467 lines
8.3 KiB
C++
467 lines
8.3 KiB
C++
#include <windows.h>
|
|
#include <stdlib.h>
|
|
#include <stdio.h>
|
|
#include <assert.h>
|
|
#include <fstream>
|
|
#include <iostream>
|
|
#include <strstream>
|
|
#include <string>
|
|
#include <math.h>
|
|
using namespace std;
|
|
|
|
static double at,bt,ct;
|
|
#define PYTHAG(a,b) ((at=fabs(a)) > (bt=fabs(b)) ? \
|
|
(ct=bt/at,at*sqrt(1.0+ct*ct)) : (bt ? (ct=at/bt,bt*sqrt(1.0+ct*ct)): 0.0))
|
|
|
|
static double maxarg1,maxarg2;
|
|
#define MAX(a,b) (maxarg1=(a),maxarg2=(b),(maxarg1) > (maxarg2) ?\
|
|
(maxarg1) : (maxarg2))
|
|
#define SIGN(a,b) ((b) >= 0.0 ? fabs(a) : -fabs(a))
|
|
|
|
void ntrerror(char *s)
|
|
{
|
|
printf("%s\n",s);
|
|
DebugBreak();
|
|
exit(1);
|
|
}
|
|
|
|
double *allocVect(int sz)
|
|
{
|
|
double *ret=new double[sz];
|
|
ret--;
|
|
return ret;
|
|
}
|
|
|
|
void freeVect(double *ret)
|
|
{
|
|
ret++;
|
|
delete[] ret;
|
|
}
|
|
|
|
double **allocMatrix(int r,int c)
|
|
{
|
|
double **ret=new double *[r];
|
|
int i;
|
|
for (i=0;i<r;i++)
|
|
ret[i]=allocVect(c);
|
|
ret--;
|
|
return ret;
|
|
}
|
|
|
|
void freeMatrix(double **ret,int r)
|
|
{
|
|
ret++;
|
|
int i;
|
|
for (i=0;i<r;i++)
|
|
freeVect(ret[i]);
|
|
delete[] ret;
|
|
}
|
|
|
|
void svdcmp(double** a, int m, int n, double* w, double** v)
|
|
{
|
|
int flag,i,its,j,jj,k,l,nm;
|
|
double c,f,h,s,x,y,z;
|
|
double anorm=0.0,g=0.0,scale=0.0;
|
|
double *rv1;
|
|
void nrerror();
|
|
|
|
if (m < n) ntrerror("SVDCMP: You must augment A with extra zero rows");
|
|
rv1=allocVect(n);
|
|
for (i=1;i<=n;i++) {
|
|
l=i+1;
|
|
rv1[i]=scale*g;
|
|
g=s=scale=0.0;
|
|
if (i <= m) {
|
|
for (k=i;k<=m;k++) scale += fabs(a[k][i]);
|
|
if (scale) {
|
|
for (k=i;k<=m;k++) {
|
|
a[k][i] /= scale;
|
|
s += a[k][i]*a[k][i];
|
|
}
|
|
f=a[i][i];
|
|
g = -SIGN(sqrt(s),f);
|
|
h=f*g-s;
|
|
a[i][i]=f-g;
|
|
if (i != n) {
|
|
for (j=l;j<=n;j++) {
|
|
for (s=0.0,k=i;k<=m;k++) s += a[k][i]*a[k][j];
|
|
f=s/h;
|
|
for (k=i;k<=m;k++) a[k][j] += f*a[k][i];
|
|
}
|
|
}
|
|
for (k=i;k<=m;k++) a[k][i] *= scale;
|
|
}
|
|
}
|
|
w[i]=scale*g;
|
|
g=s=scale=0.0;
|
|
if (i <= m && i != n) {
|
|
for (k=l;k<=n;k++) scale += fabs(a[i][k]);
|
|
if (scale) {
|
|
for (k=l;k<=n;k++) {
|
|
a[i][k] /= scale;
|
|
s += a[i][k]*a[i][k];
|
|
}
|
|
f=a[i][l];
|
|
g = -SIGN(sqrt(s),f);
|
|
h=f*g-s;
|
|
a[i][l]=f-g;
|
|
for (k=l;k<=n;k++) rv1[k]=a[i][k]/h;
|
|
if (i != m) {
|
|
for (j=l;j<=m;j++) {
|
|
for (s=0.0,k=l;k<=n;k++) s += a[j][k]*a[i][k];
|
|
for (k=l;k<=n;k++) a[j][k] += s*rv1[k];
|
|
}
|
|
}
|
|
for (k=l;k<=n;k++) a[i][k] *= scale;
|
|
}
|
|
}
|
|
anorm=MAX(anorm,(fabs(w[i])+fabs(rv1[i])));
|
|
}
|
|
for (i=n;i>=1;i--) {
|
|
if (i < n) {
|
|
if (g) {
|
|
for (j=l;j<=n;j++)
|
|
v[j][i]=(a[i][j]/a[i][l])/g;
|
|
for (j=l;j<=n;j++) {
|
|
for (s=0.0,k=l;k<=n;k++) s += a[i][k]*v[k][j];
|
|
for (k=l;k<=n;k++) v[k][j] += s*v[k][i];
|
|
}
|
|
}
|
|
for (j=l;j<=n;j++) v[i][j]=v[j][i]=0.0;
|
|
}
|
|
v[i][i]=1.0;
|
|
g=rv1[i];
|
|
l=i;
|
|
}
|
|
for (i=n;i>=1;i--) {
|
|
l=i+1;
|
|
g=w[i];
|
|
if (i < n)
|
|
for (j=l;j<=n;j++) a[i][j]=0.0;
|
|
if (g) {
|
|
g=1.0/g;
|
|
if (i != n) {
|
|
for (j=l;j<=n;j++) {
|
|
for (s=0.0,k=l;k<=m;k++) s += a[k][i]*a[k][j];
|
|
f=(s/a[i][i])*g;
|
|
for (k=i;k<=m;k++) a[k][j] += f*a[k][i];
|
|
}
|
|
}
|
|
for (j=i;j<=m;j++) a[j][i] *= g;
|
|
} else {
|
|
for (j=i;j<=m;j++) a[j][i]=0.0;
|
|
}
|
|
++a[i][i];
|
|
}
|
|
for (k=n;k>=1;k--) {
|
|
for (its=1;its<=30;its++) {
|
|
flag=1;
|
|
for (l=k;l>=1;l--) {
|
|
nm=l-1;
|
|
if (fabs(rv1[l])+anorm == anorm) {
|
|
flag=0;
|
|
break;
|
|
}
|
|
if (fabs(w[nm])+anorm == anorm) break;
|
|
}
|
|
if (flag) {
|
|
c=0.0;
|
|
s=1.0;
|
|
for (i=l;i<=k;i++) {
|
|
f=s*rv1[i];
|
|
if (fabs(f)+anorm != anorm) {
|
|
g=w[i];
|
|
h=PYTHAG(f,g);
|
|
w[i]=h;
|
|
h=1.0/h;
|
|
c=g*h;
|
|
s=(-f*h);
|
|
for (j=1;j<=m;j++) {
|
|
y=a[j][nm];
|
|
z=a[j][i];
|
|
a[j][nm]=y*c+z*s;
|
|
a[j][i]=z*c-y*s;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
z=w[k];
|
|
if (l == k) {
|
|
if (z < 0.0) {
|
|
w[k] = -z;
|
|
for (j=1;j<=n;j++) v[j][k]=(-v[j][k]);
|
|
}
|
|
break;
|
|
}
|
|
if (its == 30) ntrerror("No convergence in 30 SVDCMP iterations");
|
|
x=w[l];
|
|
nm=k-1;
|
|
y=w[nm];
|
|
g=rv1[nm];
|
|
h=rv1[k];
|
|
f=((y-z)*(y+z)+(g-h)*(g+h))/(2.0*h*y);
|
|
g=PYTHAG(f,1.0);
|
|
f=((x-z)*(x+z)+h*((y/(f+SIGN(g,f)))-h))/x;
|
|
c=s=1.0;
|
|
for (j=l;j<=nm;j++) {
|
|
i=j+1;
|
|
g=rv1[i];
|
|
y=w[i];
|
|
h=s*g;
|
|
g=c*g;
|
|
z=PYTHAG(f,h);
|
|
rv1[j]=z;
|
|
c=f/z;
|
|
s=h/z;
|
|
f=x*c+g*s;
|
|
g=g*c-x*s;
|
|
h=y*s;
|
|
y=y*c;
|
|
for (jj=1;jj<=n;jj++) {
|
|
x=v[jj][j];
|
|
z=v[jj][i];
|
|
v[jj][j]=x*c+z*s;
|
|
v[jj][i]=z*c-x*s;
|
|
}
|
|
z=PYTHAG(f,h);
|
|
w[j]=z;
|
|
if (z) {
|
|
z=1.0/z;
|
|
c=f*z;
|
|
s=h*z;
|
|
}
|
|
f=(c*g)+(s*y);
|
|
x=(c*y)-(s*g);
|
|
for (jj=1;jj<=m;jj++) {
|
|
y=a[jj][j];
|
|
z=a[jj][i];
|
|
a[jj][j]=y*c+z*s;
|
|
a[jj][i]=z*c-y*s;
|
|
}
|
|
}
|
|
rv1[l]=0.0;
|
|
rv1[k]=f;
|
|
w[k]=x;
|
|
}
|
|
}
|
|
freeVect(rv1);
|
|
}
|
|
|
|
|
|
|
|
void svbksb(double** u, double* w, double** v,int m, int n, double* b, double* x)
|
|
{
|
|
int jj,j,i;
|
|
double s,*tmp;
|
|
tmp=allocVect(n);
|
|
for (j=1;j<=n;j++)
|
|
{
|
|
s=0.0;
|
|
if (w[j])
|
|
{
|
|
for (i=1;i<=m;i++)
|
|
s += u[i][j]*b[i];
|
|
s /= w[j];
|
|
}
|
|
tmp[j]=s;
|
|
}
|
|
for (j=1;j<=n;j++)
|
|
{
|
|
s=0.0;
|
|
for (jj=1;jj<=n;jj++)
|
|
s += v[j][jj]*tmp[jj];
|
|
x[j]=s;
|
|
}
|
|
freeVect(tmp);
|
|
}
|
|
|
|
#undef SIGN
|
|
#undef MAX
|
|
#undef PYTHAG
|
|
|
|
|
|
#if 1
|
|
void DOsvd(float *a,float *res,float *comp,float *values,int nframes,int framesize,int compressedsize)
|
|
{
|
|
int *remap;
|
|
int i,j;
|
|
double **da=allocMatrix(framesize,nframes);
|
|
double **v=allocMatrix(nframes,nframes);
|
|
double *w=allocVect(nframes);
|
|
bool DOFerr = false;
|
|
for (i=0;i<nframes;i++)
|
|
{
|
|
for (j=0;j<framesize;j++)
|
|
da[j+1][i+1]=a[i*framesize+j];
|
|
}
|
|
|
|
svdcmp(da,framesize,nframes,w,v);
|
|
|
|
remap=new int[nframes];
|
|
|
|
|
|
for (i=0;i<nframes;i++)
|
|
remap[i]=-1;
|
|
float mx;
|
|
int bestat;
|
|
for (j=0;j<compressedsize;j++)
|
|
{
|
|
mx=-1.0f;
|
|
for (i=0;i<nframes;i++)
|
|
{
|
|
if (remap[i]<0&&fabs(w[i+1])>mx)
|
|
{
|
|
mx=fabs(w[i+1]);
|
|
bestat=i;
|
|
}
|
|
}
|
|
|
|
if(mx>0)
|
|
{
|
|
remap[bestat]=j;
|
|
}
|
|
else
|
|
{
|
|
DOFerr = true;
|
|
}
|
|
}
|
|
|
|
if(DOFerr)
|
|
{
|
|
printf("Warning: To many degrees of freedom! File size may increase\n");
|
|
|
|
for (i=0;i<compressedsize;i++)
|
|
{
|
|
values[i]=0;
|
|
for (j=0;j<framesize;j++)
|
|
res[i*framesize+j]=0;
|
|
}
|
|
}
|
|
|
|
for (i=0;i<nframes;i++)
|
|
{
|
|
if (remap[i]<0)
|
|
w[i+1]=0.0;
|
|
else
|
|
{
|
|
values[remap[i]]=w[i+1];
|
|
for (j=0;j<framesize;j++)
|
|
res[remap[i]*framesize+j]=da[j+1][i+1];
|
|
}
|
|
}
|
|
freeVect(w);
|
|
freeMatrix(v,nframes);
|
|
freeMatrix(da,framesize);
|
|
delete[] remap;
|
|
}
|
|
|
|
#else
|
|
|
|
void DOsvd(float *a,float *res,float *comp,float *values,int nframes,int framesize,int compressedsize)
|
|
{
|
|
int *remap;
|
|
int i,j;
|
|
int nrows;
|
|
nrows=nframes;
|
|
if (nrows<framesize)
|
|
nrows=framesize;
|
|
double **da=allocMatrix(nrows,framesize);
|
|
double **v=allocMatrix(framesize,framesize);
|
|
double *w=allocVect(framesize);
|
|
for (j=0;j<framesize;j++)
|
|
{
|
|
for (i=0;i<nframes;i++)
|
|
da[j+1][i+1]=a[i*framesize+j];
|
|
for (;i<nrows;i++)
|
|
da[j+1][i+1]=0.0;
|
|
}
|
|
|
|
svdcmp(da,nrows,framesize,w,v);
|
|
|
|
remap=new int[framesize];
|
|
|
|
|
|
for (i=0;i<framesize;i++)
|
|
remap[i]=-1;
|
|
float mx;
|
|
int bestat;
|
|
for (j=0;j<compressedsize;j++)
|
|
{
|
|
mx=-1.0f;
|
|
for (i=0;i<framesize;i++)
|
|
{
|
|
if (remap[i]<0&&fabs(w[i+1])>mx)
|
|
{
|
|
mx=fabs(w[i+1]);
|
|
bestat=i;
|
|
}
|
|
}
|
|
assert(mx>-.5f);
|
|
remap[bestat]=j;
|
|
}
|
|
// josh **DO NOT** put your dof>nframes mod here
|
|
for (i=0;i<framesize;i++)
|
|
{
|
|
if (remap[i]<0)
|
|
w[i+1]=0.0;
|
|
else
|
|
{
|
|
values[remap[i]]=w[i+1];
|
|
for (j=0;j<framesize;j++)
|
|
res[remap[i]*framesize+j]=v[j+1][i+1];
|
|
}
|
|
}
|
|
freeVect(w);
|
|
freeMatrix(v,framesize);
|
|
freeMatrix(da,nrows);
|
|
delete[] remap;
|
|
}
|
|
|
|
#endif
|
|
|
|
extern "C"
|
|
|
|
void DOsvdPlane(float *pnts,int npnts,float *n,float *base)
|
|
{
|
|
int i,j;
|
|
double **da=allocMatrix(npnts,3);
|
|
double **v=allocMatrix(3,3);
|
|
double *w=allocVect(3);
|
|
|
|
assert(npnts>=3);
|
|
base[0]=pnts[0];
|
|
base[1]=pnts[1];
|
|
base[2]=pnts[2];
|
|
for (i=1;i<npnts;i++)
|
|
{
|
|
for (j=0;j<3;j++)
|
|
base[j]+=pnts[i*3+j];
|
|
}
|
|
base[0]/=float(npnts);
|
|
base[1]/=float(npnts);
|
|
base[2]/=float(npnts);
|
|
|
|
for (i=0;i<3;i++)
|
|
{
|
|
for (j=0;j<npnts;j++)
|
|
da[j+1][i+1]=pnts[j*3+i]-base[i];
|
|
}
|
|
|
|
svdcmp(da,npnts,3,w,v);
|
|
float mn=1E30f;
|
|
int bestat;
|
|
for (i=0;i<3;i++)
|
|
{
|
|
if (fabs(w[i+1])<mn)
|
|
{
|
|
mn=fabs(w[i+1]);
|
|
bestat=i;
|
|
}
|
|
}
|
|
n[0]=v[1][bestat+1];
|
|
n[1]=v[2][bestat+1];
|
|
n[2]=v[3][bestat+1];
|
|
freeVect(w);
|
|
freeMatrix(v,3);
|
|
freeMatrix(da,npnts);
|
|
}
|