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fix test9 about roto-translation 

add test10 abut similarity transformation
This commit is contained in:
Massimiliano Corsini 2011-05-24 21:11:21 +00:00
parent f35731d425
commit ad6866f1a3
1 changed files with 90 additions and 5 deletions
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95
apps/test/camerashot/camerashot_test.cpp
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@ -229,12 +229,16 @@ bool test6(vcg::Shotd shot1, vcg::Shotd shot2, vcg::Point3d p1, vcg::Point3d p2)
///////////////////////////////////////////////////////////////////////////////
bool test7(vcg::Shotd shot1, vcg::Point3d p1, vcg::Point3d p2)
{
// store data
vcg::Matrix44d Rorig = shot1.Extrinsics.Rot();
vcg::Point3d Torig = shot1.Extrinsics.Tra();
// 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.SetIdentity();
T.ElementAt(0,3) = 10.0;
T.ElementAt(1,3) = 10.0;
T.ElementAt(2,3) = 10.0;
T.ElementAt(3,3) = 1.0;
vcg::Point2d p1proj = shot1.Project(p1);
@ -247,6 +251,9 @@ bool test7(vcg::Shotd shot1, vcg::Point3d p1, vcg::Point3d p2)
if (dist2(p1proj, ptproj) > precision)
return false;
shot1.Extrinsics.SetTra(Torig);
shot1.Extrinsics.SetRot(Rorig);
// pure rotation
vcg::Matrix44d R;
R.SetZero();
@ -262,11 +269,14 @@ bool test7(vcg::Shotd shot1, vcg::Point3d p1, vcg::Point3d p2)
if (dist2(p1proj, prproj) > precision)
return false;
shot1.Extrinsics.SetTra(Torig);
shot1.Extrinsics.SetRot(Rorig);
// roto-translation
vcg::Matrix44d RT = T * R;
vcg::Point3d prt = R * p1 + tr;
shot1.ApplyRigidTransformation(R);
shot1.ApplyRigidTransformation(RT);
vcg::Point2d prtproj = shot1.Project(prt);
if (dist2(p1proj, prtproj) > precision)
@ -341,6 +351,71 @@ bool test9(vcg::Shotd shot1, vcg::Shotd shot2, vcg::Point3d p1, vcg::Point3d p2)
return true;
}
// TEST 10 - SHOT MODIFICATION - SIMILARITY
///////////////////////////////////////////////////////////////////////////////
bool test10(vcg::Shotd shot1, vcg::Shotd shot2, vcg::Point3d p1, vcg::Point3d p2)
{
vcg::Point2d p1proj = shot1.Project(p1);
// store data
vcg::Matrix44d Rorig = shot1.Extrinsics.Rot();
vcg::Point3d Torig = shot1.Extrinsics.Tra();
// pure translation
vcg::Matrix44d T;
T.SetIdentity();
T.ElementAt(0,3) = 10.0;
T.ElementAt(1,3) = 10.0;
T.ElementAt(2,3) = 10.0;
T.ElementAt(3,3) = 1.0;
vcg::Point3d tr(T.ElementAt(0,3), T.ElementAt(1,3), T.ElementAt(2,3));
// pure rotation
vcg::Matrix44d R;
R.SetZero();
R.ElementAt(0,2) = 1.0;
R.ElementAt(1,1) = 1.0;
R.ElementAt(2,0) = -1.0;
R.ElementAt(3,3) = 1.0;
// scaling
vcg::Matrix44d S;
double scale = 10.0;
S.SetIdentity();
S *= scale;
S.ElementAt(3,3) = 1.0;
vcg::Point3d psim = R * S * p1 + tr;
vcg::Matrix44d SRT = T * R * S;
shot1.ApplySimilarity(SRT);
vcg::Point2d psimproj = shot1.Project(psim);
if (dist2(p1proj, psimproj) > precision)
return false;
shot1.Extrinsics.SetTra(Torig);
shot1.Extrinsics.SetRot(Rorig);
// WORK IN PROGRESS..
//
// vcg::Similarityd sm;
// sm.SetScale(scale);
// sm.SetTranslate(tr);
// sm.SetRotate(90.0, vcg::Point3d(0.0,1.0,0.0));
// shot1.ApplySimilarity(sm);
// psimproj = shot1.Project(psim);
// if (dist2(p1proj, psimproj) > precision)
// return false;
return true;
}
int main()
{
vcg::Point3d p1(20.0, 25.0, 10.0);
@ -506,5 +581,15 @@ int main()
std::cout << "TEST 9 (roto-translation of the Shot coordinates system) - FAILED(!)" << std::endl;
}
// TEST 10 - SHOT MODIFICATION - SIMILARITY TRANSFORMATION
if (test10(shot1, shot2, p1, p2))
{
std::cout << "TEST 10 (similarity transform of the Shot coordinates system) - PASSED(!)" << std::endl;
}
else
{
std::cout << "TEST 10 (similarity transform of the Shot coordinates system) - FAILED(!)" << std::endl;
}
return 0;
}