ShapeMatching/shapeMatchingQuadratic.h
...de/Algo/Simulation/ShapeMatching/shapeMatchingQuadratic.h
+91
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include/Algo/Simulation/ShapeMatching/shapeMatchingQuadratic.hpp
.../Algo/Simulation/ShapeMatching/shapeMatchingQuadratic.hpp
+54
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include/Algo/Simulation/ShapeMatching/shapeMatching.h
0 → 100644
View file @
fd9a5728
/*******************************************************************************
* CGoGN: Combinatorial and Geometric modeling with Generic N-dimensional Maps *
* version 0.1 *
* Copyright (C) 2009-2013, IGG Team, ICube, University of Strasbourg *
* *
* This library is free software; you can redistribute it and/or modify it *
* under the terms of the GNU Lesser General Public License as published by the *
* Free Software Foundation; either version 2.1 of the License, or (at your *
* option) any later version. *
* *
* This library 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 Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this library; if not, write to the Free Software Foundation, *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
* *
* Web site: http://cgogn.unistra.fr/ *
* Contact information: cgogn@unistra.fr *
* *
*******************************************************************************/
#include <Eigen/Dense>
#ifndef _SHAPE_MATCHING_H_
#define _SHAPE_MATCHING_H_
namespace
CGoGN
{
namespace
Algo
{
namespace
Surface
{
namespace
Simulation
{
namespace
ShapeMatching
{
template
<
typename
PFP
>
class
ShapeMatching
{
public:
typedef
typename
PFP
::
MAP
MAP
;
typedef
typename
PFP
::
VEC3
VEC3
;
typedef
typename
PFP
::
REAL
REAL
;
protected:
VertexAttribute
<
VEC3
>&
m_position
;
VertexAttribute
<
REAL
>&
m_mass
;
VertexAttribute
<
REAL
>
m_goal
;
// q_{i} = x^{0} - x^{0}_{cm}
std
::
vector
<
VEC3
>
m_q
;
// p_{i}
std
::
vector
<
VEC3
>
m_p
;
public:
ShapeMatching
(
VertexAttribute
<
VEC3
>&
position
,
VertexAttribute
<
REAL
>&
mass
);
~
ShapeMatching
();
VEC3
massCenter
();
void
initialize
();
void
shapeMatch
();
};
}
// namespace ShapeMatching
}
// namespace Simulation
}
// namespace Surface
}
// namespace Algo
}
// namespace CGoGN
#include "shapeMatching.hpp"
#endif
include/Algo/Simulation/ShapeMatching/shapeMatching.hpp
0 → 100644
View file @
fd9a5728
/*******************************************************************************
* CGoGN: Combinatorial and Geometric modeling with Generic N-dimensional Maps *
* version 0.1 *
* Copyright (C) 2009-2013, IGG Team, ICube, University of Strasbourg *
* *
* This library is free software; you can redistribute it and/or modify it *
* under the terms of the GNU Lesser General Public License as published by the *
* Free Software Foundation; either version 2.1 of the License, or (at your *
* option) any later version. *
* *
* This library 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 Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this library; if not, write to the Free Software Foundation, *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
* *
* Web site: http://cgogn.unistra.fr/ *
* Contact information: cgogn@unistra.fr *
* *
*******************************************************************************/
namespace
CGoGN
{
namespace
Algo
{
namespace
Surface
{
namespace
Simulation
{
namespace
ShapeMatching
{
template
<
typename
PFP
>
ShapeMatching
<
PFP
>::
ShapeMatching
(
VertexAttribute
<
VEC3
>&
position
,
VertexAttribute
<
REAL
>&
mass
)
:
m_position
(
position
),
m_mass
(
mass
)
{
unsigned
int
nbE
=
m_position
.
nbElements
();
m_p
.
reserve
(
nbE
);
m_q
.
reserve
(
nbE
);
m_goal
=
this
->
m_map
.
template
getAttribute
<
VEC3
,
VERTEX
>(
"goal"
);
if
(
!
m_goal
.
isValid
())
m_goal
=
this
->
m_map
.
template
addAttribute
<
VEC3
,
VERTEX
>(
"goal"
);
}
template
<
typename
PFP
>
ShapeMatching
<
PFP
>::~
ShapeMatching
()
{
if
(
m_goal
.
isValid
())
m_map
.
template
removeAttribute
<
VEC3
,
VERTEX
>(
m_goal
);
}
VEC3
ShapeMatching
<
PFP
>::
massCenter
()
{
VEC3
xcm
(
0
);
REAL
m
=
0.0
;
for
(
unsigned
int
i
=
m_position
.
begin
()
;
i
<
m_position
.
end
()
;
i
=
m_position
.
next
())
{
xcm
+=
m_mass
[
i
]
*
m_p
[
i
];
m
+=
m_mass
[
i
];
}
xcm
/=
m
;
return
xcm
;
}
/**
* Initialize pre-computed ....
* First, \f$ x^{0}_{cm} \f$
* In a second step, \f$ q_{i} = x^{0}_{i} - x^{0}_{cm} \f$
*/
template
<
typename
PFP
>
void
ShapeMatching
<
PFP
>::
initialize
()
{
VEC3
x0cm
=
massCenter
();
for
(
unsigned
int
i
=
m_position
.
begin
()
;
i
<
m_position
.
end
()
;
i
=
m_position
.
next
())
{
m_q
[
i
]
=
VEC3
(
m_position
[
i
]
-
x0cm
);
//q_{i} = x^{0}_{i} - x^{0}_{cm}
}
}
template
<
typename
PFP
>
void
ShapeMatching
<
PFP
>::
shapeMatch
()
{
//1.
VEC3
xcm
=
massCenter
();
for
(
unsigned
int
i
=
m_position
.
begin
()
;
i
<
m_position
.
end
()
;
i
=
m_position
.
next
())
{
m_p
[
i
]
=
VEC3
(
m_position
[
i
]
-
xcm
);
//p_{i} = x_{i} - x_{cm}
}
//2.
Eigen
::
Matrix3f
apq
;
apq
=
Eigen
::
Matrix3f
::
Zero
();
for
(
unsigned
int
i
=
0
;
i
<
p
.
size
()
;
++
i
)
{
apq
(
0
,
0
)
+=
m_p
[
i
][
0
]
*
m_q
[
i
][
0
];
apq
(
0
,
1
)
+=
m_p
[
i
][
0
]
*
m_q
[
i
][
1
];
apq
(
0
,
2
)
+=
m_p
[
i
][
0
]
*
m_q
[
i
][
2
];
apq
(
1
,
0
)
+=
m_p
[
i
][
1
]
*
m_q
[
i
][
0
];
apq
(
1
,
1
)
+=
m_p
[
i
][
1
]
*
m_q
[
i
][
1
];
apq
(
1
,
2
)
+=
m_p
[
i
][
1
]
*
m_q
[
i
][
2
];
apq
(
2
,
0
)
+=
m_p
[
i
][
2
]
*
m_q
[
i
][
0
];
apq
(
2
,
1
)
+=
m_p
[
i
][
2
]
*
m_q
[
i
][
1
];
apq
(
2
,
2
)
+=
m_p
[
i
][
2
]
*
m_q
[
i
][
2
];
}
Eigen
::
Matrix3f
S
=
apq
.
transpose
()
*
apq
;
//symmetric matrix
//3. Jacobi Diagonlisation
Eigen
::
JacobiSVD
<
Eigen
::
Matrix3f
>
svd
(
S
,
ComputeFullU
);
Eigen
::
Matrix3f
SR
=
svd
.
matrixU
();
// diagonalization with Jacobi rotations
S
(
0
,
0
)
=
1.0
f
/
sqrt
(
S
(
0
,
0
));
S
(
1
,
1
)
=
1.0
f
/
sqrt
(
S
(
1
,
1
));
S
(
2
,
2
)
=
1.0
f
/
sqrt
(
S
(
2
,
2
));
S
=
SR
*
S
*
SR
.
transpose
();
Eigen
::
Matrix3f
R
=
apq
*
S
;
//S^{-1}
//4.
for
(
unsigned
int
i
=
m_goal
.
begin
()
;
i
<
m_goal
.
end
()
;
i
=
m_goal
.
next
())
{
m_goal
[
i
]
=
R
*
m_q
[
i
]
+
xcm
;
// g_{i} = R * q_i + x_{cm}
}
}
}
// namespace ShapeMatching
}
// namespace Simulation
}
// namespace Surface
}
// namespace Algo
}
// namespace CGoGN
include/Algo/Simulation/ShapeMatching/shapeMatchingLinear.h
0 → 100644
View file @
fd9a5728
/*******************************************************************************
* CGoGN: Combinatorial and Geometric modeling with Generic N-dimensional Maps *
* version 0.1 *
* Copyright (C) 2009-2013, IGG Team, ICube, University of Strasbourg *
* *
* This library is free software; you can redistribute it and/or modify it *
* under the terms of the GNU Lesser General Public License as published by the *
* Free Software Foundation; either version 2.1 of the License, or (at your *
* option) any later version. *
* *
* This library 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 Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this library; if not, write to the Free Software Foundation, *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
* *
* Web site: http://cgogn.unistra.fr/ *
* Contact information: cgogn@unistra.fr *
* *
*******************************************************************************/
#ifndef _SHAPE_MATCHING_LINEAR_H_
#define _SHAPE_MATCHING_LINEAR_H_
namespace
CGoGN
{
namespace
Algo
{
namespace
Surface
{
namespace
Simulation
{
namespace
ShapeMatching
{
template
<
typename
PFP
>
class
ShapeMatchingLinear
:
public
ShapeMatching
<
PFP
>
{
public:
typedef
typename
PFP
::
MAP
MAP
;
typedef
typename
PFP
::
VEC3
VEC3
;
typedef
typename
PFP
::
REAL
REAL
;
protected:
REAL
m_beta
;
// A_{qq}
Eigen
::
Matrix3f
m_aqq
;
private:
void
computeAqqMatrix
();
public:
ShapeMatchingLinear
(
VertexAttribute
<
VEC3
>&
position
,
VertexAttribute
<
REAL
>&
mass
,
REAL
beta
)
:
ShapeMatching
(
position
,
mass
),
m_beta
(
beta
)
{
}
~
ShapeMatchingLinear
()
{
}
void
initialize
();
void
shapeMatch
();
};
}
// namespace ShapeMatching
}
// namespace Simulation
}
// namespace Surface
}
// namespace Algo
}
// namespace CGoGN
#include "shapeMatchingLinear.hpp"
#endif
include/Algo/Simulation/ShapeMatching/shapeMatchingLinear.hpp
0 → 100644
View file @
fd9a5728
/*******************************************************************************
* CGoGN: Combinatorial and Geometric modeling with Generic N-dimensional Maps *
* version 0.1 *
* Copyright (C) 2009-2013, IGG Team, ICube, University of Strasbourg *
* *
* This library is free software; you can redistribute it and/or modify it *
* under the terms of the GNU Lesser General Public License as published by the *
* Free Software Foundation; either version 2.1 of the License, or (at your *
* option) any later version. *
* *
* This library 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 Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this library; if not, write to the Free Software Foundation, *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
* *
* Web site: http://cgogn.unistra.fr/ *
* Contact information: cgogn@unistra.fr *
* *
*******************************************************************************/
namespace
CGoGN
{
namespace
Algo
{
namespace
Surface
{
namespace
Simulation
{
void
ShapeMatching
<
PFP
>::
computeAqqMatrix
()
{
//A_{qq} = (Sum_i{ m_{i} q_{i} q_i^{T} })^{-1}
m_aqq
=
Eigen
::
Matrix3f
::
Zero
();
for
(
unsigned
int
i
=
0
;
i
<
m_q
.
size
()
;
++
i
)
{
m_aqq
(
0
,
0
)
+=
m_q
[
i
][
0
]
*
m_q
[
i
][
0
];
m_aqq
(
1
,
0
)
+=
m_q
[
i
][
0
]
*
m_q
[
i
][
1
];
m_aqq
(
2
,
0
)
+=
m_q
[
i
][
0
]
*
m_q
[
i
][
2
];
m_aqq
(
0
,
1
)
+=
m_q
[
i
][
1
]
*
m_q
[
i
][
0
];
m_aqq
(
1
,
1
)
+=
m_q
[
i
][
1
]
*
m_q
[
i
][
1
];
m_aqq
(
2
,
1
)
+=
m_q
[
i
][
1
]
*
m_q
[
i
][
2
];
m_aqq
(
0
,
2
)
+=
m_q
[
i
][
2
]
*
m_q
[
i
][
0
];
m_aqq
(
1
,
2
)
+=
m_q
[
i
][
2
]
*
m_q
[
i
][
1
];
m_aqq
(
2
,
2
)
+=
m_q
[
i
][
2
]
*
m_q
[
i
][
2
];
}
m_aqq
=
m_aqq
.
inverse
();
}
template
<
typename
PFP
>
void
ShapeMatchingLinear
<
PFP
>::
initialize
()
{
this
->
initialize
();
computeAqqMatrix
();
}
template
<
typename
PFP
>
void
ShapeMatchingLinear
<
PFP
>::
shapeMatch
()
{
//1.
VEC3
xcm
=
massCenter
();
for
(
unsigned
int
i
=
m_position
.
begin
()
;
i
<
m_position
.
end
()
;
i
=
m_position
.
next
())
{
m_p
[
i
]
=
VEC3
(
m_position
[
i
]
-
xcm
);
//p_{i} = x_{i} - x_{cm}
}
//2.
Eigen
::
Matrix3f
apq
;
apq
=
Eigen
::
Matrix3f
::
Zero
();
for
(
unsigned
int
i
=
0
;
i
<
p
.
size
()
;
++
i
)
{
apq
(
0
,
0
)
+=
m_p
[
i
][
0
]
*
m_q
[
i
][
0
];
apq
(
0
,
1
)
+=
m_p
[
i
][
0
]
*
m_q
[
i
][
1
];
apq
(
0
,
2
)
+=
m_p
[
i
][
0
]
*
m_q
[
i
][
2
];
apq
(
1
,
0
)
+=
m_p
[
i
][
1
]
*
m_q
[
i
][
0
];
apq
(
1
,
1
)
+=
m_p
[
i
][
1
]
*
m_q
[
i
][
1
];
apq
(
1
,
2
)
+=
m_p
[
i
][
1
]
*
m_q
[
i
][
2
];
apq
(
2
,
0
)
+=
m_p
[
i
][
2
]
*
m_q
[
i
][
0
];
apq
(
2
,
1
)
+=
m_p
[
i
][
2
]
*
m_q
[
i
][
1
];
apq
(
2
,
2
)
+=
m_p
[
i
][
2
]
*
m_q
[
i
][
2
];
}
Eigen
::
Matrix3f
S
=
apq
.
transpose
()
*
apq
;
//symmetric matrix
//3. Jacobi Diagonlisation
Eigen
::
JacobiSVD
<
Eigen
::
Matrix3f
>
svd
(
S
,
ComputeFullU
);
Eigen
::
Matrix3f
SR
=
svd
.
matrixU
();
// diagonalization with Jacobi rotations
S
(
0
,
0
)
=
1.0
f
/
sqrt
(
S
(
0
,
0
));
S
(
1
,
1
)
=
1.0
f
/
sqrt
(
S
(
1
,
1
));
S
(
2
,
2
)
=
1.0
f
/
sqrt
(
S
(
2
,
2
));
S
=
SR
*
S
*
SR
.
transpose
();
Eigen
::
Matrix3f
R
=
apq
*
S
;
//S^{-1}
//4.
Eigen
::
Matrix3f
A
=
apq
*
m_aqq
;
//
REAL
det
=
A
.
determinant
();
REAL
detAInv
=
1.0
f
/
powf
(
det
,
1.0
f
/
3.0
f
);
if
(
std
::
isfinite
(
detAInv
))
{
R
(
0
,
0
)
+=
(
m_beta
*
A
(
0
,
0
)
*
detAInv
)
+
((
1.0
f
-
m_beta
)
*
R
(
0
,
0
));
R
(
0
,
1
)
+=
(
m_beta
*
A
(
0
,
1
)
*
detAInv
)
+
((
1.0
f
-
m_beta
)
*
R
(
0
,
1
));
R
(
0
,
2
)
+=
(
m_beta
*
A
(
0
,
2
)
*
detAInv
)
+
((
1.0
f
-
m_beta
)
*
R
(
0
,
2
));
R
(
1
,
0
)
+=
(
m_beta
*
A
(
1
,
0
)
*
detAInv
)
+
((
1.0
f
-
m_beta
)
*
R
(
1
,
0
));
R
(
1
,
1
)
+=
(
m_beta
*
A
(
1
,
1
)
*
detAInv
)
+
((
1.0
f
-
m_beta
)
*
R
(
1
,
1
));
R
(
1
,
2
)
+=
(
m_beta
*
A
(
1
,
2
)
*
detAInv
)
+
((
1.0
f
-
m_beta
)
*
R
(
1
,
2
));
R
(
2
,
0
)
+=
(
m_beta
*
A
(
2
,
0
)
*
detAInv
)
+
((
1.0
f
-
m_beta
)
*
R
(
2
,
0
));
R
(
2
,
1
)
+=
(
m_beta
*
A
(
2
,
1
)
*
detAInv
)
+
((
1.0
f
-
m_beta
)
*
R
(
2
,
1
));
R
(
2
,
2
)
+=
(
m_beta
*
A
(
2
,
2
)
*
detAInv
)
+
((
1.0
f
-
m_beta
)
*
R
(
2
,
2
));
}
else
{
//no linear deformation (planar config ?), applying identity
R
.
identity
();
}
//5.
for
(
unsigned
int
i
=
m_goal
.
begin
()
;
i
<
m_goal
.
end
()
;
i
=
m_goal
.
next
())
{
m_goal
[
i
]
=
R
*
m_q
[
i
]
+
xcm
;
// g_{i} = R * q_i + x_{cm}
}
}
}
// namespace Simulation
}
// namespace Surface
}
// namespace Algo
}
// namespace CGoGN
include/Algo/Simulation/ShapeMatching/shapeMatchingQuadratic.h
0 → 100644
View file @
fd9a5728
/*******************************************************************************
* CGoGN: Combinatorial and Geometric modeling with Generic N-dimensional Maps *
* version 0.1 *
* Copyright (C) 2009-2013, IGG Team, ICube, University of Strasbourg *
* *
* This library is free software; you can redistribute it and/or modify it *
* under the terms of the GNU Lesser General Public License as published by the *
* Free Software Foundation; either version 2.1 of the License, or (at your *
* option) any later version. *
* *
* This library 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 Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this library; if not, write to the Free Software Foundation, *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
* *
* Web site: http://cgogn.unistra.fr/ *
* Contact information: cgogn@unistra.fr *
* *
*******************************************************************************/
#ifndef _SHAPE_MATCHING_QUADRATIC_H_
#define _SHAPE_MATCHING_QUADRATIC_H_
namespace
CGoGN
{
namespace
Algo
{
namespace
Surface
{
namespace
Simulation
{
namespace
ShapeMatching
{
template
<
typename
PFP
>
class
ShapeMatchingQuadratic
:
public
ShapeMatching
<
PFP
>
{
public:
typedef
typename
PFP
::
MAP
MAP
;
typedef
typename
PFP
::
VEC3
VEC3
;
typedef
typename
PFP
::
REAL
REAL
;
protected:
REAL
m_beta
;
// A_{qq}
Eigen
::
Matrix3f
m_aqq
;
Eigen
::
Vector9f
m_qtild
;
// q^{~}_{i} where q^{~} = [q_x, q_y, q_z, q^2_x, q^2_y, q^2_z, q_x q_y , q_y q_z, q_z q_x]
std
::
vector
<
Eigen
::
Vector9f
>
m_qtild
;
private:
void
computeAqqMatrix
();
public:
ShapeMatchingQuadratic
(
VertexAttribute
<
VEC3
>&
position
,
VertexAttribute
<
REAL
>&
mass
,
REAL
beta
)
:
ShapeMatching
(
position
,
mass
),
m_beta
(
beta
)
{
}
~
ShapeMatchingQuadratic
()
{
}
void
initialize
();
void
shapeMatch
();
};
}
// namespace ShapeMatching
}
// namespace Simulation
}
// namespace Surface
}
// namespace Algo
}
// namespace CGoGN
#include "shapeMatchingQuadratic.hpp"
#endif
include/Algo/Simulation/ShapeMatching/shapeMatchingQuadratic.hpp
0 → 100644
View file @
fd9a5728
/*******************************************************************************
* CGoGN: Combinatorial and Geometric modeling with Generic N-dimensional Maps *
* version 0.1 *
* Copyright (C) 2009-2013, IGG Team, ICube, University of Strasbourg *
* *
* This library is free software; you can redistribute it and/or modify it *
* under the terms of the GNU Lesser General Public License as published by the *
* Free Software Foundation; either version 2.1 of the License, or (at your *
* option) any later version. *
* *
* This library 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 Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this library; if not, write to the Free Software Foundation, *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
* *
* Web site: http://cgogn.unistra.fr/ *
* Contact information: cgogn@unistra.fr *
* *
*******************************************************************************/
namespace
CGoGN
{
namespace
Algo
{
namespace
Surface