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

Show more of this group Show more artifacts with this name
Show all versions of boofcv-geo Show documentation
BoofCV is an open source Java library for real-time computer vision and robotics applications.
There is a newer version: 1.1.5
/*
 * Copyright (c) 2020, 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.geometry.ConvertRotation3D_F64;
import georegression.struct.point.Point2D_F64;
import georegression.struct.point.Point3D_F64;
import georegression.struct.point.Point4D_F64;
import georegression.struct.se.Se3_F64;
import org.ejml.UtilEjml;
import org.ejml.data.DMatrixRMaj;
import org.ejml.dense.row.CommonOps_DDRM;

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 randomPointsH_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;
			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 (int i = 0; i < residuals.length; i++) {
			double d = residuals[i];
			total += d*d;
		}
		return total*0.5;
	}

	/**
	 * Checks to see if the two SE3 are equal up to a scale factor
	 *
	 * @param tolT Translational tolerance
	 * @param tolRad Rotational tolerance in radians
	 * @return true if within tolerance
	 */
	public static boolean isEqualsScale( Se3_F64 a, Se3_F64 b, double tolT, double tolRad ) {
		double scaleA = a.T.norm();
		double scaleB = b.T.norm();

		double scale;
		if (scaleA <= UtilEjml.TEST_F64 || scaleB <= UtilEjml.TEST_F64) {
			// They are almost zero so scaling is going to be difficult
			if (a.T.distance(b.T) >= tolT)
				return false;
		} else {
			scale = scaleA/scaleB;
			double dx = a.T.x - scale*b.T.x;
			double dy = a.T.y - scale*b.T.y;
			double dz = a.T.z - scale*b.T.z;
			if (Math.sqrt(dx*dx + dy*dy + dz*dz) >= scaleA*tolT)
				return false;
		}

		var R = new DMatrixRMaj(3, 3);
		CommonOps_DDRM.multTransB(a.R, b.R, R);
		double errorRad = ConvertRotation3D_F64.matrixToRodrigues(R, null).theta;
		return Math.abs(errorRad) <= tolRad;
	}

	public static boolean isEquals( Point3D_F64 a, Point4D_F64 b, double tol ) {
		if (b.w == 0.0)
			return false;

		if (Math.abs(a.x - (b.x/b.w)) > tol)
			return false;
		if (Math.abs(a.y - (b.y/b.w)) > tol)
			return false;
		return !(Math.abs(a.z - (b.z/b.w)) > tol);
	}
}