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fix polar decomposition issue pointed out by Francesc Juhe

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Wenzel Jakob 2015-09-22 19:09:48 +02:00
parent a2dc699cf2
commit 4558b25a55
1 changed files with 5 additions and 4 deletions
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9
src/libcore/track.cpp
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@ -1,6 +1,7 @@
#include <mitsuba/core/track.h> #include <mitsuba/core/track.h>
#include <mitsuba/core/aabb.h> #include <mitsuba/core/aabb.h>
#include <Eigen/SVD> #include <Eigen/SVD>
#include <Eigen/Geometry>
MTS_NAMESPACE_BEGIN MTS_NAMESPACE_BEGIN
@ -354,13 +355,13 @@ void AnimatedTransform::appendTransform(Float time, const Transform &trafo) {
Eigen::JacobiSVD<EMatrix> svd(A, Eigen::ComputeFullU | Eigen::ComputeFullV); Eigen::JacobiSVD<EMatrix> svd(A, Eigen::ComputeFullU | Eigen::ComputeFullV);
EMatrix U = svd.matrixU(), V = svd.matrixV(), S = svd.singularValues().asDiagonal(); EMatrix U = svd.matrixU(), V = svd.matrixV(), S = svd.singularValues().asDiagonal();
if (svd.singularValues().prod() < 0) {
S = -S; U = -U;
}
EMatrix Q = U*V.transpose(); EMatrix Q = U*V.transpose();
EMatrix P = V*S*V.transpose(); EMatrix P = V*S*V.transpose();
if (Q.determinant() < 0) {
Q = -Q; P = -P;
}
VectorTrack *translation = (VectorTrack *) m_tracks[0]; VectorTrack *translation = (VectorTrack *) m_tracks[0];
QuatTrack *rotation = (QuatTrack *) m_tracks[1]; QuatTrack *rotation = (QuatTrack *) m_tracks[1];
VectorTrack *scaling = (VectorTrack *) m_tracks[2]; VectorTrack *scaling = (VectorTrack *) m_tracks[2];