[Toon-members] TooN so3.h [Maintenance_Branch_1_x]

[Gerhard Reitmayr]

CVSROOT:        /cvsroot/toon
Module name:    TooN
Branch:         Maintenance_Branch_1_x
Changes by:     Gerhard Reitmayr <gerhard>      09/03/12 18:16:59

Modified files:
        .              : so3.h 

Log message:
        forgot to check for the correct direction

CVSWeb URLs:
http://cvs.savannah.gnu.org/viewcvs/TooN/so3.h?cvsroot=toon&only_with_tag=Maintenance_Branch_1_x&r1=1.23.2.2&r2=1.23.2.3

Patches:
Index: so3.h
===================================================================
RCS file: /cvsroot/toon/TooN/so3.h,v
retrieving revision 1.23.2.2
retrieving revision 1.23.2.3
diff -u -b -r1.23.2.2 -r1.23.2.3
--- so3.h       12 Mar 2009 16:49:45 -0000      1.23.2.2
+++ so3.h       12 Mar 2009 18:16:59 -0000      1.23.2.3
@@ -236,21 +236,25 @@
                my_matrix[1][1] - cos_angle,
                my_matrix[2][2] - cos_angle
        );
+       TooN::Vector<3> r2;
        if(fabs(diag[0]) > fabs(diag[1]) && fabs(diag[0]) > fabs(diag[2])){ // 
first is largest, fill with first column
-               result[0] = diag[0];
-               result[1] = (my_matrix[1][0]+my_matrix[0][1])/2;
-               result[2] = (my_matrix[0][2]+my_matrix[2][0])/2;
+               r2[0] = diag[0];
+               r2[1] = (my_matrix[1][0]+my_matrix[0][1])/2;
+               r2[2] = (my_matrix[0][2]+my_matrix[2][0])/2;
        } else if(fabs(diag[1]) > fabs(diag[2])) {                          // 
second is largest, fill with second column
-               result[0] = (my_matrix[1][0]+my_matrix[0][1])/2;
-               result[1] = diag[1];
-               result[2] = (my_matrix[2][1]+my_matrix[1][2])/2;
+               r2[0] = (my_matrix[1][0]+my_matrix[0][1])/2;
+               r2[1] = diag[1];
+               r2[2] = (my_matrix[2][1]+my_matrix[1][2])/2;
        } else {                                                            // 
third is largest, fill with third column
-               result[0] = (my_matrix[0][2]+my_matrix[2][0])/2;
-               result[1] = (my_matrix[2][1]+my_matrix[1][2])/2;
-               result[2] = diag[2];
+               r2[0] = (my_matrix[0][2]+my_matrix[2][0])/2;
+               r2[1] = (my_matrix[2][1]+my_matrix[1][2])/2;
+               r2[2] = diag[2];
        }       
-       normalize(result);
-       result *= angle;
+       // flip, if we point in the wrong direction!
+       if(r2 * result < 0)
+               r2 *= -1;
+       normalize(r2);
+       result = angle * r2;
       } else { // can use small angle approximation, because we are around zero
               // nothing to do here
       }