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BoofCV is an open source Java library for real-time computer vision and robotics applications.

There is a newer version: 1.1.7

/*
 * Copyright (c) 2023, 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.bundle.jacobians;

import boofcv.alg.geo.RodriguesRotationJacobian_F64;
import georegression.geometry.ConvertRotation3D_F64;
import georegression.struct.so.Rodrigues_F64;
import org.ejml.data.DMatrixRMaj;

/**
 * Jacobian for 3-tuple encoded Rodrigues. The rotation magnitude is the F-norm of (X,Y,Z) and the axis of
 * rotation is the normalized X,Y,Z.
 *
 * @author Peter Abeles
 * @see RodriguesRotationJacobian_F64
 */
public class JacobianSo3Rodrigues implements JacobianSo3 {
	private final RodriguesRotationJacobian_F64 jac = new RodriguesRotationJacobian_F64();

	private final Rodrigues_F64 rodrigues = new Rodrigues_F64();
	private final DMatrixRMaj R = new DMatrixRMaj(3, 3);

	@Override
	public void getParameters( DMatrixRMaj R, double[] parameters, int offset ) {
		ConvertRotation3D_F64.matrixToRodrigues(R, rodrigues);
		parameters[offset] = rodrigues.unitAxisRotation.x*rodrigues.theta;
		parameters[offset + 1] = rodrigues.unitAxisRotation.y*rodrigues.theta;
		parameters[offset + 2] = rodrigues.unitAxisRotation.z*rodrigues.theta;
	}

	@Override
	public void setParameters( double[] parameters, int offset ) {
		double x = parameters[offset];
		double y = parameters[offset + 1];
		double z = parameters[offset + 2];

		jac.process(x, y, z);
		rodrigues.setParamVector(x, y, z);
		ConvertRotation3D_F64.rodriguesToMatrix(rodrigues, R);
	}

	@Override
	public DMatrixRMaj getPartial( int param ) {
		return switch (param) {
			case 0 -> jac.Rx;
			case 1 -> jac.Ry;
			case 2 -> jac.Rz;
			default -> throw new RuntimeException("Out of bounds parameter!");
		};
	}

	@Override public JacobianSo3 newInstance() {
		return new JacobianSo3Rodrigues();
	}

	@Override public int getParameterLength() {return 3;}

	@Override public DMatrixRMaj getRotationMatrix() {return R;}
}