95 lines
2.7 KiB
C++
95 lines
2.7 KiB
C++
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// This file is part of libigl, a simple c++ geometry processing library.
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//
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// Copyright (C) 2013 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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#include "polar_svd3x3.h"
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#include "svd3x3.h"
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#ifdef __SSE__
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# include "svd3x3_sse.h"
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#endif
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#ifdef __AVX__
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# include "svd3x3_avx.h"
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#endif
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template<typename Mat>
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IGL_INLINE void igl::polar_svd3x3(const Mat& A, Mat& R)
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{
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// should be caught at compile time, but just to be 150% sure:
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assert(A.rows() == 3 && A.cols() == 3);
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Eigen::Matrix<typename Mat::Scalar, 3, 3> U, Vt;
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Eigen::Matrix<typename Mat::Scalar, 3, 1> S;
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svd3x3(A, U, S, Vt);
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R = U * Vt.transpose();
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}
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#ifdef __SSE__
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template<typename T>
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IGL_INLINE void igl::polar_svd3x3_sse(const Eigen::Matrix<T, 3*4, 3>& A, Eigen::Matrix<T, 3*4, 3> &R)
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{
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// should be caught at compile time, but just to be 150% sure:
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assert(A.rows() == 3*4 && A.cols() == 3);
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Eigen::Matrix<T, 3*4, 3> U, Vt;
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Eigen::Matrix<T, 3*4, 1> S;
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svd3x3_sse(A, U, S, Vt);
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for (int k=0; k<4; k++)
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{
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R.block(3*k, 0, 3, 3) = U.block(3*k, 0, 3, 3) * Vt.block(3*k, 0, 3, 3).transpose();
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}
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//// test:
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//for (int k=0; k<4; k++)
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//{
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// Eigen::Matrix3f Apart = A.block(3*k, 0, 3, 3);
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// Eigen::Matrix3f Rpart;
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// polar_svd3x3(Apart, Rpart);
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// Eigen::Matrix3f Rpart_SSE = R.block(3*k, 0, 3, 3);
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// Eigen::Matrix3f diff = Rpart - Rpart_SSE;
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// float diffNorm = diff.norm();
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// int hu = 1;
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//}
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//// eof test
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}
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#endif
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#ifdef __AVX__
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template<typename T>
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IGL_INLINE void igl::polar_svd3x3_avx(const Eigen::Matrix<T, 3*8, 3>& A, Eigen::Matrix<T, 3*8, 3> &R)
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{
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// should be caught at compile time, but just to be 150% sure:
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assert(A.rows() == 3*8 && A.cols() == 3);
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Eigen::Matrix<T, 3*8, 3> U, Vt;
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Eigen::Matrix<T, 3*8, 1> S;
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svd3x3_avx(A, U, S, Vt);
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for (int k=0; k<8; k++)
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{
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R.block(3*k, 0, 3, 3) = U.block(3*k, 0, 3, 3) * Vt.block(3*k, 0, 3, 3).transpose();
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}
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}
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#endif
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#ifdef IGL_STATIC_LIBRARY
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// Explicit template instantiation
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template void igl::polar_svd3x3<Eigen::Matrix<double, 3, 3, 0, 3, 3> >(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3>&);
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template void igl::polar_svd3x3<Eigen::Matrix<float,3,3,0,3,3> >(Eigen::Matrix<float,3,3,0,3,3> const &,Eigen::Matrix<float,3,3,0,3,3> &);
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#ifdef __SSE__
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template void igl::polar_svd3x3_sse<float>(Eigen::Matrix<float, 12, 3, 0, 12, 3> const&, Eigen::Matrix<float, 12, 3, 0, 12, 3>&);
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#endif
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#ifdef __AVX__
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template void igl::polar_svd3x3_avx<float>(Eigen::Matrix<float, 24, 3, 0, 24, 3> const&, Eigen::Matrix<float, 24, 3, 0, 24, 3>&);
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#endif
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#endif
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