/*
* 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.geometry.ConvertRotation3D_F64;
import georegression.geometry.GeometryMath_F64;
import georegression.misc.GrlConstants;
import georegression.struct.point.Point3D_F64;
import georegression.struct.point.Vector3D_F64;
import georegression.struct.shapes.Sphere3D_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;
/**
* @author Peter Abeles
*/
public class TestFitSphereToPoints_F64 {
Random rand = new Random(234);
@Test
public void perfectModel() {
Sphere3D_F64 sphere = new Sphere3D_F64(1,2,3,4);
List<Point3D_F64> points = new ArrayList<Point3D_F64>();
for( int i = 0; i < 50; i++ ) {
double phi = rand.nextDouble()*GrlConstants.PI2;
double theta = rand.nextDouble()*GrlConstants.PI2;
points.add(createPt(sphere,phi,theta));
}
FitSphereToPoints_F64 alg = new FitSphereToPoints_F64(200);
Sphere3D_F64 found = new Sphere3D_F64();
alg.fitModel(points, sphere, found);
assertEquals(0,sphere.center.distance(found.center),GrlConstants.DOUBLE_TEST_TOL);
assertEquals(sphere.radius,found.radius,GrlConstants.DOUBLE_TEST_TOL);
}
@Test
public void perfectWithBadInitialModel() {
Sphere3D_F64 sphere = new Sphere3D_F64(1,2,3,4);
List<Point3D_F64> points = new ArrayList<Point3D_F64>();
for( int i = 0; i < 50; i++ ) {
double phi = rand.nextDouble()*GrlConstants.PI2;
double theta = rand.nextDouble()*GrlConstants.PI2;
points.add(createPt(sphere,phi,theta));
}
FitSphereToPoints_F64 alg = new FitSphereToPoints_F64(200);
// make the initial model a bit off
Sphere3D_F64 initial = new Sphere3D_F64(1.05,1.99,3,3.8);
Sphere3D_F64 found = new Sphere3D_F64();
alg.fitModel(points, initial, found);
assertEquals(0,sphere.center.distance(found.center),GrlConstants.DOUBLE_TEST_TOL);
assertEquals(sphere.radius, found.radius, GrlConstants.DOUBLE_TEST_TOL);
}
public static Point3D_F64 createPt( Sphere3D_F64 sphere , double phi , double theta ) {
Point3D_F64 p = new Point3D_F64();
p.set(0,0,sphere.radius);
Rodrigues_F64 rodX = new Rodrigues_F64(phi,new Vector3D_F64(1,0,0));
DenseMatrix64F rotX = ConvertRotation3D_F64.rodriguesToMatrix(rodX, null);
Rodrigues_F64 rodZ = new Rodrigues_F64(theta,new Vector3D_F64(0,0,1));
DenseMatrix64F rotZ = ConvertRotation3D_F64.rodriguesToMatrix(rodZ, null);
GeometryMath_F64.mult(rotX, p, p);
GeometryMath_F64.mult(rotZ, p, p);
p.x += sphere.center.x;
p.y += sphere.center.y;
p.z += sphere.center.z;
return p;
}
}