/*
* Copyright (C) 2011-2015, Peter Abeles. All Rights Reserved.
*
* This file is part of Geometric Regression Library (GeoRegression).
*
* 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 georegression.fitting.sphere;
import georegression.struct.point.Point3D_F32;
import georegression.struct.shapes.Sphere3D_F32;
import org.ddogleg.optimization.functions.FunctionNtoMxN;
import java.util.List;
/**
* Jacobian of {@link SphereToPointSignedDistance_F32}.
*
* @author Peter Abeles
*/
// DESIGN NOTE: Could speed up by coupling it to the distance function. That way distance would only need
// to be computed once.
public class SphereToPointSignedDistanceJacobian_F32 implements FunctionNtoMxN {
// model of the sphere
private Sphere3D_F32 sphere = new Sphere3D_F32();
// points whose distance from the sphere is being computed
private List<Point3D_F32> points;
// used to convert float[] into shape parameters
private CodecSphere3D_F32 codec = new CodecSphere3D_F32();
public void setPoints(List<Point3D_F32> points) {
this.points = points;
}
@Override
public int getNumOfInputsN() {
return 4;
}
@Override
public int getNumOfOutputsM() {
return points.size();
}
@Override
public void process( /**/double[] input, /**/double[] output) {
codec.decode(input,sphere);
int index = 0;
for( int i = 0; i < points.size(); i++ ) {
Point3D_F32 p = points.get(i);
float euclidean = sphere.center.distance(p);
output[index++] = (sphere.center.x - p.x)/euclidean;
output[index++] = (sphere.center.y - p.y)/euclidean;
output[index++] = (sphere.center.z - p.z)/euclidean;
output[index++] = -1;
}
}
}