void do_solve(double sumXX, double sumXY, double sumXZ, double sumYY, double sumYZ, double sumZZ, double invSumMultiplier)
{
sumXX *= invSumMultiplier;
sumXY *= invSumMultiplier;
sumXZ *= invSumMultiplier;
sumYY *= invSumMultiplier;
sumYZ *= invSumMultiplier;
sumZZ *= invSumMultiplier;
double[] matrix = new double[] {
sumXX, sumXY, sumXZ,
sumXY, sumYY, sumYZ,
sumXZ, sumYZ, sumZZ
};
// Setup the eigensolver.
SymmetricEigenSolver solver = new SymmetricEigenSolver(3, 4096);
int iters = solver.Solve(matrix, SymmetricEigenSolver.SortType.Increasing);
ResultValid = (iters > 0 && iters < SymmetricEigenSolver.NO_CONVERGENCE);
if (ResultValid)
{
Box.Extent = new Vector3d(solver.GetEigenvalues());
double[] evectors = solver.GetEigenvectors();
Box.AxisX = new Vector3d(evectors[0], evectors[1], evectors[2]);
Box.AxisY = new Vector3d(evectors[3], evectors[4], evectors[5]);
Box.AxisZ = new Vector3d(evectors[6], evectors[7], evectors[8]);
}
}
public GaussPointsFit3(IEnumerable <Vector3d> points)
{
Box = new Box3d(Vector3d.Zero, Vector3d.One);
// Compute the mean of the points.
int numPoints = 0;
foreach (Vector3d v in points)
{
Box.Center += v;
numPoints++;
}
double invNumPoints = (1.0) / numPoints;
Box.Center *= invNumPoints;
// Compute the covariance matrix of the points.
double sumXX = (double)0, sumXY = (double)0, sumXZ = (double)0;
double sumYY = (double)0, sumYZ = (double)0, sumZZ = (double)0;
foreach (Vector3d p in points)
{
Vector3d diff = p - Box.Center;
sumXX += diff[0] * diff[0];
sumXY += diff[0] * diff[1];
sumXZ += diff[0] * diff[2];
sumYY += diff[1] * diff[1];
sumYZ += diff[1] * diff[2];
sumZZ += diff[2] * diff[2];
}
sumXX *= invNumPoints;
sumXY *= invNumPoints;
sumXZ *= invNumPoints;
sumYY *= invNumPoints;
sumYZ *= invNumPoints;
sumZZ *= invNumPoints;
double[] matrix = new double[] {
sumXX, sumXY, sumXZ,
sumXY, sumYY, sumYZ,
sumXZ, sumYZ, sumZZ
};
// Setup the eigensolver.
SymmetricEigenSolver solver = new SymmetricEigenSolver(3, 4096);
int iters = solver.Solve(matrix, SymmetricEigenSolver.SortType.Increasing);
ResultValid = (iters > 0 && iters < SymmetricEigenSolver.NO_CONVERGENCE);
Box.Extent = new Vector3d(solver.GetEigenvalues());
double[] evectors = solver.GetEigenvectors();
Box.AxisX = new Vector3d(evectors[0], evectors[1], evectors[2]);
Box.AxisY = new Vector3d(evectors[3], evectors[4], evectors[5]);
Box.AxisZ = new Vector3d(evectors[6], evectors[7], evectors[8]);
}