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Merge pull request #19098 from chargerKong:EulerAngle

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* add to/from Euler Angles

* restruct codes

* quat: optimize implementation

* cleanup debug code

* correct spelling errors

* create QuatEnum for enum EulerAnglesType

* use for loop for test_quaternion

* drop template from isIntAngleType & add minimal error information in test_quaternion.cpp

Co-authored-by: ShanChenqi <shanchenqi@huawei.com>
Co-authored-by: Alexander Alekhin <alexander.a.alekhin@gmail.com>
This commit is contained in:
Liangqian
2020-12-31 18:32:12 +08:00
committed by GitHub
parent bec7b297ed
commit e4c7fca755
3 changed files with 439 additions and 5 deletions
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modules/core/test/test_quaternion.cpp
+62
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@@ -258,6 +258,68 @@ TEST_F(QuatTest, interpolation){
EXPECT_EQ(Quatd::spline(tr1, tr2, tr3, tr3, 0.5), Quatd(0.336889853392, 0.543600719487, 0.543600719487, 0.543600719487));
}
static const Quatd qEuler[24] = {
Quatd(0.7233214, 0.3919013, 0.2005605, 0.5319728), //INT_XYZ
Quatd(0.8223654, 0.0222635, 0.3604221, 0.4396766), //INT_XZY
Quatd(0.822365, 0.439677, 0.0222635, 0.360422), //INT_YXZ
Quatd(0.723321, 0.531973, 0.391901, 0.20056), //INT_YZX
Quatd(0.723321, 0.20056, 0.531973, 0.391901), //INT_ZXY
Quatd(0.822365, 0.360422, 0.439677, 0.0222635), //INT_ZYX
Quatd(0.653285, 0.65328, 0.369641, -0.0990435), //INT_XYX
Quatd(0.653285, 0.65328, 0.0990435, 0.369641), //INT_XZX
Quatd(0.653285, 0.369641, 0.65328, 0.0990435), //INT_YXY
Quatd(0.653285, -0.0990435, 0.65328, 0.369641), //INT_YZY
Quatd(0.653285, 0.369641, -0.0990435, 0.65328), //INT_ZXZ
Quatd(0.653285, 0.0990435, 0.369641, 0.65328), //INT_ZYZ
Quatd(0.822365, 0.0222635, 0.439677, 0.360422), //EXT_XYZ
Quatd(0.723321, 0.391901, 0.531973, 0.20056), //EXT_XZY
Quatd(0.723321, 0.20056, 0.391901, 0.531973), //EXT_YXZ
Quatd(0.822365, 0.360422, 0.0222635, 0.439677), //EXT_YZX
Quatd(0.822365, 0.439677, 0.360422, 0.0222635), //EXT_ZXY
Quatd(0.723321, 0.531973, 0.20056, 0.391901), //EXT_ZYX
Quatd(0.653285, 0.65328, 0.369641, 0.0990435), //EXT_XYX
Quatd(0.653285, 0.65328, -0.0990435, 0.369641), //EXT_XZX
Quatd(0.653285, 0.369641, 0.65328, -0.0990435), //EXT_YXY
Quatd(0.653285, 0.0990435, 0.65328, 0.369641), //EXT_YZY
Quatd(0.653285, 0.369641, 0.0990435, 0.65328), //EXT_ZXZ
Quatd(0.653285, -0.0990435, 0.369641, 0.65328) //EXT_ZYZ
};
TEST_F(QuatTest, EulerAngles){
Vec3d test_angle = {0.523598, 0.78539, 1.04719};
for (QuatEnum::EulerAnglesType i = QuatEnum::EulerAnglesType::INT_XYZ; i <= QuatEnum::EulerAnglesType::EXT_ZYZ; i = (QuatEnum::EulerAnglesType)(i + 1))
{
SCOPED_TRACE(cv::format("EulerAnglesType=%d", i));
Quatd q = Quatd::createFromEulerAngles(test_angle, i);
EXPECT_EQ(q, qEuler[i]);
Vec3d Euler_Angles = q.toEulerAngles(i);
EXPECT_NEAR(Euler_Angles[0], test_angle[0], 1e-6);
EXPECT_NEAR(Euler_Angles[1], test_angle[1], 1e-6);
EXPECT_NEAR(Euler_Angles[2], test_angle[2], 1e-6);
}
Quatd qEuler0 = {0, 0, 0, 0};
EXPECT_ANY_THROW(qEuler0.toEulerAngles(QuatEnum::INT_XYZ));
Quatd qEulerLock1 = {0.5612665, 0.43042, 0.5607083, 0.4304935};
Vec3d test_angle_lock1 = {1.3089878, CV_PI * 0.5, 0};
Vec3d Euler_Angles_solute_1 = qEulerLock1.toEulerAngles(QuatEnum::INT_XYZ);
EXPECT_NEAR(Euler_Angles_solute_1[0], test_angle_lock1[0], 1e-6);
EXPECT_NEAR(Euler_Angles_solute_1[1], test_angle_lock1[1], 1e-6);
EXPECT_NEAR(Euler_Angles_solute_1[2], test_angle_lock1[2], 1e-6);
Quatd qEulerLock2 = {0.7010574, 0.0922963, 0.7010573, -0.0922961};
Vec3d test_angle_lock2 = {-0.2618, CV_PI * 0.5, 0};
Vec3d Euler_Angles_solute_2 = qEulerLock2.toEulerAngles(QuatEnum::INT_ZYX);
EXPECT_NEAR(Euler_Angles_solute_2[0], test_angle_lock2[0], 1e-6);
EXPECT_NEAR(Euler_Angles_solute_2[1], test_angle_lock2[1], 1e-6);
EXPECT_NEAR(Euler_Angles_solute_2[2], test_angle_lock2[2], 1e-6);
Vec3d test_angle6 = {CV_PI * 0.25, CV_PI * 0.5, CV_PI * 0.25};
Vec3d test_angle7 = {CV_PI * 0.5, CV_PI * 0.5, 0};
EXPECT_EQ(Quatd::createFromEulerAngles(test_angle6, QuatEnum::INT_ZXY), Quatd::createFromEulerAngles(test_angle7, QuatEnum::INT_ZXY));
}
} // namespace
}// opencv_test