/*
* Copyright (C) 2011-2015, Peter Abeles. All Rights Reserved.
*
* This file is part of Geometric Regression Library (GeoRegression).
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package georegression.fitting.se;
import georegression.fitting.MotionTransformPoint;
import georegression.struct.point.Point2D_F64;
import georegression.struct.point.Point3D_F64;
import georegression.struct.se.Se2_F64;
import georegression.struct.se.Se3_F64;
import java.util.List;
/**
* Functions related to fitting {@link georegression.struct.se.SpecialEuclidean} transform to a set
* of corresponding points.
*
* @author Peter Abeles
*/
public class FitSpecialEuclideanOps_F64 {
/**
* Creates a {@link MotionTransformPoint} for finding a {@link Se2_F64} from two
* sets of 2D points.
*
* @return {@link MotionTransformPoint}.
*/
public static MotionTransformPoint<Se2_F64, Point2D_F64> fitPoints2D() {
return new MotionSe2PointSVD_F64();
}
/**
* Creates a {@link MotionTransformPoint} for finding a {@link Se3_F64} from two
* sets of 3D points.
*
* @return {@link MotionTransformPoint}.
*/
public static MotionTransformPoint<Se3_F64, Point3D_F64> fitPoints3D() {
return new MotionSe3PointSVD_F64();
}
/**
* Given two sets of corresponding points compute the {@link Se2_F64} transform
* which minimizes the difference between the two sets of points.
*
* @param from List of the points original location.
* @param to Observed location of the points after a transform has been applied.
* @return Found transform.
*/
public static Se2_F64 fitPoints2D( List<Point2D_F64> from, List<Point2D_F64> to ) {
MotionTransformPoint<Se2_F64, Point2D_F64> alg = fitPoints2D();
alg.process( from, to );
return alg.getTransformSrcToDst();
}
/**
* Given two sets of corresponding points compute the {@link Se3_F64} transform
* which minimizes the difference between the two sets of points.
*
* @param from List of the points original location.
* @param to Observed location of the points after a transform has been applied.
* @return Found transform.
*/
public static Se3_F64 fitPoints3D( List<Point3D_F64> from, List<Point3D_F64> to ) {
MotionTransformPoint<Se3_F64, Point3D_F64> alg = fitPoints3D();
alg.process( from, to );
return alg.getTransformSrcToDst();
}
}