int main( )
{
MyMesh m;
vcg::tri::Icosahedron(m);
vcg::tri::UpdateNormal<MyMesh>::PerVertexNormalizedPerFaceNormalized(m);
vcg::tri::UpdateBounding<MyMesh>::Box(m);
// As a simple test we get a few random points on a mesh,
// we rot and trans them
// and we fit them
std::vector<vcg::Point3f> ExactVec;
std::vector<vcg::Point3f> PerturbVec;
tri::MontecarloSampling(m,ExactVec,10);
PerturbVec=ExactVec;
Matrix44f RotM;
Matrix44f TraM;
Point3f dir;
vcg::math::MarsenneTwisterRNG rnd;
vcg::math::GeneratePointInUnitBallUniform<float>(rnd);
RotM.SetRotateDeg(rand()%360,dir);
TraM.SetTranslate(1,2,3);
Matrix44f RigidM = RotM*TraM;
for(size_t i=0;i<ExactVec.size();++i)
PerturbVec[i]=RigidM*ExactVec[i];
Quaternionf q;
Point3f tr;
Matrix44f res;
ComputeRigidMatchMatrix(PerturbVec,ExactVec,res);
res.print();
RigidM.print();
return 0;
}
