added returning versions for umeyama

uos · Sep 12, 2024 · d574bcd · d574bcd
1 parent c3bb494
commit d574bcd
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Showing 4 changed files with 71 additions and 3 deletions.
diff --git a/src/rmagine_core/include/rmagine/math/math.h b/src/rmagine_core/include/rmagine/math/math.h
@@ -498,6 +498,13 @@ void umeyama_transform(
     const MemoryView<unsigned int, RAM>& n_meas
 );
 
+Memory<Transform, RAM> umeyama_transform(
+    const MemoryView<Vector3, RAM>& ds,
+    const MemoryView<Vector3, RAM>& ms,
+    const MemoryView<Matrix3x3, RAM>& Cs,
+    const MemoryView<unsigned int, RAM>& n_meas
+);
+
 /**
  * @brief computes the optimal transformations according to Umeyama's algorithm 
  * for a list of partitions [(m,d,C,N), ...]
@@ -508,8 +515,14 @@ void umeyama_transform(
     MemoryView<Transform, RAM>& Ts,
     const MemoryView<Vector3, RAM>& ds,
     const MemoryView<Vector3, RAM>& ms,
-    const MemoryView<Matrix3x3, RAM>& Cs);
+    const MemoryView<Matrix3x3, RAM>& Cs
+);
 
+Memory<Transform, RAM> umeyama_transform(
+    const MemoryView<Vector3, RAM>& ds,
+    const MemoryView<Vector3, RAM>& ms,
+    const MemoryView<Matrix3x3, RAM>& Cs
+);
 
 
 } // namespace rmagine

diff --git a/src/rmagine_core/src/math/math.cpp b/src/rmagine_core/src/math/math.cpp
@@ -748,6 +748,17 @@ void umeyama_transform(
     }
 }
 
+Memory<Transform, RAM> umeyama_transform(
+    const MemoryView<Vector3, RAM>& ds,
+    const MemoryView<Vector3, RAM>& ms,
+    const MemoryView<Matrix3x3, RAM>& Cs,
+    const MemoryView<unsigned int, RAM>& n_meas)
+{
+    Memory<Transform, RAM> ret(ds.size());
+    umeyama_transform(ret, ds, ms, Cs, n_meas);
+    return ret;
+}
+
 void umeyama_transform(
     MemoryView<Transform, RAM>& Ts,
     const MemoryView<Vector3, RAM>& ds,
@@ -761,5 +772,15 @@ void umeyama_transform(
     }
 }
 
+Memory<Transform, RAM> umeyama_transform(
+    const MemoryView<Vector3, RAM>& ds,
+    const MemoryView<Vector3, RAM>& ms,
+    const MemoryView<Matrix3x3, RAM>& Cs)
+{
+    Memory<Transform, RAM> ret(ds.size());
+    umeyama_transform(ret, ds, ms, Cs);
+    return ret;
+}
+
 
 } // namespace rmagine
diff --git a/src/rmagine_cuda/include/rmagine/math/math.cuh b/src/rmagine_cuda/include/rmagine/math/math.cuh
@@ -583,6 +583,13 @@ void umeyama_transform(
     const MemoryView<unsigned int, VRAM_CUDA>& n_meas
 );
 
+Memory<Transform, VRAM_CUDA> umeyama_transform(
+    const MemoryView<Vector3, VRAM_CUDA>& ds,
+    const MemoryView<Vector3, VRAM_CUDA>& ms,
+    const MemoryView<Matrix3x3, VRAM_CUDA>& Cs,
+    const MemoryView<unsigned int, VRAM_CUDA>& n_meas
+);
+
 /**
  * @brief computes the optimal transformations according to Umeyama's algorithm 
  * for a list of partitions [(m,d,C,N), ...]
@@ -593,7 +600,14 @@ void umeyama_transform(
     MemoryView<Transform, VRAM_CUDA>& Ts,
     const MemoryView<Vector3, VRAM_CUDA>& ds,
     const MemoryView<Vector3, VRAM_CUDA>& ms,
-    const MemoryView<Matrix3x3, VRAM_CUDA>& Cs);
+    const MemoryView<Matrix3x3, VRAM_CUDA>& Cs
+);
+
+Memory<Transform, VRAM_CUDA> umeyama_transform(
+    const MemoryView<Vector3, VRAM_CUDA>& ds,
+    const MemoryView<Vector3, VRAM_CUDA>& ms,
+    const MemoryView<Matrix3x3, VRAM_CUDA>& Cs
+);
 
 
 } // namespace rmagine

diff --git a/src/rmagine_cuda/src/math/math.cu b/src/rmagine_cuda/src/math/math.cu
@@ -1566,6 +1566,18 @@ void umeyama_transform(
     RM_CUDA_DEBUG();
 }
 
+Memory<Transform, VRAM_CUDA> umeyama_transform(
+    const MemoryView<Vector3, VRAM_CUDA>& ds,
+    const MemoryView<Vector3, VRAM_CUDA>& ms,
+    const MemoryView<Matrix3x3, VRAM_CUDA>& Cs,
+    const MemoryView<unsigned int, VRAM_CUDA>& n_meas)
+{
+    Memory<Transform, VRAM_CUDA> ret(ds.size());
+    umeyama_transform(ret, ds, ms, Cs, n_meas);
+    return ret;
+}
+
+
 __global__ void umeyama_transform_kernel(
     Transform* Ts,
     const Vector3* ds,
@@ -1592,6 +1604,14 @@ void umeyama_transform(
     RM_CUDA_DEBUG();
 }
 
-
+Memory<Transform, VRAM_CUDA> umeyama_transform(
+    const MemoryView<Vector3, VRAM_CUDA>& ds,
+    const MemoryView<Vector3, VRAM_CUDA>& ms,
+    const MemoryView<Matrix3x3, VRAM_CUDA>& Cs)
+{
+    Memory<Transform, VRAM_CUDA> ret(ds.size());
+    umeyama_transform(ret, ds, ms, Cs);
+    return ret;
+}
 
 } // namespace rmagine