public static LinePolar2D_F32 polar(List<Point2D_I32> points , int start , int length , LinePolar2D_F32 ret ) {
		if( ret == null )
			ret = new LinePolar2D_F32();

		int sumX = 0;
		int sumY = 0;

		final int N = length;
		for( int i = 0; i < N; i++ ) {
			Point2D_I32 p = points.get(start+i);
			sumX += p.x;
			sumY += p.y;
		}
		float meanX = sumX / (float)N;
		float meanY = sumY / (float)N;

		float top = 0;
		float bottom = 0;

		for( int i = 0; i < N; i++ ) {
			Point2D_I32 p = points.get(start+i);
			float dx = meanX - p.x;
			float dy = meanY - p.y;

			top += dx*dy;
			bottom += dy*dy - dx*dx;
		}

		ret.angle = (float)Math.atan2(-2.0f*top , bottom)/2.0f;
		ret.distance = (float)( meanX*Math.cos(ret.angle) + meanY*Math.sin(ret.angle));

		return ret;
	}
public static LinePolar2D_F32 polar(List<Point2D_I32> points , int start , int length , LinePolar2D_F32 ret ) {
		if( ret == null )
			ret = new LinePolar2D_F32();

		int sumX = 0;
		int sumY = 0;

		final int N = length;
		for( int i = 0; i < N; i++ ) {
			Point2D_I32 p = points.get(start+i);
			sumX += p.x;
			sumY += p.y;
		}
		float meanX = sumX / (float)N;
		float meanY = sumY / (float)N;

		float top = 0;
		float bottom = 0;

		for( int i = 0; i < N; i++ ) {
			Point2D_I32 p = points.get(start+i);
			float dx = meanX - p.x;
			float dy = meanY - p.y;

			top += dx*dy;
			bottom += dy*dy - dx*dx;
		}

		ret.angle = (float)Math.atan2(-2.0f*top , bottom)/2.0f;
		ret.distance = (float)( meanX*Math.cos(ret.angle) + meanY*Math.sin(ret.angle));

		return ret;
	}
public static LinePolar2D_F32 polar ( List < Point2D_I32 > points , int start , int length , LinePolar2D_F32 ret ) { if ( ret == null ) ret = new LinePolar2D_F32 ( ) ; int sumX = 0 ; int sumY = 0 ; final int N = length ; for ( int i = 0 ; i < N ; i ++ ) { Point2D_I32 p = points . get ( start + i ) ; sumX += p . x ; sumY += p . y ; } float meanX = sumX / ( float ) N ; float meanY = sumY / ( float ) N ; float top = 0 ; float bottom = 0 ; for ( int i = 0 ; i < N ; i ++ ) { Point2D_I32 p = points . get ( start + i ) ; float dx = meanX - p . x ; float dy = meanY - p . y ; top += dx * dy ; bottom += dy * dy - dx * dx ; } ret . angle = ( float ) Math . atan2 ( - 2.0f * top , bottom ) / 2.0f ; ret . distance = ( float ) ( meanX * Math . cos ( ret . angle ) + meanY * Math . sin ( ret . angle ) ) ; return ret ; }
<p>
Computes the unweighted best fit line to the set of points using the polar line equation. The solution
is optimal in the Euclidean sense, see [1] for more details.
</p>

<p>
[1] K. Arras, R. Siegwart, "Feature Extraction and Scene Interpretation for Map-Based Navigation
and Map Building" Proc. SPIE, Mobile Robotics XIII, Vol. 3210, 1997
</p>

@param points Set of points on the line.
@param start First index in the list
@param length number of variables used in the list
@param ret Storage for the line.  If null a new line will be declared.
@return Best fit line
<p > Computes the unweighted best fit line to the set of points using the polar line equation . The solution is optimal in the Euclidean sense see [ 1 ] for more details . < / p >