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libcifpp
Commit 2440706b by Maarten L. Hekkelman
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parent cf628fa9
Showing with 65 additions and 40 deletions
test/unit-3d-test.cpp
......@@ -269,7 +269,7 @@ BOOST_AUTO_TEST_CASE(m2q_1, *utf::tolerance(0.001f))
auto sin = std::sin(a1 / 2);
auto cos = std::cos(a1 / 2);
cif::quaternion q{ cos, 0, 0, sin };
cif::quaternion q = normalize(cif::quaternion{ cos, 0, 0, sin });
auto pr = pts[0];
pr.rotate(q);
......@@ -277,6 +277,11 @@ BOOST_AUTO_TEST_CASE(m2q_1, *utf::tolerance(0.001f))
BOOST_TEST(pr.m_y == pts[1].m_y);
BOOST_TEST(pr.m_z == pts[1].m_z);
auto &&[angle_r, axis_r] = cif::quaternion_to_angle_axis(q);
std::cout << angle_r << std::endl
<< axis_r << std::endl;
cif::matrix3x3<float> rot;
rot(0, 0) = 0;
rot(0, 1) = -1;
......@@ -293,64 +298,84 @@ BOOST_AUTO_TEST_CASE(m2q_1, *utf::tolerance(0.001f))
BOOST_TEST(pr.m_y == pts[1].m_y);
BOOST_TEST(pr.m_z == pts[1].m_z);
Eigen::Matrix3f em2;
em2(0, 0) = 0;
em2(0, 1) = -1;
em2(0, 2) = 0;
em2(1, 0) = 1;
em2(1, 1) = -1;
em2(1, 2) = 0;
em2(2, 0) = 0;
em2(2, 1) = 0;
em2(2, 2) = 1;
// Eigen::Matrix3f em2;
// em2(0, 0) = 0;
// em2(0, 1) = -1;
// em2(0, 2) = 0;
// em2(1, 0) = 1;
// em2(1, 1) = -1;
// em2(1, 2) = 0;
// em2(2, 0) = 0;
// em2(2, 1) = 0;
// em2(2, 2) = 1;
Eigen::EigenSolver<Eigen::Matrix3f> es(em2);
// Eigen::EigenSolver<Eigen::Matrix3f> es(em2);
auto eev = es.eigenvalues();
// auto eev = es.eigenvalues();
for (size_t i = 0; i < 3; ++i)
{
if (std::abs(eev[i].real() - 1) > 0.01)
continue;
// for (size_t i = 0; i < 3; ++i)
// {
// if (std::abs(eev[i].real() - 1) > 0.01)
// continue;
// auto tr = em2(0, 0) + em2(1, 1) + em2(2, 2);
// auto a2 = std::acos((tr - 1) / 2.0f);
// BOOST_TEST(2 * std::cos(a2) + 1 == tr);
auto tr = em2(0, 0) + em2(1, 1) + em2(2, 2);
auto a2 = std::acos((tr - 1) / 2.0f);
BOOST_TEST(2 * std::cos(a2) + 1 == tr);
// // Nice, but not working.
// Nice, but not working.
// // axis is:
// axis is:
// auto c = es.eigenvectors().col(i);
auto c = es.eigenvectors().col(i);
cif::point axis{ c(0).real(), c(1).real(), c(2).real() };
// // cif::point axis{ c(0).real(), c(1).real(), c(2).real() };
// // take line perpendicular to this axis
// take line perpendicular to this axis
// auto s2 = std::sin(a2 / 2);
// auto c2 = std::cos(a2 / 2);
// auto q2 = normalize(cif::quaternion{
// static_cast<float>(c2),
// static_cast<float>(s2 * c(0).real()),
// static_cast<float>(s2 * c(1).real()),
// static_cast<float>(s2 * c(2).real()) });
auto s2 = std::sin(a2 / 2);
auto c2 = std::cos(a2 / 2);
// auto &&[angle_r2, axis_r2] = cif::quaternion_to_angle_axis(q2);
// std::cout << angle_r2 << std::endl
// << axis_r2 << std::endl;
auto q2 = normalize(cif::quaternion{
static_cast<float>(c2),
static_cast<float>(s2 * c(0).real()),
static_cast<float>(s2 * c(1).real()),
static_cast<float>(s2 * c(2).real()) });
pr = pts[0];
pr.rotate(q2);
BOOST_TEST(pr.m_x == pts[1].m_x);
BOOST_TEST(pr.m_y == pts[1].m_y);
BOOST_TEST(pr.m_z == pts[1].m_z);
// pr = pts[0];
// pr.rotate(q2);
// BOOST_TEST(pr.m_x == pts[1].m_x);
// BOOST_TEST(pr.m_y == pts[1].m_y);
// BOOST_TEST(pr.m_z == pts[1].m_z);
// break;
break;
// }
}
cif::point t1{ 1, 1, 1 };
cif::point t2 = rot * t1;
float a2 = std::acos(dot_product(t1, t2) / (t1.length() * t2.length()));
auto sin2 = std::sin(a2 / 2);
auto cos2 = std::cos(a2 / 2);
cif::quaternion q2 = normalize(cif::quaternion{ cos2, 0, 0, sin2 });
pr = pts[0];
pr.rotate(q2);
BOOST_TEST(pr.m_x == pts[1].m_x);
BOOST_TEST(pr.m_y == pts[1].m_y);
BOOST_TEST(pr.m_z == pts[1].m_z);
auto &&[angle_r2, axis_r2] = cif::quaternion_to_angle_axis(q);
std::cout << angle_r2 << std::endl
<< axis_r2 << std::endl;
......
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