MRPointToPointAligningTransform.h

Go to the documentation of this file.

#pragma once
 
#include "MRMeshFwd.h"
#include "MRAffineXf3.h"
 
namespace MR
{
 
 
class PointToPointAligningTransform
{
public:
    MRMESH_API void add( const Vector3d& p1, const Vector3d& p2, double w = 1 );
 
    void add( const Vector3f& p1, const Vector3f& p2, float w = 1 ) { add( Vector3d( p1 ), Vector3d( p2 ), w ); }
 
    MRMESH_API void add( const PointToPointAligningTransform & other );
 
    void clear() { *this = {}; }
 
    [[nodiscard]] Vector3d centroid1() const { return sum1_ / sumW_; }
 
    [[nodiscard]] Vector3d centroid2() const { return sum2_ / sumW_; }
 
    [[nodiscard]] double totalWeight() const { return sumW_; }
 
    [[nodiscard]] MRMESH_API AffineXf3d findBestRigidXf() const;
 
    [[nodiscard]] MRMESH_API AffineXf3d findBestRigidScaleXf() const;
 
    [[nodiscard]] MRMESH_API AffineXf3d findBestRigidXfFixedRotationAxis( const Vector3d& axis ) const;
 
    [[nodiscard]] MRMESH_API AffineXf3d findBestRigidXfOrthogonalRotationAxis( const Vector3d& ort ) const;
 
    [[nodiscard]] MRMESH_API Vector3d findBestTranslation() const;
 
private:
    struct BestRotation
    {
        Matrix3d rot;
        double err = 0; // larger value means more discrepancy between points after registration
    };
    BestRotation findPureRotation_() const;
 
private:
    Matrix3d sum12_ = Matrix3d::zero();
    Vector3d sum1_, sum2_;
    double sum11_ = 0; 
    double sumW_ = 0;
};
 
 
} // namespace MR