/*
* 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.se;
import georegression.geometry.UtilPoint2D_F32;
import georegression.misc.GrlConstants;
import georegression.misc.test.GeometryUnitTest;
import georegression.struct.point.Point2D_F32;
import georegression.struct.se.Se2_F32;
import georegression.transform.se.SePointOps_F32;
import org.junit.Test;
import java.util.ArrayList;
import java.util.List;
import java.util.Random;
import static org.junit.Assert.assertTrue;
/**
* @author Peter Abeles
*/
public class TestMotionSe2PointSVD_F32 {
Random rand = new Random( 434324 );
@Test
public void noiseless() {
Se2_F32 tran = new Se2_F32( 2, -4, 0.93f );
List<Point2D_F32> src = UtilPoint2D_F32.random( -10, 10, 30, rand );
List<Point2D_F32> dst = new ArrayList<Point2D_F32>();
for( Point2D_F32 p : src ) {
dst.add(SePointOps_F32.transform(tran, p, null));
}
MotionSe2PointSVD_F32 alg = new MotionSe2PointSVD_F32();
assertTrue( alg.process( src, dst ) );
Se2_F32 foundSrcToDst = alg.getTransformSrcToDst();
// tranFound.getTranslation().print();
// tran.getTranslation().print();
checkTransform( src, dst, foundSrcToDst, GrlConstants.FLOAT_TEST_TOL );
}
public static void checkTransform( List<Point2D_F32> src, List<Point2D_F32> dst, Se2_F32 foundSrcToDst, float tol ) {
Point2D_F32 foundPt = new Point2D_F32();
for( int i = 0; i < src.size(); i++ ) {
Point2D_F32 p = src.get( i );
SePointOps_F32.transform( foundSrcToDst, p, foundPt );
GeometryUnitTest.assertEquals( dst.get( i ), foundPt, tol );
}
}
}