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