/*
* 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.cylinder;
import georegression.geometry.ConvertRotation3D_F64;
import georegression.geometry.GeometryMath_F64;
import georegression.metric.Distance3D_F64;
import georegression.misc.GrlConstants;
import georegression.struct.point.Point3D_F64;
import georegression.struct.point.Vector3D_F64;
import georegression.struct.shapes.Cylinder3D_F64;
import georegression.struct.so.Rodrigues_F64;
import org.ejml.data.DenseMatrix64F;
import org.junit.Test;
import java.util.ArrayList;
import java.util.List;
import java.util.Random;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertTrue;
/**
* @author Peter Abeles
*/
public class TestFitCylinderToPoints_F64 {
Random rand = new Random(234);
@Test
public void perfectModel() {
Cylinder3D_F64 cylinder = new Cylinder3D_F64(1,2,3,0,0,1,2.5);
List<Point3D_F64> points = new ArrayList<Point3D_F64>();
for( int i = 0; i < 50; i++ ) {
double H = (rand.nextDouble()-0.5)*4.0;
double theta = rand.nextDouble()*GrlConstants.PI2;
points.add(createPt(cylinder,H,theta));
}
FitCylinderToPoints_F64 alg = new FitCylinderToPoints_F64(200);
Cylinder3D_F64 found = new Cylinder3D_F64();
alg.fitModel(points, cylinder, found);
checkEquivalent(cylinder,found);
}
@Test
public void perfectWithBadInitialModel() {
Cylinder3D_F64 cylinder = new Cylinder3D_F64(1,2,3,0,0,1,2.5);
List<Point3D_F64> points = new ArrayList<Point3D_F64>();
for( int i = 0; i < 50; i++ ) {
double H = (rand.nextDouble()-0.5)*4.0;
double theta = rand.nextDouble()*GrlConstants.PI2;
points.add(createPt(cylinder,H,theta));
}
FitCylinderToPoints_F64 alg = new FitCylinderToPoints_F64(200);
// make the initial model a bit off
Cylinder3D_F64 initial = new Cylinder3D_F64(0.95,2.1,3.05,0.05,-0.001,1.05,2.6);
Cylinder3D_F64 found = new Cylinder3D_F64();
alg.fitModel(points, initial, found);
checkEquivalent(cylinder, found);
}
public static void checkEquivalent( Cylinder3D_F64 a , Cylinder3D_F64 b ) {
assertEquals(a.radius,b.radius,GrlConstants.DOUBLE_TEST_TOL);
// the points should be on the other line
assertEquals(0, Distance3D_F64.distance(a.line, b.line.p),GrlConstants.DOUBLE_TEST_TOL);
assertEquals(0, Distance3D_F64.distance(b.line,a.line.p),GrlConstants.DOUBLE_TEST_TOL);
// slopes should be the same
double dot = a.line.slope.dot(b.line.slope);
double tmp = dot / (a.line.slope.norm()*b.line.slope.norm());
double angle;
if( tmp > 1.0 )
angle = 0;
else if( tmp < -1.0 )
angle = Math.PI;
else
angle = Math.acos( tmp );
assertTrue( Math.abs(angle) < GrlConstants.DOUBLE_TEST_TOL ||
Math.abs(angle-Math.PI) < GrlConstants.DOUBLE_TEST_TOL);
}
public static Point3D_F64 createPt( Cylinder3D_F64 cylinder , double h , double theta ) {
Point3D_F64 p = new Point3D_F64();
p.x = cylinder.radius*(double)Math.cos(theta);
p.y = cylinder.radius*(double)Math.sin(theta);
p.z = h;
Vector3D_F64 axisZ = new Vector3D_F64(0,0,1);
Vector3D_F64 cross = axisZ.cross(cylinder.line.slope);
if( Math.abs(cross.norm()) < GrlConstants.DOUBLE_TEST_TOL ) {
cross.set(0,0,1);
} else {
cross.normalize();
}
double angle = axisZ.dot(cylinder.line.slope);
angle = Math.acos( angle / (cylinder.line.slope.norm()));
Rodrigues_F64 rod = new Rodrigues_F64(angle,cross);
DenseMatrix64F R = ConvertRotation3D_F64.rodriguesToMatrix(rod, null);
GeometryMath_F64.mult(R, p, p);
p.x += cylinder.line.p.x;
p.y += cylinder.line.p.y;
p.z += cylinder.line.p.z;
return p;
}
}