001/**
002 * Copyright (c) 2011, The University of Southampton and the individual contributors.
003 * All rights reserved.
004 *
005 * Redistribution and use in source and binary forms, with or without modification,
006 * are permitted provided that the following conditions are met:
007 *
008 *   *  Redistributions of source code must retain the above copyright notice,
009 *      this list of conditions and the following disclaimer.
010 *
011 *   *  Redistributions in binary form must reproduce the above copyright notice,
012 *      this list of conditions and the following disclaimer in the documentation
013 *      and/or other materials provided with the distribution.
014 *
015 *   *  Neither the name of the University of Southampton nor the names of its
016 *      contributors may be used to endorse or promote products derived from this
017 *      software without specific prior written permission.
018 *
019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
020 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
021 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
022 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
023 * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
024 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
025 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
026 * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
027 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
028 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
029 */
030package org.openimaj.math.geometry.transforms;
031
032import java.util.List;
033
034import org.openimaj.math.geometry.point.Point3d;
035import org.openimaj.math.model.EstimatableModel;
036import org.openimaj.util.pair.IndependentPair;
037
038import Jama.Matrix;
039
040/**
041 * Concrete implementation of a model of an Affine transform. Capable of
042 * least-squares estimate of model parameters.
043 * 
044 * @see TransformUtilities#affineMatrixND(List)
045 * 
046 * @author Jonathon Hare
047 * 
048 */
049public class AffineTransformModel3d implements EstimatableModel<Point3d, Point3d>, MatrixTransformProvider {
050        protected Matrix transform;
051
052        /**
053         * Create an {@link AffineTransformModel3d}
054         */
055        public AffineTransformModel3d()
056        {
057                transform = new Matrix(3, 3);
058
059                transform.set(2, 0, 0);
060                transform.set(2, 1, 0);
061                transform.set(2, 2, 1);
062        }
063
064        @Override
065        public AffineTransformModel3d clone() {
066                final AffineTransformModel3d atm = new AffineTransformModel3d();
067                atm.transform = transform.copy();
068                return atm;
069        }
070
071        @Override
072        public Matrix getTransform() {
073                return transform;
074        }
075
076        /*
077         * SVD least-squares estimation of affine transform matrix for a set of 2d
078         * points
079         * 
080         * @see
081         * uk.ac.soton.ecs.iam.jsh2.util.statistics.Model#estimate(java.util.List)
082         */
083        @Override
084        public boolean estimate(List<? extends IndependentPair<Point3d, Point3d>> data) {
085                this.transform = TransformUtilities.affineMatrixND(data);
086                return true;
087        }
088
089        @Override
090        public Point3d predict(Point3d p) {
091                return p.transform(transform);
092        }
093
094        @Override
095        public int numItemsToEstimate() {
096                return 6;
097        }
098
099        @Override
100        public String toString() {
101                String str = "";
102                final double[][] mat = transform.getArray();
103                for (final double[] r : mat) {
104                        for (final double v : r) {
105                                str += " " + v;
106                        }
107                        str += "\n";
108                }
109                return str;
110        }
111}