boofcv.alg.geo.GeoTestingOps Maven / Gradle / Ivy

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/*
 * Copyright (c) 2011-2018, Peter Abeles. All Rights Reserved.
 *
 * This file is part of BoofCV (http://boofcv.org).
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

package boofcv.alg.geo;


import georegression.struct.point.Point2D_F64;
import georegression.struct.point.Point3D_F64;
import georegression.struct.point.Point4D_F64;

import java.util.ArrayList;
import java.util.List;
import java.util.Random;

/**
 * Operations useful for unit tests
 *
 * @author Peter Abeles
 */
public class GeoTestingOps {

	public static List createList3_F64( int N ) {
		List ret = new ArrayList<>();
		for( int i = 0; i < N; i++ ) {
			ret.add( new Point3D_F64());
		}
		return ret;
	}

	public static List randomPointsH_F64(double min, double max,
													  int num, Random rand)
	{
		List ret = new ArrayList<>();

		for( int i = 0; i < num; i++ ) {
			double x = rand.nextDouble()*(max-min)+min;
			double y = rand.nextDouble()*(max-min)+min;
			double z = rand.nextDouble()*(max-min)+min;
			double w = rand.nextDouble()*0.01 + 1.0;

			ret.add(new Point4D_F64(x,y,z,w));
		}

		return ret;
	}

	public static List randomPoints_F64(double minX, double maxX,
													 double minY, double maxY,
													 double minZ, double maxZ,
													 int num, Random rand)
	{
		List ret = new ArrayList<>();

		for( int i = 0; i < num; i++ ) {
			double x = rand.nextDouble()*(maxX-minX)+minX;
			double y = rand.nextDouble()*(maxY-minY)+minY;
			double z = rand.nextDouble()*(maxZ-minZ)+minZ;

			ret.add(new Point3D_F64(x,y,z));
		}

		return ret;
	}

	public static List randomPoints_F64(double minX, double maxX,
													 double minY, double maxY,
													 int num, Random rand)
	{
		List ret = new ArrayList<>();

		for( int i = 0; i < num; i++ ) {
			double x = rand.nextDouble()*(maxX-minX)+minX;
			double y = rand.nextDouble()*(maxY-minY)+minY;

			ret.add(new Point2D_F64(x,y));
		}

		return ret;
	}

	public static double residualError( double[] residuals ) {
		double total = 0;
		for( double d : residuals ) {
			total += d*d;
		}
		return total*0.5;
	}
}