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.util.pair.IndependentPair;
036
037import Jama.Matrix;
038
039/**
040 * Concrete implementation of a model of a 3D rigid transform with only rotation
041 * and translation allowed. Capable of least-squares estimate of model
042 * parameters.
043 * 
044 * @see TransformUtilities#rigidMatrix(List)
045 * 
046 * @author Jonathon Hare
047 * 
048 */
049public class RigidTransformModel3d extends AffineTransformModel3d
050                implements MatrixTransformProvider
051{
052        /**
053         * Create a {@link RigidTransformModel3d}
054         */
055        public RigidTransformModel3d()
056        {
057                super();
058        }
059
060        @Override
061        public RigidTransformModel3d clone() {
062                final RigidTransformModel3d atm = new RigidTransformModel3d();
063                atm.transform = transform.copy();
064                return atm;
065        }
066
067        @Override
068        public boolean estimate(List<? extends IndependentPair<Point3d, Point3d>> data) {
069                this.transform = TransformUtilities.rigidMatrix(data);
070
071                try {
072                        transform.inverse();
073                } catch (final RuntimeException e) {
074                        transform = Matrix.identity(4, 4);
075                }
076                return true;
077        }
078
079        @Override
080        public int numItemsToEstimate() {
081                return 6;
082        }
083}