MRPointToPlaneAligningTransform.h

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#pragma once
 
#include "MRMeshFwd.h"
#include "MRRigidScaleXf3.h"
#include <MRPch/MREigenCore.h>
 
namespace MR
{
 
 
class PointToPlaneAligningTransform
{
public:
    MRMESH_API void add( const Vector3d& p1, const Vector3d& p2, const Vector3d& normal2, double w = 1 );
 
    void add( const Vector3f& p1, const Vector3f& p2, const Vector3f& normal2, float w = 1 ) { add( Vector3d( p1 ), Vector3d( p2 ), Vector3d( normal2 ), w ); }
 
    MRMESH_API void prepare();
 
    void clear() { *this = {}; }
 
    [[nodiscard]] AffineXf3d findBestRigidXf() const { return calculateAmendment().rigidScaleXf(); }
 
    [[nodiscard]] AffineXf3d findBestRigidScaleXf() const { return calculateAmendmentWithScale().rigidScaleXf(); }
 
    [[nodiscard]] AffineXf3d findBestRigidXfFixedRotationAxis( const Vector3d & axis ) const { return calculateFixedAxisAmendment( axis ).rigidScaleXf(); }
 
    [[nodiscard]] AffineXf3d findBestRigidXfOrthogonalRotationAxis( const Vector3d& ort ) const { return calculateOrthogonalAxisAmendment( ort ).rigidScaleXf(); }
 
    [[nodiscard]] MRMESH_API Vector3d findBestTranslation( Vector3d rotAngles = {}, double scale = 1 ) const;
 
    [[nodiscard]] MRMESH_API RigidScaleXf3d calculateAmendment() const;
    
    [[nodiscard]] MRMESH_API RigidScaleXf3d calculateAmendmentWithScale() const;
 
    [[nodiscard]] MRMESH_API RigidScaleXf3d calculateFixedAxisAmendment( const Vector3d & axis ) const;
 
    [[nodiscard]] MRMESH_API RigidScaleXf3d calculateOrthogonalAxisAmendment( const Vector3d& ort ) const;
 
private:
    Eigen::Matrix<double, 7, 7> sumA_ = Eigen::Matrix<double, 7, 7>::Zero();
    Eigen::Vector<double, 7> sumB_ = Eigen::Vector<double, 7>::Zero();
    bool sumAIsSym_ = true;
};
 
 
} //namespace MR