作业1提高题的问题 – 计算机图形学与混合现实在线平台

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2021年6月11日 at 下午10:43 #8670 Score: 0

gzhao01

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作业一种遇到两个问题，自己找资料和想了很久都没解决，希望大佬能够赐教
一、当输入的围绕旋转的轴时，如果第一个输入参数不为0，就会segmentation error。
二、如果绕y轴旋转，结果会出错，但绕z轴结果应该正确。

以下是代码：


Eigen::Matrix4f get_rotation(Vector3f axis, float angle)

{

    axis.normalize();

    float radian_angle = angle/180.0f*MY_PI;

    Eigen::Matrix4f rotation = Eigen::Matrix4f::Identity();

    //store tmp matrix, change it to 4x4

    Eigen::Matrix3f temp = Eigen::Matrix3f::Identity();

    Eigen::Matrix3f m;

    m << 0,-axis[2], axis[1],

        axis[2],0,-axis[0],

        -axis[1],axis[0],0;

    //Rodrigues' rotation formula

    temp = cos(radian_angle)*Eigen::Matrix3f::Identity()

         +(1-cos(radian_angle))*axis*axis.transpose()

         +sin(radian_angle)*m;

    rotation << temp(0,0),temp(0,1),temp(0,2),0,

                temp(1,0),temp(1,1),temp(1,2),0,

                temp(2,0),temp(2,1),temp(2,2),0,

                0,0,0,1;

    return rotation;

}

//main函数里
    Eigen::Vector3f axis;

    axis<<0,0,1.0f; // rotate around z axis by default

    float angle = 0;

    float angle_inter=20; // 20 by default

    bool command_line = false;

    std::string filename = "output.png";

    if (argc >= 3) {

        command_line = true;

        angle_inter = std::stof(argv[2]); // -r by default

        if(argc == 3){

        }

        //output file name

        else if (argc == 4) {

            filename = std::string(argv[3]);            

        }

        //rotate axis

        else if(argc == 6){

            std::cout<<"argv 3"<<argv[3];

            axis[0] = std::stof(argv[3]);

            axis[1] = std::stof(argv[4]);

            axis[2] = std::stof(argv[5]);

        }

        else{

            return 0;

        }

    }