mirror of
https://github.com/opencv/opencv.git
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11cfa64a10
Ordinary quaternion * version 1.0 * add assumeUnit; add UnitTest; check boundary value; fix the func using method: func(obj); fix 4x4; add rodrigues vector transformation; fix mat to quat; * fix blank and tab * fix blank and tab modify test;cpp to hpp * mainly improve comment; add rvec2Quat;fix toRodrigues; fix throw to CV_Error * fix bug of quatd * int; combine hpp and cpp; fix << overload error in win system; modify include in test file; * move implementation to quaternion.ini.hpp; change some constructor to createFrom* function; change Rodrigues vector to rotation vector; change the matexpr to mat of 3x3 return type; improve comments; * try fix log function error in win * add enums for assumeUnit; improve docs; add using std::cos funcs * remove using std::* from header; add std::* in affine.hpp,warpers_inl.hpp; * quat: coding style * quat: AssumeType => QuatAssumeType
255 lines
10 KiB
C++
255 lines
10 KiB
C++
// This file is part of OpenCV project.
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// It is subject to the license terms in the LICENSE file found in the top-level directory
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// of this distribution and at http://opencv.org/license.html.
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#include "test_precomp.hpp"
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#include <opencv2/core/quaternion.hpp>
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#include <opencv2/ts/cuda_test.hpp>
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using namespace cv;
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namespace opencv_test{ namespace {
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class QuatTest: public ::testing::Test {
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protected:
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void SetUp() override
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{
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q1 = {1,2,3,4};
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q2 = {2.5,-2,3.5,4};
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q1Unit = {1 / sqrt(30), sqrt(2) /sqrt(15), sqrt(3) / sqrt(10), 2 * sqrt(2) / sqrt(15)};
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q1Inv = {1.0 / 30, -1.0 / 15, -1.0 / 10, -2.0 / 15};
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}
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double scalar = 2.5;
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double angle = CV_PI;
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int qNorm2 = 2;
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Vec<double, 3> axis{1, 1, 1};
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Vec<double, 3> unAxis{0, 0, 0};
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Vec<double, 3> unitAxis{1.0 / sqrt(3), 1.0 / sqrt(3), 1.0 / sqrt(3)};
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Quatd q3 = Quatd::createFromAngleAxis(angle, axis);
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Quatd q3UnitAxis = Quatd::createFromAngleAxis(angle, unitAxis);
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Quat<double> q3Norm2 = q3 * qNorm2;
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Quat<double> q1Inv;
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Quat<double> q1;
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Quat<double> q2;
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Quat<double> q1Unit;
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Quatd qNull{0, 0, 0, 0};
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Quatd qIdentity{1, 0, 0, 0};
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QuatAssumeType assumeUnit = QUAT_ASSUME_UNIT;
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};
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TEST_F(QuatTest, constructor){
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Vec<double, 4> coeff{1, 2, 3, 4};
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EXPECT_EQ(Quat<double> (coeff), q1);
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EXPECT_EQ(q3, q3UnitAxis);
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EXPECT_ANY_THROW(Quatd::createFromAngleAxis(angle, unAxis));
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Matx33d R1{
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-1.0 / 3, 2.0 / 3 , 2.0 / 3,
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2.0 / 3 , -1.0 / 3, 2.0 / 3,
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2.0 / 3 , 2.0 / 3 , -1.0 / 3
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};
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Matx33d R2{
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-2.0 / 3, -2.0 / 3, -1.0 / 3,
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-2.0 / 3, 1.0 / 3, 2.0 / 3,
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-1.0 / 3, 2.0 / 3, -2.0 / 3
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};
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Matx33d R3{
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0.818181818181, 0.181818181818, 0.54545455454,
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0.545454545545, -0.54545454545, -0.6363636364,
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0.181818181818, 0.818181818182, -0.5454545455
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};
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Matx33d R4{
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0.818181818181, -0.181818181818, 0.54545455454,
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0.545454545545, 0.54545454545, -0.6363636364,
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-0.181818181818, 0.818181818182, 0.5454545455
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};
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Quatd qMat = Quatd::createFromRotMat(R1);
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Quatd qMat2 = Quatd::createFromRotMat(R2);
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Quatd qMat3 = Quatd::createFromRotMat(R3);
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Quatd qMat4 = Quatd::createFromRotMat(R4);
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EXPECT_EQ(qMat2, Quatd(0, -0.408248290463, 0.816496580927, 0.408248904638));
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EXPECT_EQ(qMat3, Quatd(-0.426401432711,-0.852802865422, -0.213200716355, -0.2132007163));
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EXPECT_EQ(qMat, q3);
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EXPECT_EQ(qMat4, -Quatd(0.852802865422, 0.426401432711221, 0.2132007163556, 0.2132007163));
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Vec3d rot{angle / sqrt(3),angle / sqrt(3), angle / sqrt(3)};
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Quatd rotQuad{0, 1.0 / sqrt(3), 1. / sqrt(3), 1. / sqrt(3)};
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Quatd qRot = Quatd::createFromRvec(rot);
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EXPECT_EQ(qRot, rotQuad);
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EXPECT_EQ(Quatd::createFromRvec(Vec3d(0, 0, 0)), qIdentity);
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}
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TEST_F(QuatTest, basicfuns){
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Quat<double> q1Conj{1, -2, -3, -4};
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EXPECT_EQ(q3Norm2.normalize(), q3);
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EXPECT_EQ(q1.norm(), sqrt(30));
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EXPECT_EQ(q1.normalize(), q1Unit);
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EXPECT_ANY_THROW(qNull.normalize());
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EXPECT_EQ(q1.conjugate(), q1Conj);
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EXPECT_EQ(q1.inv(), q1Inv);
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EXPECT_EQ(inv(q1), q1Inv);
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EXPECT_EQ(q3.inv(assumeUnit) * q3, qIdentity);
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EXPECT_EQ(q1.inv() * q1, qIdentity);
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EXPECT_ANY_THROW(inv(qNull));
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EXPECT_NO_THROW(q1.at(0));
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EXPECT_ANY_THROW(q1.at(4));
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Matx33d R{
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-2.0 / 3, 2.0 / 15 , 11.0 / 15,
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2.0 / 3 , -1.0 / 3 , 2.0 / 3 ,
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1.0 / 3 , 14.0 / 15, 2.0 / 15
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};
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Matx33d q1RotMat = q1.toRotMat3x3();
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EXPECT_MAT_NEAR(q1RotMat, R, 1e-6);
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Vec3d z_axis{0,0,1};
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Quatd q_unit1 = Quatd::createFromAngleAxis(angle, z_axis);
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Mat pointsA = (Mat_<double>(2, 3) << 1,0,0,1,0,1);
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pointsA = pointsA.t();
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Mat new_point = q_unit1.toRotMat3x3() * pointsA;
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Mat afterRo = (Mat_<double>(3, 2) << -1,-1,0,0,0,1);
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EXPECT_MAT_NEAR(afterRo, new_point, 1e-6);
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EXPECT_ANY_THROW(qNull.toRotVec());
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Vec3d rodVec{CV_PI/sqrt(3), CV_PI/sqrt(3), CV_PI/sqrt(3)};
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Vec3d q3Rod = q3.toRotVec();
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EXPECT_NEAR(q3Rod[0], rodVec[0], 1e-6);
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EXPECT_NEAR(q3Rod[1], rodVec[1], 1e-6);
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EXPECT_NEAR(q3Rod[2], rodVec[2], 1e-6);
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EXPECT_EQ(log(q1Unit, assumeUnit), log(q1Unit));
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EXPECT_EQ(log(qIdentity, assumeUnit), qNull);
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EXPECT_EQ(log(q3), Quatd(0, angle * unitAxis[0] / 2, angle * unitAxis[1] / 2, angle * unitAxis[2] / 2));
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EXPECT_ANY_THROW(log(qNull));
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EXPECT_EQ(log(Quatd(exp(1), 0, 0, 0)), qIdentity);
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EXPECT_EQ(exp(qIdentity), Quatd(exp(1), 0, 0, 0));
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EXPECT_EQ(exp(qNull), qIdentity);
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EXPECT_EQ(exp(Quatd(0, angle * unitAxis[0] / 2, angle * unitAxis[1] / 2, angle * unitAxis[2] / 2)), q3);
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EXPECT_EQ(power(q3, 2), Quatd::createFromAngleAxis(2*angle, axis));
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EXPECT_EQ(power(Quatd(0.5, 0.5, 0.5, 0.5), 2.0, assumeUnit), Quatd(-0.5,0.5,0.5,0.5));
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EXPECT_EQ(power(Quatd(0.5, 0.5, 0.5, 0.5), -2.0), Quatd(-0.5,-0.5,-0.5,-0.5));
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EXPECT_EQ(sqrt(q1), power(q1, 0.5));
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EXPECT_EQ(exp(q3 * log(q1)), power(q1, q3));
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EXPECT_EQ(exp(q1 * log(q3)), power(q3, q1, assumeUnit));
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EXPECT_EQ(crossProduct(q1, q3), (q1 * q3 - q3 * q1) / 2);
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EXPECT_EQ(sinh(qNull), qNull);
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EXPECT_EQ(sinh(q1), (exp(q1) - exp(-q1)) / 2);
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EXPECT_EQ(sinh(qIdentity), Quatd(sinh(1), 0, 0, 0));
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EXPECT_EQ(sinh(q1), Quatd(0.73233760604, -0.44820744998, -0.67231117497, -0.8964148999610843));
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EXPECT_EQ(cosh(qNull), qIdentity);
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EXPECT_EQ(cosh(q1), Quatd(0.961585117636, -0.34135217456, -0.51202826184, -0.682704349122));
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EXPECT_EQ(tanh(q1), sinh(q1) * inv(cosh(q1)));
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EXPECT_EQ(sin(qNull), qNull);
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EXPECT_EQ(sin(q1), Quatd(91.78371578403, 21.88648685303, 32.829730279543, 43.772973706058));
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EXPECT_EQ(cos(qNull), qIdentity);
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EXPECT_EQ(cos(q1), Quatd(58.9336461679, -34.0861836904, -51.12927553569, -68.17236738093));
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EXPECT_EQ(tan(q1), sin(q1)/cos(q1));
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EXPECT_EQ(sinh(asinh(q1)), q1);
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Quatd c1 = asinh(sinh(q1));
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EXPECT_EQ(sinh(c1), sinh(q1));
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EXPECT_EQ(cosh(acosh(q1)), q1);
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c1 = acosh(cosh(q1));
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EXPECT_EQ(cosh(c1), cosh(q1));
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EXPECT_EQ(tanh(atanh(q1)), q1);
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c1 = atanh(tanh(q1));
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EXPECT_EQ(tanh(q1), tanh(c1));
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EXPECT_EQ(asin(sin(q1)), q1);
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EXPECT_EQ(sin(asin(q1)), q1);
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EXPECT_EQ(acos(cos(q1)), q1);
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EXPECT_EQ(cos(acos(q1)), q1);
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EXPECT_EQ(atan(tan(q3)), q3);
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EXPECT_EQ(tan(atan(q1)), q1);
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}
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TEST_F(QuatTest, opeartor){
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Quatd minusQ{-1, -2, -3, -4};
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Quatd qAdd{3.5, 0, 6.5, 8};
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Quatd qMinus{-1.5, 4, -0.5, 0};
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Quatd qMultq{-20, 1, -5, 27};
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Quatd qMults{2.5, 5.0, 7.5, 10.0};
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Quatd qDvss{1.0 / 2.5, 2.0 / 2.5, 3.0 / 2.5, 4.0 / 2.5};
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Quatd qOrigin(q1);
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EXPECT_EQ(-q1, minusQ);
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EXPECT_EQ(q1 + q2, qAdd);
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EXPECT_EQ(q1 - q2, qMinus);
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EXPECT_EQ(q1 * q2, qMultq);
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EXPECT_EQ(q1 * scalar, qMults);
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EXPECT_EQ(scalar * q1, qMults);
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EXPECT_EQ(q1 / q1, qIdentity);
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EXPECT_EQ(q1 / scalar, qDvss);
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q1 += q2;
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EXPECT_EQ(q1, qAdd);
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q1 -= q2;
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EXPECT_EQ(q1, qOrigin);
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q1 *= q2;
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EXPECT_EQ(q1, qMultq);
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q1 /= q2;
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EXPECT_EQ(q1, qOrigin);
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q1 *= scalar;
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EXPECT_EQ(q1, qMults);
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q1 /= scalar;
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EXPECT_EQ(q1, qOrigin);
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EXPECT_NO_THROW(q1[0]);
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EXPECT_NO_THROW(q1.at(0));
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EXPECT_ANY_THROW(q1[4]);
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EXPECT_ANY_THROW(q1.at(4));
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}
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TEST_F(QuatTest, quatAttrs){
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double angleQ1 = 2 * acos(1.0 / sqrt(30));
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Vec3d axis1{0.3713906763541037, 0.557086014, 0.742781352};
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Vec<double, 3> q1axis1 = q1.getAxis();
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EXPECT_EQ(angleQ1, q1.getAngle());
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EXPECT_EQ(angleQ1, q1Unit.getAngle());
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EXPECT_EQ(angleQ1, q1Unit.getAngle(assumeUnit));
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EXPECT_EQ(0, qIdentity.getAngle());
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EXPECT_ANY_THROW(qNull.getAxis());
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EXPECT_NEAR(axis1[0], q1axis1[0], 1e-6);
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EXPECT_NEAR(axis1[1], q1axis1[1], 1e-6);
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EXPECT_NEAR(axis1[2], q1axis1[2], 1e-6);
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EXPECT_NEAR(q3Norm2.norm(), qNorm2, 1e-6);
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EXPECT_EQ(q3Norm2.getAngle(), angle);
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EXPECT_NEAR(axis1[0], axis1[0], 1e-6);
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EXPECT_NEAR(axis1[1], axis1[1], 1e-6);
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EXPECT_NEAR(axis1[2], axis1[2], 1e-6);
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}
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TEST_F(QuatTest, interpolation){
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Quatd qNoRot = Quatd::createFromAngleAxis(0, axis);
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Quatd qLerpInter(1.0 / 2, sqrt(3) / 6, sqrt(3) / 6, sqrt(3) / 6);
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EXPECT_EQ(Quatd::lerp(qNoRot, q3, 0), qNoRot);
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EXPECT_EQ(Quatd::lerp(qNoRot, q3, 1), q3);
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EXPECT_EQ(Quatd::lerp(qNoRot, q3, 0.5), qLerpInter);
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Quatd q3NrNn2 = qNoRot * qNorm2;
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EXPECT_EQ(Quatd::nlerp(q3NrNn2, q3Norm2, 0), qNoRot);
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EXPECT_EQ(Quatd::nlerp(q3NrNn2, q3Norm2, 1), q3);
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EXPECT_EQ(Quatd::nlerp(q3NrNn2, q3Norm2, 0.5), qLerpInter.normalize());
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EXPECT_EQ(Quatd::nlerp(qNoRot, q3, 0, assumeUnit), qNoRot);
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EXPECT_EQ(Quatd::nlerp(qNoRot, q3, 1, assumeUnit), q3);
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EXPECT_EQ(Quatd::nlerp(qNoRot, q3, 0.5, assumeUnit), qLerpInter.normalize());
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Quatd q3Minus(-q3);
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EXPECT_EQ(Quatd::nlerp(qNoRot, q3, 0.4), -Quatd::nlerp(qNoRot, q3Minus, 0.4));
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EXPECT_EQ(Quatd::slerp(qNoRot, q3, 0, assumeUnit), qNoRot);
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EXPECT_EQ(Quatd::slerp(qNoRot, q3, 1, assumeUnit), q3);
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EXPECT_EQ(Quatd::slerp(qNoRot, q3, 0.5, assumeUnit), -Quatd::nlerp(qNoRot, -q3, 0.5, assumeUnit));
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EXPECT_EQ(Quatd::slerp(qNoRot, q1, 0.5), Quatd(0.76895194, 0.2374325, 0.35614876, 0.47486501));
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EXPECT_EQ(Quatd::slerp(-qNoRot, q1, 0.5), Quatd(0.76895194, 0.2374325, 0.35614876, 0.47486501));
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EXPECT_EQ(Quatd::slerp(qNoRot, -q1, 0.5), -Quatd::slerp(-qNoRot, q1, 0.5));
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Quat<double> tr1 = Quatd::createFromAngleAxis(0, axis);
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Quat<double> tr2 = Quatd::createFromAngleAxis(angle / 2, axis);
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Quat<double> tr3 = Quatd::createFromAngleAxis(angle, axis);
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Quat<double> tr4 = Quatd::createFromAngleAxis(angle, Vec3d{-1/sqrt(2),0,1/(sqrt(2))});
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EXPECT_ANY_THROW(Quatd::spline(qNull, tr1, tr2, tr3, 0));
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EXPECT_EQ(Quatd::spline(tr1, tr2, tr3, tr4, 0), tr2);
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EXPECT_EQ(Quatd::spline(tr1, tr2, tr3, tr4, 1), tr3);
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EXPECT_EQ(Quatd::spline(tr1, tr2, tr3, tr4, 0.6, assumeUnit), Quatd::spline(tr1, tr2, tr3, tr4, 0.6));
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EXPECT_EQ(Quatd::spline(tr1, tr2, tr3, tr3, 0.5), Quatd::spline(tr1, -tr2, tr3, tr3, 0.5));
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EXPECT_EQ(Quatd::spline(tr1, tr2, tr3, tr3, 0.5), -Quatd::spline(-tr1, -tr2, -tr3, tr3, 0.5));
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EXPECT_EQ(Quatd::spline(tr1, tr2, tr3, tr3, 0.5), Quatd(0.336889853392, 0.543600719487, 0.543600719487, 0.543600719487));
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}
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} // namespace
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}// opencv_test
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