2015.05.12 Example and debugging

ImRotLibrary.py

@@ -10,14 +10,14 @@
 #--------------------------------------------------------------------------------
 
 # import the basic librarires
-from math import atan2, cos, sin, sqrt
+from math import atan2, cos, sin, sqrt, pi
 from numpy import float64, hypot, zeros, flatnonzero, array
 
 # Makes 3D rotation matrices from axis/angle
 def Fn_AxisAngle2RotMat(matrix, axis, angle):
     # Trig factors.
-    ca = cos(angle)
-    sa = sin(angle)
+    ca = cos(pi*angle/180)
+    sa = sin(pi*angle/180)
     C = 1 - ca
 
     # Depack the axis.
@@ -84,7 +84,7 @@ def Fn_RotMat2AxisAngle(matrix):
     # Angle.
     r = hypot(axis[0], hypot(axis[1], axis[2]))
     t = matrix[0,0] + matrix[1,1] + matrix[2,2]
-    theta = atan2(r, t-1)
+    theta = 180*atan2(r, t-1)/pi
 
     # Normalise the axis.
     axis = axis / r

Main_ImRotLibrary_Test.py

@@ -0,0 +1,55 @@
+#--------------------------------------------------------------------------------
+# Image transformation and filtering functions of Computer Vision class (2015-1)
+#
+# Minchul Lee: Initial code generation (2015.05.07)
+# Minchul Lee: Debug (2015.05.12)
+#--------------------------------------------------------------------------------
+
+# Import libraries
+import numpy as np
+import ImRotLibrary as IMRot
+
+#------------------------------------------------------------------------
+# Axis, angle to Rotation matrix representation example
+print '\n1) Axis, angle to Rotation matrix representation example'
+angle = 90.0 # degree
+axis = np.float64(np.array([1,0,0])) # axis
+RotMat = np.zeros((3,3)) # zero matrix initializaition
+print 'Angle: ', angle, ' [deg], Axis: ', axis
+
+
+# functino run
+IMRot.Fn_AxisAngle2RotMat(RotMat, axis, angle)
+
+print 'Rotation matrix:\n', RotMat
+#------------------------------------------------------------------------
+
+#------------------------------------------------------------------------
+# Rotation matrix to Axis, angle representation example
+print '\n2) Rotation matrix to Axis, angle representation example'
+print '[Info] Upeer rotation matrix is used for this exmaple\n'
+#function run
+axis_RotMat, angle_RotMat = IMRot.Fn_RotMat2AxisAngle(RotMat)
+
+print 'Axis:', axis_RotMat, ', Angle: ', angle_RotMat, '[deg]'
+#------------------------------------------------------------------------
+
+#------------------------------------------------------------------------
+# quaternian to Rotation matrix representation example
+print '\n3) quaternian to Rotation matrix representation example'
+Quat = np.float64(np.array([np.sqrt(2)/2, 0, 0, -np.sqrt(2)/2]))
+print 'Quaternion: ', Quat
+RotMat_Quat = np.zeros((3,3))
+
+IMRot.Fn_Quat2RotMat(Quat,RotMat_Quat)
+print 'Rotation matrix:\n', RotMat_Quat
+#------------------------------------------------------------------------
+
+#------------------------------------------------------------------------
+# Rotation matrix to quaternian representation example
+print '\n4) Rotation matrix to quaternian representation example'
+print '[Info] Upeer rotation matrix is used for this exmaple\n'
+
+Quat_RotMat = IMRot.Fn_RotMat2Quat(RotMat)
+print 'Quaternion: ', Quat_RotMat
+#------------------------------------------------------------------------