public void TestQuaternion3()
{
Random r = new Random();
Quaternions q1 = new Quaternions();
q1.AxisAngle = new MCvPoint3D64f(r.NextDouble(), r.NextDouble(), r.NextDouble());
Quaternions q2 = new Quaternions();
q2.AxisAngle = q1.AxisAngle;
double epsilon = 1.0e-8;
EmguAssert.IsTrue(Math.Abs(q1.W - q2.W) < epsilon);
EmguAssert.IsTrue(Math.Abs(q1.X - q2.X) < epsilon);
EmguAssert.IsTrue(Math.Abs(q1.Y - q2.Y) < epsilon);
EmguAssert.IsTrue(Math.Abs(q1.Z - q2.Z) < epsilon);
RotationVector3D rVec = new RotationVector3D(new double[] { q1.AxisAngle.X, q1.AxisAngle.Y, q1.AxisAngle.Z });
Mat m1 = rVec.RotationMatrix;
Matrix <double> m2 = new Matrix <double>(3, 3);
q1.GetRotationMatrix(m2);
Matrix <double> diff = new Matrix <double>(3, 3);
CvInvoke.AbsDiff(m1, m2, diff);
double norm = CvInvoke.Norm(diff, Emgu.CV.CvEnum.NormType.C);
EmguAssert.IsTrue(norm < epsilon);
Quaternions q4 = q1 * Quaternions.Empty;
//EmguAssert.IsTrue(q4.Equals(q1));
}
public void TestQuaternions1()
{
Quaternions q = new Quaternions();
double epsilon = 1.0e-10;
Matrix <double> point = new Matrix <double>(3, 1);
point.SetRandNormal(new MCvScalar(), new MCvScalar(20));
using (Matrix <double> pt1 = new Matrix <double>(3, 1))
using (Matrix <double> pt2 = new Matrix <double>(3, 1))
using (Matrix <double> pt3 = new Matrix <double>(3, 1))
{
double x1 = 1.0, y1 = 0.2, z1 = 0.1;
double x2 = 0.0, y2 = 0.0, z2 = 0.0;
q.SetEuler(x1, y1, z1);
q.GetEuler(ref x2, ref y2, ref z2);
EmguAssert.IsTrue(
Math.Abs(x2 - x1) < epsilon &&
Math.Abs(y2 - y1) < epsilon &&
Math.Abs(z2 - z1) < epsilon);
q.RotatePoints(point, pt1);
Matrix <double> rMat = new Matrix <double>(3, 3);
q.GetRotationMatrix(rMat);
CvInvoke.Gemm(rMat, point, 1.0, null, 0.0, pt2, Emgu.CV.CvEnum.GemmType.Default);
CvInvoke.AbsDiff(pt1, pt2, pt3);
EmguAssert.IsTrue(
pt3[0, 0] < epsilon &&
pt3[1, 0] < epsilon &&
pt3[2, 0] < epsilon);
}
double rotationAngle = 0.2;
q.SetEuler(rotationAngle, 0.0, 0.0);
EmguAssert.IsTrue(Math.Abs(q.RotationAngle - rotationAngle) < epsilon);
q.SetEuler(0.0, rotationAngle, 0.0);
EmguAssert.IsTrue(Math.Abs(q.RotationAngle - rotationAngle) < epsilon);
q.SetEuler(0.0, 0.0, rotationAngle);
EmguAssert.IsTrue(Math.Abs(q.RotationAngle - rotationAngle) < epsilon);
q = q * q;
EmguAssert.IsTrue(Math.Abs(q.RotationAngle / 2.0 - rotationAngle) < epsilon);
q.SetEuler(0.2, 0.1, 0.05);
double t = q.RotationAngle;
q = q * q;
EmguAssert.IsTrue(Math.Abs(q.RotationAngle / 2.0 - t) < epsilon);
}
public void TestQuaternions1()
{
Quaternions q = new Quaternions();
double epsilon = 1.0e-10;
Matrix<double> point = new Matrix<double>(3, 1);
point.SetRandNormal(new MCvScalar(), new MCvScalar(20));
using (Matrix<double> pt1 = new Matrix<double>(3, 1))
using (Matrix<double> pt2 = new Matrix<double>(3, 1))
using (Matrix<double> pt3 = new Matrix<double>(3, 1))
{
double x1 = 1.0, y1 = 0.2, z1 = 0.1;
double x2 = 0.0, y2 = 0.0, z2 = 0.0;
q.SetEuler(x1, y1, z1);
q.GetEuler(ref x2, ref y2, ref z2);
EmguAssert.IsTrue(
Math.Abs(x2 - x1) < epsilon &&
Math.Abs(y2 - y1) < epsilon &&
Math.Abs(z2 - z1) < epsilon);
q.RotatePoints(point, pt1);
Matrix<double> rMat = new Matrix<double>(3, 3);
q.GetRotationMatrix(rMat);
CvInvoke.Gemm(rMat, point, 1.0, null, 0.0, pt2, Emgu.CV.CvEnum.GemmType.Default);
CvInvoke.AbsDiff(pt1, pt2, pt3);
EmguAssert.IsTrue(
pt3[0, 0] < epsilon &&
pt3[1, 0] < epsilon &&
pt3[2, 0] < epsilon);
}
double rotationAngle = 0.2;
q.SetEuler(rotationAngle, 0.0, 0.0);
EmguAssert.IsTrue(Math.Abs(q.RotationAngle - rotationAngle) < epsilon);
q.SetEuler(0.0, rotationAngle, 0.0);
EmguAssert.IsTrue(Math.Abs(q.RotationAngle - rotationAngle) < epsilon);
q.SetEuler(0.0, 0.0, rotationAngle);
EmguAssert.IsTrue(Math.Abs(q.RotationAngle - rotationAngle) < epsilon);
q = q * q;
EmguAssert.IsTrue(Math.Abs(q.RotationAngle / 2.0 - rotationAngle) < epsilon);
q.SetEuler(0.2, 0.1, 0.05);
double t = q.RotationAngle;
q = q * q;
EmguAssert.IsTrue(Math.Abs(q.RotationAngle / 2.0 - t) < epsilon);
}
public void TestQuaternion3()
{
Random r = new Random();
Quaternions q1 = new Quaternions();
q1.AxisAngle = new MCvPoint3D64f(r.NextDouble(), r.NextDouble(), r.NextDouble());
Quaternions q2 = new Quaternions();
q2.AxisAngle = q1.AxisAngle;
double epsilon = 1.0e-12;
Assert.Less(Math.Abs(q1.W - q2.W), epsilon);
Assert.Less(Math.Abs(q1.X - q2.X), epsilon);
Assert.Less(Math.Abs(q1.Y - q2.Y), epsilon);
Assert.Less(Math.Abs(q1.Z - q2.Z), epsilon);
RotationVector3D rVec = new RotationVector3D(new double[] { q1.AxisAngle.x, q1.AxisAngle.y, q1.AxisAngle.z });
Matrix<double> m1 = rVec.RotationMatrix;
Matrix<double> m2 = new Matrix<double>(3, 3);
q1.GetRotationMatrix(m2);
Matrix<double> diff = new Matrix<double>(3, 3);
CvInvoke.cvAbsDiff(m1, m2, diff);
double norm = CvInvoke.cvNorm(diff, IntPtr.Zero, Emgu.CV.CvEnum.NORM_TYPE.CV_C, IntPtr.Zero);
Assert.Less(norm, epsilon);
}
public void TestQuaternion3()
{
Random r = new Random();
Quaternions q1 = new Quaternions();
q1.AxisAngle = new MCvPoint3D64f(r.NextDouble(), r.NextDouble(), r.NextDouble());
Quaternions q2 = new Quaternions();
q2.AxisAngle = q1.AxisAngle;
double epsilon = 1.0e-8;
EmguAssert.IsTrue(Math.Abs(q1.W - q2.W) < epsilon);
EmguAssert.IsTrue(Math.Abs(q1.X - q2.X) < epsilon);
EmguAssert.IsTrue(Math.Abs(q1.Y - q2.Y) < epsilon);
EmguAssert.IsTrue(Math.Abs(q1.Z - q2.Z) < epsilon);
RotationVector3D rVec = new RotationVector3D(new double[] { q1.AxisAngle.X, q1.AxisAngle.Y, q1.AxisAngle.Z });
Mat m1 = rVec.RotationMatrix;
Matrix<double> m2 = new Matrix<double>(3, 3);
q1.GetRotationMatrix(m2);
Matrix<double> diff = new Matrix<double>(3, 3);
CvInvoke.AbsDiff(m1, m2, diff);
double norm = CvInvoke.Norm(diff, Emgu.CV.CvEnum.NormType.C);
EmguAssert.IsTrue(norm < epsilon);
Quaternions q4 = q1 * Quaternions.Empty;
//EmguAssert.IsTrue(q4.Equals(q1));
}
