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shot roto-translation test fixed

This commit is contained in:
Massimiliano Corsini 2011-05-24 09:20:56 +00:00
parent 86b12c5fc7
commit 8dd6bd85b4
1 changed files with 46 additions and 8 deletions
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54
apps/test/camerashot/camerashot_test.cpp
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@ -227,8 +227,27 @@ bool test6(vcg::Shotd shot1, vcg::Shotd shot2, vcg::Point3d p1, vcg::Point3d p2)
// TEST 7 - SHOT MODIFICATION - ROTATION + TRANSLATION
///////////////////////////////////////////////////////////////////////////////
bool test7(vcg::Shotd shot1, vcg::Shotd shot2, vcg::Point3d p1, vcg::Point3d p2)
bool test7(vcg::Shotd shot1, vcg::Point3d p1, vcg::Point3d p2)
{
// pure translation
vcg::Matrix44d T;
T.SetZero();
T.ElementAt(0,3) = 20.0;
T.ElementAt(1,3) = 20.0;
T.ElementAt(2,3) = 20.0;
T.ElementAt(3,3) = 1.0;
vcg::Point2d p1proj = shot1.Project(p1);
vcg::Point3d tr(T.ElementAt(0,3), T.ElementAt(1,3), T.ElementAt(2,3));
vcg::Point3d pt = p1 + tr;
shot1.ApplyRigidTransformation(T);
vcg::Point2d ptproj = shot1.Project(pt);
if (dist2(p1proj, ptproj) > precision)
return false;
// pure rotation
vcg::Matrix44d R;
R.SetZero();
R.ElementAt(0,2) = 1.0;
@ -236,11 +255,22 @@ bool test7(vcg::Shotd shot1, vcg::Shotd shot2, vcg::Point3d p1, vcg::Point3d p2)
R.ElementAt(2,0) = -1.0;
R.ElementAt(3,3) = 1.0;
vcg::Point2d p1proj = shot1.Project(p1);
vcg::Point3d prot = R * p1;
vcg::Point3d pr = R * p1;
shot1.ApplyRigidTransformation(R);
vcg::Point2d protproj = shot1.Project(prot);
vcg::Point2d prproj = shot1.Project(pr);
if (dist2(p1proj, prproj) > precision)
return false;
// roto-translation
vcg::Matrix44d RT = T * R;
vcg::Point3d prt = R * p1 + tr;
shot1.ApplyRigidTransformation(R);
vcg::Point2d prtproj = shot1.Project(prt);
if (dist2(p1proj, prtproj) > precision)
return false;
return true;
}
@ -251,6 +281,10 @@ bool test8(vcg::Shotd shot1, vcg::Shotd shot2, vcg::Point3d p1, vcg::Point3d p2)
{
// put shot1 reference frame into the origin of the World coordinates system
vcg::Matrix44d M = shot1.GetWorldToExtrinsicsMatrix();
// NOTE: The roto-translation which maps the point p in World coordinates to the Shot frame
// applied to the frame bring it in the world frame.
shot1.ApplyRigidTransformation(M);
// then, put in the shot2 reference frame
@ -281,10 +315,14 @@ bool test9(vcg::Shotd shot1, vcg::Shotd shot2, vcg::Point3d p1, vcg::Point3d p2)
vcg::Matrix44d M1 = shot1.GetExtrinsicsToWorldMatrix();
vcg::Matrix44d M2 = shot2.GetWorldToExtrinsicsMatrix();
vcg::Matrix44d M;
M = M2 * M1; // roto-translation that maps the frame of Shot1 in the frame of Shot2
M = M2 * M1; // is the roto-translation that maps a point in the frame of Shot1 in a point in the frame of Shot2
// BUT M2 brings the frame of Shot2 in the World system and M1 brings the World system in the Shot1 reference frame
// HENCE the combined roto-translation which maps the frame of Shot2 in the frame of Shot2 is M1 * M2 (!!!)
vcg::Matrix44d Mframe = M1 * M2;
// apply it..
shot2.ApplyRigidTransformation(M);
shot2.ApplyRigidTransformation(Mframe);
// and test it..
vcg::Point2d p1proj1, p2proj1, p1proj2, p2proj2;
@ -439,7 +477,7 @@ int main()
}
// TEST 7 - SHOT MODIFICATION - ROTO-TRANSLATION OF THE SHOT COORDINATES SYSTEM
if (test7(shot1, shot2, p1, p2))
if (test7(shot1, p1, p2))
{
std::cout << "TEST 7 (roto-translation of the Shot coordinates system) - PASSED(!)" << std::endl;
}