[136] | 1 | // This file is part of Eigen, a lightweight C++ template library
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| 2 | // for linear algebra.
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| 3 | //
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| 4 | // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
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| 5 | //
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| 6 | // This Source Code Form is subject to the terms of the Mozilla
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| 7 | // Public License v. 2.0. If a copy of the MPL was not distributed
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| 8 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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| 9 |
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| 10 | #include "main.h"
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| 11 | #include <Eigen/Geometry>
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| 12 |
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| 13 | template<typename Scalar,int Size> void homogeneous(void)
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| 14 | {
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| 15 | /* this test covers the following files:
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| 16 | Homogeneous.h
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| 17 | */
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| 18 |
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| 19 | typedef Matrix<Scalar,Size,Size> MatrixType;
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| 20 | typedef Matrix<Scalar,Size,1, ColMajor> VectorType;
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| 21 |
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| 22 | typedef Matrix<Scalar,Size+1,Size> HMatrixType;
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| 23 | typedef Matrix<Scalar,Size+1,1> HVectorType;
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| 24 |
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| 25 | typedef Matrix<Scalar,Size,Size+1> T1MatrixType;
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| 26 | typedef Matrix<Scalar,Size+1,Size+1> T2MatrixType;
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| 27 | typedef Matrix<Scalar,Size+1,Size> T3MatrixType;
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| 28 |
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| 29 | VectorType v0 = VectorType::Random(),
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| 30 | ones = VectorType::Ones();
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| 31 |
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| 32 | HVectorType hv0 = HVectorType::Random();
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| 33 |
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| 34 | MatrixType m0 = MatrixType::Random();
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| 35 |
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| 36 | HMatrixType hm0 = HMatrixType::Random();
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| 37 |
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| 38 | hv0 << v0, 1;
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| 39 | VERIFY_IS_APPROX(v0.homogeneous(), hv0);
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| 40 | VERIFY_IS_APPROX(v0, hv0.hnormalized());
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| 41 |
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| 42 | hm0 << m0, ones.transpose();
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| 43 | VERIFY_IS_APPROX(m0.colwise().homogeneous(), hm0);
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| 44 | VERIFY_IS_APPROX(m0, hm0.colwise().hnormalized());
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| 45 | hm0.row(Size-1).setRandom();
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| 46 | for(int j=0; j<Size; ++j)
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| 47 | m0.col(j) = hm0.col(j).head(Size) / hm0(Size,j);
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| 48 | VERIFY_IS_APPROX(m0, hm0.colwise().hnormalized());
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| 49 |
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| 50 | T1MatrixType t1 = T1MatrixType::Random();
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| 51 | VERIFY_IS_APPROX(t1 * (v0.homogeneous().eval()), t1 * v0.homogeneous());
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| 52 | VERIFY_IS_APPROX(t1 * (m0.colwise().homogeneous().eval()), t1 * m0.colwise().homogeneous());
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| 53 |
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| 54 | T2MatrixType t2 = T2MatrixType::Random();
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| 55 | VERIFY_IS_APPROX(t2 * (v0.homogeneous().eval()), t2 * v0.homogeneous());
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| 56 | VERIFY_IS_APPROX(t2 * (m0.colwise().homogeneous().eval()), t2 * m0.colwise().homogeneous());
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| 57 | VERIFY_IS_APPROX(t2 * (v0.homogeneous().asDiagonal()), t2 * hv0.asDiagonal());
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| 58 | VERIFY_IS_APPROX((v0.homogeneous().asDiagonal()) * t2, hv0.asDiagonal() * t2);
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| 59 |
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| 60 | VERIFY_IS_APPROX((v0.transpose().rowwise().homogeneous().eval()) * t2,
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| 61 | v0.transpose().rowwise().homogeneous() * t2);
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| 62 | m0.transpose().rowwise().homogeneous().eval();
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| 63 | VERIFY_IS_APPROX((m0.transpose().rowwise().homogeneous().eval()) * t2,
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| 64 | m0.transpose().rowwise().homogeneous() * t2);
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| 65 |
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| 66 | T3MatrixType t3 = T3MatrixType::Random();
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| 67 | VERIFY_IS_APPROX((v0.transpose().rowwise().homogeneous().eval()) * t3,
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| 68 | v0.transpose().rowwise().homogeneous() * t3);
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| 69 | VERIFY_IS_APPROX((m0.transpose().rowwise().homogeneous().eval()) * t3,
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| 70 | m0.transpose().rowwise().homogeneous() * t3);
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| 71 |
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| 72 | // test product with a Transform object
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| 73 | Transform<Scalar, Size, Affine> aff;
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| 74 | Transform<Scalar, Size, AffineCompact> caff;
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| 75 | Transform<Scalar, Size, Projective> proj;
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| 76 | Matrix<Scalar, Size, Dynamic> pts;
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| 77 | Matrix<Scalar, Size+1, Dynamic> pts1, pts2;
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| 78 |
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| 79 | aff.affine().setRandom();
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| 80 | proj = caff = aff;
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| 81 | pts.setRandom(Size,internal::random<int>(1,20));
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| 82 |
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| 83 | pts1 = pts.colwise().homogeneous();
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| 84 | VERIFY_IS_APPROX(aff * pts.colwise().homogeneous(), (aff * pts1).colwise().hnormalized());
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| 85 | VERIFY_IS_APPROX(caff * pts.colwise().homogeneous(), (caff * pts1).colwise().hnormalized());
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| 86 | VERIFY_IS_APPROX(proj * pts.colwise().homogeneous(), (proj * pts1));
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| 87 |
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| 88 | VERIFY_IS_APPROX((aff * pts1).colwise().hnormalized(), aff * pts);
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| 89 | VERIFY_IS_APPROX((caff * pts1).colwise().hnormalized(), caff * pts);
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| 90 |
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| 91 | pts2 = pts1;
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| 92 | pts2.row(Size).setRandom();
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| 93 | VERIFY_IS_APPROX((aff * pts2).colwise().hnormalized(), aff * pts2.colwise().hnormalized());
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| 94 | VERIFY_IS_APPROX((caff * pts2).colwise().hnormalized(), caff * pts2.colwise().hnormalized());
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| 95 | VERIFY_IS_APPROX((proj * pts2).colwise().hnormalized(), (proj * pts2.colwise().hnormalized().colwise().homogeneous()).colwise().hnormalized());
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| 96 | }
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| 97 |
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| 98 | void test_geo_homogeneous()
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| 99 | {
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| 100 | for(int i = 0; i < g_repeat; i++) {
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| 101 | CALL_SUBTEST_1(( homogeneous<float,1>() ));
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| 102 | CALL_SUBTEST_2(( homogeneous<double,3>() ));
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| 103 | CALL_SUBTEST_3(( homogeneous<double,8>() ));
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| 104 | }
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| 105 | }
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