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2ae2672ee9
Fixing dep build script on Windows and removing some warnings. Use bundled igl by default. Not building with the dependency scripts if not explicitly stated. This way, it will stay in Fix the libigl patch to include C source files in header only mode.
98 lines
3.0 KiB
C++
98 lines
3.0 KiB
C++
// 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 "min_quad_dense.h"
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#include <Eigen/Core>
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#include <Eigen/LU>
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#include "EPS.h"
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#include <cstdio>
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template <typename T>
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IGL_INLINE void igl::min_quad_dense_precompute(
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const Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic>& A,
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const Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic>& Aeq,
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const bool use_lu_decomposition,
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Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic>& S)
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{
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typedef Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic> Mat;
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// This threshold seems to matter a lot but I'm not sure how to
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// set it
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const T treshold = igl::FLOAT_EPS;
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//const T treshold = igl::DOUBLE_EPS;
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const int n = A.rows();
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assert(A.cols() == n);
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const int m = Aeq.rows();
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assert(Aeq.cols() == n);
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// Lagrange multipliers method:
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Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic> LM(n + m, n + m);
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LM.block(0, 0, n, n) = A;
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LM.block(0, n, n, m) = Aeq.transpose();
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LM.block(n, 0, m, n) = Aeq;
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LM.block(n, n, m, m).setZero();
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Mat LMpinv;
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if(use_lu_decomposition)
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{
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// if LM is close to singular, use at your own risk :)
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LMpinv = LM.inverse();
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}else
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{
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// use SVD
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typedef Eigen::Matrix<T, Eigen::Dynamic, 1> Vec;
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Vec singValues;
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Eigen::JacobiSVD<Mat> svd;
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svd.compute(LM, Eigen::ComputeFullU | Eigen::ComputeFullV );
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const Mat& u = svd.matrixU();
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const Mat& v = svd.matrixV();
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const Vec& singVals = svd.singularValues();
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Vec pi_singVals(n + m);
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int zeroed = 0;
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for (int i=0; i<n + m; i++)
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{
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T sv = singVals(i, 0);
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assert(sv >= 0);
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// printf("sv: %lg ? %lg\n",(double) sv,(double)treshold);
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if (sv > treshold) pi_singVals(i, 0) = T(1) / sv;
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else
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{
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pi_singVals(i, 0) = T(0);
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zeroed++;
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}
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}
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printf("min_quad_dense_precompute: %i singular values zeroed (threshold = %e)\n", zeroed, treshold);
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Eigen::DiagonalMatrix<T, Eigen::Dynamic> pi_diag(pi_singVals);
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LMpinv = v * pi_diag * u.transpose();
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}
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S = LMpinv.block(0, 0, n, n + m);
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//// debug:
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//mlinit(&g_pEngine);
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//
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//mlsetmatrix(&g_pEngine, "A", A);
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//mlsetmatrix(&g_pEngine, "Aeq", Aeq);
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//mlsetmatrix(&g_pEngine, "LM", LM);
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//mlsetmatrix(&g_pEngine, "u", u);
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//mlsetmatrix(&g_pEngine, "v", v);
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//MatrixXd svMat = singVals;
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//mlsetmatrix(&g_pEngine, "singVals", svMat);
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//mlsetmatrix(&g_pEngine, "LMpinv", LMpinv);
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//mlsetmatrix(&g_pEngine, "S", S);
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//int hu = 1;
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}
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#ifdef IGL_STATIC_LIBRARY
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// Explicit template instantiation
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template void igl::min_quad_dense_precompute<double>(Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, bool, Eigen::Matrix<double, -1, -1, 0, -1, -1>&);
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#endif
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