Matrix4x4::Matrix4x4(const Vector& vecForward, const Vector& vecUp, const Vector& vecRight, const Vector& vecPosition)
{
SetForwardVector(vecForward);
SetUpVector(vecUp);
SetRightVector(vecRight);
SetTranslation(vecPosition);
m[0][3] = 0;
m[1][3] = 0;
m[2][3] = 0;
m[3][3] = 1;
}
DescType DescriptorMakerCpu::ComputeEachDescriptor(cl_float4 ctpoint, cl_float4 ctnormal
, const cl_float4* pointCloud, const cl_int* neighborIndices, int niOffset, int numNeighbs
, bool b_print)
{
// matrix for linear equation, solution vector
float linEq[DESC_EQUATION_SIZE];
float ysol[L_DIM];
for(int i=0; i<DESC_EQUATION_SIZE; i++)
linEq[i] = 0;
for(int i=0; i<L_DIM; i++)
ysol[i] = 0;
// set linear equation for matrix A
// set F'*F part
SetUpperLeft(ctpoint, pointCloud, neighborIndices, niOffset, numNeighbs, linEq);
// set G parts
SetUpperRight(ctnormal, linEq);
SetLowerLeft(ctnormal, linEq);
// set b in Ax=b
SetRightVector(ctpoint, ctnormal, pointCloud, neighborIndices, niOffset, numNeighbs, linEq);
if(b_print)
PrintMatrix(L_DIM, L_WIDTH, linEq, "Old: linEq");
SolveLinearEq(L_DIM, linEq, ysol);
if(b_print)
PrintVector(L_DIM, ysol, "Old: ysol");
// compute shape descriptor by using eigen decomposition
cl_float4 descriptor = GetDescriptorByEigenDecomp(ysol);
if(b_print)
std::cout << "Old: descriptor" << descriptor.x << " " << descriptor.y << " " << descriptor.z << std::endl;
// if(b_print)
// qDebug() << "descriptor output" << descriptor;
return descriptor;
}
