rigid.hpp

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// cpd - Coherent Point Drift
// Copyright (C) 2017 Pete Gadomski <pete.gadomski@gmail.com>
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License along
// with this program; if not, write to the Free Software Foundation, Inc.,
// 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.


#pragma once

#include <cpd/transform.hpp>

namespace cpd {

const bool DEFAULT_REFLECTIONS = false;
const bool DEFAULT_SCALE = !DEFAULT_LINKED;

struct RigidResult : public Result {
    Matrix rotation;
    Vector translation;
    double scale;

    Matrix matrix() const;

    void denormalize(const Normalization& normalization);
};

class Rigid : public Transform<RigidResult> {
public:
    Rigid()
      : Transform()
      , m_reflections(DEFAULT_REFLECTIONS)
      , m_scale(DEFAULT_SCALE) {}

    Rigid& reflections(bool reflections) {
        m_reflections = reflections;
        return *this;
    }

    Rigid& scale(bool scale) {
        m_scale = scale;
        return *this;
    }

    RigidResult compute_one(const Matrix& fixed, const Matrix& moving,
                            const Probabilities& probabilities,
                            double sigma2) const;

    virtual bool linked() const { return !m_scale; }

private:
    bool m_reflections;
    bool m_scale;
};

RigidResult rigid(const Matrix& fixed, const Matrix& moving);
} // namespace cpd