MRPointToPointAligningTransform.h

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#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; 
    };
    BestRotation findPureRotation_() const;
 
private:
    Matrix3d sum12_ = Matrix3d::zero();
    Vector3d sum1_, sum2_;
    double sum11_ = 0; 
    double sumW_ = 0;
};

 
}