Commit 0bc923b7 authored by Luke Campagnola's avatar Luke Campagnola
Browse files

Added SRTTransform3D test, corrected fromMatrix bug

parent 18ddff76
......@@ -122,7 +122,8 @@ class SRTTransform3D(Transform3D):
self.setRow(i, m.row(i))
m = self.matrix().reshape(4,4)
## translation is 4th column
self._state['pos'] = m[:3,3]
self._state['pos'] = m[:3,3]
## scale is vector-length of first three columns
scale = (m[:3,:3]**2).sum(axis=0)**0.5
## see whether there is an inversion
......@@ -132,7 +133,7 @@ class SRTTransform3D(Transform3D):
self._state['scale'] = scale
## rotation axis is the eigenvector with eigenvalue=1
r = m[:3, :3] / scale[:, np.newaxis]
r = m[:3, :3] / scale[np.newaxis, :]
try:
evals, evecs = numpy.linalg.eig(r)
except:
......
import pyqtgraph as pg
from pyqtgraph.Qt import QtCore, QtGui
import numpy as np
from numpy.testing import assert_array_almost_equal, assert_almost_equal
testPoints = np.array([
[0, 0, 0],
[1, 0, 0],
[0, 1, 0],
[0, 0, 1],
[-1, -1, 0],
[0, -1, -1]])
def testMatrix():
"""
SRTTransform3D => Transform3D => SRTTransform3D
"""
tr = pg.SRTTransform3D()
tr.setRotate(45, (0, 0, 1))
tr.setScale(0.2, 0.4, 1)
tr.setTranslate(10, 20, 40)
assert tr.getRotation() == (45, QtGui.QVector3D(0, 0, 1))
assert tr.getScale() == QtGui.QVector3D(0.2, 0.4, 1)
assert tr.getTranslation() == QtGui.QVector3D(10, 20, 40)
tr2 = pg.Transform3D(tr)
assert np.all(tr.matrix() == tr2.matrix())
# This is the most important test:
# The transition from Transform3D to SRTTransform3D is a tricky one.
tr3 = pg.SRTTransform3D(tr2)
assert_array_almost_equal(tr.matrix(), tr3.matrix())
assert_almost_equal(tr3.getRotation()[0], tr.getRotation()[0])
assert_array_almost_equal(tr3.getRotation()[1], tr.getRotation()[1])
assert_array_almost_equal(tr3.getScale(), tr.getScale())
assert_array_almost_equal(tr3.getTranslation(), tr.getTranslation())
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