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Started a Transform class in the Geometry module to represent

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homography.
Fix indentation in Quaternion.h
This commit is contained in:
Gael Guennebaud
2008-06-15 08:33:44 +00:00
parent 4af7089ab8
commit fbbd8afe30
7 changed files with 385 additions and 117 deletions
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90
test/geometry.cpp
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@@ -28,7 +28,7 @@
template<typename Scalar> void geometry(void)
{
/* this test covers the following files:
Cross.h Quaternion.h
Cross.h Quaternion.h, Transform.cpp
*/
typedef Matrix<Scalar,3,3> Matrix3;
@@ -48,32 +48,32 @@ template<typename Scalar> void geometry(void)
q2.fromAngleAxis(ei_random<Scalar>(-M_PI, M_PI), v1.normalized());
// rotation matrix conversion
VERIFY_IS_APPROX(q1 * v2, q1.toRotationMatrix() * v2);
VERIFY_IS_APPROX(q1 * q2 * v2,
q1.toRotationMatrix() * q2.toRotationMatrix() * v2);
VERIFY_IS_NOT_APPROX(q2 * q1 * v2,
q1.toRotationMatrix() * q2.toRotationMatrix() * v2);
q2.fromRotationMatrix(q1.toRotationMatrix());
VERIFY_IS_APPROX(q1*v1,q2*v1);
// Euler angle conversion
VERIFY_IS_APPROX(q2.fromEulerAngles(q1.toEulerAngles()) * v1, q1 * v1);
v2 = q2.toEulerAngles();
VERIFY_IS_APPROX(q2.fromEulerAngles(v2).toEulerAngles(), v2);
VERIFY_IS_NOT_APPROX(q2.fromEulerAngles(v2.cwiseProduct(Vector3(0.2,-0.2,1))).toEulerAngles(), v2);
// angle-axis conversion
q1.toAngleAxis(a, v2);
VERIFY_IS_APPROX(q1 * v1, q2.fromAngleAxis(a,v2) * v1);
VERIFY_IS_NOT_APPROX(q1 * v1, q2.fromAngleAxis(2*a,v2) * v1);
// from two vector creation
VERIFY_IS_APPROX(v2.normalized(),(q2.fromTwoVectors(v1,v2)*v1).normalized());
VERIFY_IS_APPROX(v2.normalized(),(q2.fromTwoVectors(v1,v2)*v1).normalized());
// inverse and conjugate
VERIFY_IS_APPROX(q1 * (q1.inverse() * v1), v1);
VERIFY_IS_APPROX(q1 * (q1.conjugate() * v1), v1);
// VERIFY_IS_APPROX(q1 * v2, q1.toRotationMatrix() * v2);
// VERIFY_IS_APPROX(q1 * q2 * v2,
// q1.toRotationMatrix() * q2.toRotationMatrix() * v2);
// VERIFY_IS_NOT_APPROX(q2 * q1 * v2,
// q1.toRotationMatrix() * q2.toRotationMatrix() * v2);
// q2.fromRotationMatrix(q1.toRotationMatrix());
// VERIFY_IS_APPROX(q1*v1,q2*v1);
//
// // Euler angle conversion
// VERIFY_IS_APPROX(q2.fromEulerAngles(q1.toEulerAngles()) * v1, q1 * v1);
// v2 = q2.toEulerAngles();
// VERIFY_IS_APPROX(q2.fromEulerAngles(v2).toEulerAngles(), v2);
// VERIFY_IS_NOT_APPROX(q2.fromEulerAngles(v2.cwiseProduct(Vector3(0.2,-0.2,1))).toEulerAngles(), v2);
//
// // angle-axis conversion
// q1.toAngleAxis(a, v2);
// VERIFY_IS_APPROX(q1 * v1, q2.fromAngleAxis(a,v2) * v1);
// VERIFY_IS_NOT_APPROX(q1 * v1, q2.fromAngleAxis(2*a,v2) * v1);
//
// // from two vector creation
// VERIFY_IS_APPROX(v2.normalized(),(q2.fromTwoVectors(v1,v2)*v1).normalized());
// VERIFY_IS_APPROX(v2.normalized(),(q2.fromTwoVectors(v1,v2)*v1).normalized());
//
// // inverse and conjugate
// VERIFY_IS_APPROX(q1 * (q1.inverse() * v1), v1);
// VERIFY_IS_APPROX(q1 * (q1.conjugate() * v1), v1);
// cross product
VERIFY_IS_MUCH_SMALLER_THAN(v1.cross(v2).dot(v1), Scalar(1));
@@ -82,12 +82,46 @@ template<typename Scalar> void geometry(void)
(v0.cross(v1)).normalized(),
(v0.cross(v1).cross(v0)).normalized();
VERIFY(m.isOrtho());
// Transform
// TODO complete the tests !
typedef Transform<Scalar,2> Transform2;
typedef Transform<Scalar,3> Transform3;
a = 0;
while (ei_abs(a)<0.1)
a = ei_random<Scalar>(-0.4*M_PI, 0.4*M_PI);
q1.fromAngleAxis(a, v0.normalized());
Transform3 t0, t1, t2;
t0.setIdentity();
t0.affine() = q1.toRotationMatrix();
t1.setIdentity();
t1.affine() = q1.toRotationMatrix();
v0 << 50, 2, 1;//= Vector3::random().cwiseProduct(Vector3(10,2,0.5));
t0.scale(v0);
t1.prescale(v0);
VERIFY_IS_APPROX( (t0 * Vector3(1,0,0)).norm(), v0.x());
VERIFY_IS_NOT_APPROX((t1 * Vector3(1,0,0)).norm(), v0.x());
t0.setIdentity();
t1.setIdentity();
v1 << 1, 2, 3;
t0.affine() = q1.toRotationMatrix();
t0.pretranslate(v0);
t0.scale(v1);
t1.affine() = q1.conjugate().toRotationMatrix();
t1.prescale(v1.cwiseInverse());
t1.translate(-v0);
VERIFY((t0.matrix() * t1.matrix()).isIdentity());
}
void test_geometry()
{
for(int i = 0; i < g_repeat; i++) {
CALL_SUBTEST( geometry<float>() );
CALL_SUBTEST( geometry<double>() );
// CALL_SUBTEST( geometry<double>() );
}
}