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Added helper functions to extract euler angles from 3d transforms

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This commit is contained in:
Enrico Turri 2018-10-12 12:19:57 +02:00
parent d843f1a76f
commit 9bb93cc4f4
4 changed files with 61 additions and 46 deletions
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34
src/libslic3r/Geometry.cpp
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@ -1183,4 +1183,38 @@ Transform3d assemble_transform(const Vec3d& translation, const Vec3d& rotation,
return transform;
}
Vec3d extract_euler_angles(const Eigen::Matrix<double, 3, 3, Eigen::DontAlign>& rotation_matrix)
{
// see: https://www.learnopencv.com/rotation-matrix-to-euler-angles/
double sy = ::sqrt(sqr(rotation_matrix(0, 0)) + sqr(rotation_matrix(1, 0)));
Vec3d angles = Vec3d::Zero();
if (sy >= 1e-6)
{
angles(0) = ::atan2(rotation_matrix(2, 1), rotation_matrix(2, 2));
angles(1) = ::atan2(-rotation_matrix(2, 0), sy);
angles(2) = ::atan2(rotation_matrix(1, 0), rotation_matrix(0, 0));
}
else
{
angles(0) = ::atan2(-rotation_matrix(1, 2), rotation_matrix(1, 1));
angles(1) = ::atan2(-rotation_matrix(2, 0), sy);
angles(2) = 0.0;
}
return angles;
}
Vec3d extract_euler_angles(const Transform3d& transform)
{
// use only the non-translational part of the transform
Eigen::Matrix<double, 3, 3, Eigen::DontAlign> m = transform.matrix().block(0, 0, 3, 3);
// remove scale
m.col(0).normalize();
m.col(1).normalize();
m.col(2).normalize();
return extract_euler_angles(m);
}
} }