| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /* | ||
| 2 | * Copyright (c) 2000-2022 Inria | ||
| 3 | * All rights reserved. | ||
| 4 | * | ||
| 5 | * Redistribution and use in source and binary forms, with or without | ||
| 6 | * modification, are permitted provided that the following conditions are met: | ||
| 7 | * | ||
| 8 | * * Redistributions of source code must retain the above copyright notice, | ||
| 9 | * this list of conditions and the following disclaimer. | ||
| 10 | * * Redistributions in binary form must reproduce the above copyright notice, | ||
| 11 | * this list of conditions and the following disclaimer in the documentation | ||
| 12 | * and/or other materials provided with the distribution. | ||
| 13 | * * Neither the name of the ALICE Project-Team nor the names of its | ||
| 14 | * contributors may be used to endorse or promote products derived from this | ||
| 15 | * software without specific prior written permission. | ||
| 16 | * | ||
| 17 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| 18 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| 19 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| 20 | * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE | ||
| 21 | * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| 22 | * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| 23 | * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| 24 | * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| 25 | * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| 26 | * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| 27 | * POSSIBILITY OF SUCH DAMAGE. | ||
| 28 | * | ||
| 29 | * Contact: Bruno Levy | ||
| 30 | * | ||
| 31 | * https://www.inria.fr/fr/bruno-levy | ||
| 32 | * | ||
| 33 | * Inria, | ||
| 34 | * Domaine de Voluceau, | ||
| 35 | * 78150 Le Chesnay - Rocquencourt | ||
| 36 | * FRANCE | ||
| 37 | * | ||
| 38 | */ | ||
| 39 | #include <geogram/points/principal_axes.h> | ||
| 40 | |||
| 41 | namespace GEO { | ||
| 42 | |||
| 43 |
2/2✓ Branch 1 taken 24 times.
✓ Branch 2 taken 8 times.
|
32 | PrincipalAxes3d::PrincipalAxes3d() { |
| 44 | 8 | } | |
| 45 | |||
| 46 | 158810 | void PrincipalAxes3d::begin() { | |
| 47 | 158810 | nb_points_ = 0; | |
| 48 | 158810 | sum_weights_ = 0; | |
| 49 | 158810 | center_[0] = 0.0; | |
| 50 | 158810 | center_[1] = 0.0; | |
| 51 | 158810 | center_[2] = 0.0; | |
| 52 | 158810 | M_[0] = M_[1] = M_[2] = M_[3] = M_[4] = M_[5] = 0.0; | |
| 53 | 158810 | } | |
| 54 | |||
| 55 | 158810 | void PrincipalAxes3d::end() { | |
| 56 | 158810 | center_[0] /= sum_weights_ ; | |
| 57 | 158810 | center_[1] /= sum_weights_ ; | |
| 58 | 158810 | center_[2] /= sum_weights_ ; | |
| 59 | |||
| 60 | // If the system is under-determined, | ||
| 61 | // return the trivial basis. | ||
| 62 |
1/2✗ Branch 0 not taken.
✓ Branch 1 taken 158810 times.
|
158810 | if(nb_points_ < 4) { |
| 63 | ✗ | axis_[0] = vec3(1,0,0) ; | |
| 64 | ✗ | axis_[1] = vec3(0,1,0) ; | |
| 65 | ✗ | axis_[2] = vec3(0,0,1) ; | |
| 66 | ✗ | eigen_value_[0] = 1.0 ; | |
| 67 | ✗ | eigen_value_[1] = 1.0 ; | |
| 68 | ✗ | eigen_value_[2] = 1.0 ; | |
| 69 | } else { | ||
| 70 | 158810 | double x = center_[0] ; | |
| 71 | 158810 | double y = center_[1] ; | |
| 72 | 158810 | double z = center_[2] ; | |
| 73 | |||
| 74 | 158810 | M_[0] = M_[0]/sum_weights_ - x*x ; | |
| 75 | 158810 | M_[1] = M_[1]/sum_weights_ - x*y ; | |
| 76 | 158810 | M_[2] = M_[2]/sum_weights_ - y*y ; | |
| 77 | 158810 | M_[3] = M_[3]/sum_weights_ - x*z ; | |
| 78 | 158810 | M_[4] = M_[4]/sum_weights_ - y*z ; | |
| 79 | 158810 | M_[5] = M_[5]/sum_weights_ - z*z ; | |
| 80 | |||
| 81 |
1/2✗ Branch 0 not taken.
✓ Branch 1 taken 158810 times.
|
158810 | if( M_[0] <= 0 ) { |
| 82 | ✗ | M_[0] = 1.e-30 ; | |
| 83 | } | ||
| 84 |
2/2✓ Branch 0 taken 81 times.
✓ Branch 1 taken 158729 times.
|
158810 | if( M_[2] <= 0 ) { |
| 85 | 81 | M_[2] = 1.e-30 ; | |
| 86 | } | ||
| 87 |
1/2✗ Branch 0 not taken.
✓ Branch 1 taken 158810 times.
|
158810 | if( M_[5] <= 0 ) { |
| 88 | ✗ | M_[5] = 1.e-30 ; | |
| 89 | } | ||
| 90 | |||
| 91 | double eigen_vectors[9] ; | ||
| 92 | 158810 | MatrixUtil::semi_definite_symmetric_eigen( | |
| 93 |
1/2✓ Branch 1 taken 158810 times.
✗ Branch 2 not taken.
|
158810 | M_, 3, eigen_vectors, eigen_value_ |
| 94 | ) ; | ||
| 95 | |||
| 96 | 158810 | axis_[0] = vec3( | |
| 97 | eigen_vectors[0], eigen_vectors[1], eigen_vectors[2] | ||
| 98 | 158810 | ); | |
| 99 | |||
| 100 | 158810 | axis_[1] = vec3( | |
| 101 | eigen_vectors[3], eigen_vectors[4], eigen_vectors[5] | ||
| 102 | 158810 | ); | |
| 103 | |||
| 104 | 158810 | axis_[2] = vec3( | |
| 105 | eigen_vectors[6], eigen_vectors[7], eigen_vectors[8] | ||
| 106 | 158810 | ); | |
| 107 | |||
| 108 | // Normalize the eigen vectors | ||
| 109 | |||
| 110 |
2/2✓ Branch 0 taken 476430 times.
✓ Branch 1 taken 158810 times.
|
635240 | for(int i=0; i<3; i++) { |
| 111 |
1/2✓ Branch 1 taken 476430 times.
✗ Branch 2 not taken.
|
476430 | axis_[i] = normalize(axis_[i]) ; |
| 112 | } | ||
| 113 | } | ||
| 114 | 158810 | } | |
| 115 | |||
| 116 | 4764300 | void PrincipalAxes3d::add_point(const vec3& p, double weight) { | |
| 117 | 4764300 | center_[0] += p.x * weight ; | |
| 118 | 4764300 | center_[1] += p.y * weight ; | |
| 119 | 4764300 | center_[2] += p.z * weight ; | |
| 120 | |||
| 121 | 4764300 | double x = p.x ; | |
| 122 | 4764300 | double y = p.y ; | |
| 123 | 4764300 | double z = p.z ; | |
| 124 | |||
| 125 | 4764300 | M_[0] += weight * x*x ; | |
| 126 | 4764300 | M_[1] += weight * x*y ; | |
| 127 | 4764300 | M_[2] += weight * y*y ; | |
| 128 | 4764300 | M_[3] += weight * x*z ; | |
| 129 | 4764300 | M_[4] += weight * y*z ; | |
| 130 | 4764300 | M_[5] += weight * z*z ; | |
| 131 | |||
| 132 | 4764300 | nb_points_++ ; | |
| 133 | 4764300 | sum_weights_ += weight ; | |
| 134 | 4764300 | } | |
| 135 | |||
| 136 | |||
| 137 | } | ||
| 138 |