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big rework of the Transform class:

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* add Projective and AffineCompact modes as an optional third template
  argument
* extend Transform::operator* to support more use cases
This commit is contained in:
Gael Guennebaud
2009-03-08 11:35:30 +00:00
parent 7718a8ed83
commit 3ac42fed94
7 changed files with 638 additions and 234 deletions
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56
test/geo_transformations.cpp
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@@ -27,12 +27,11 @@
#include <Eigen/LU>
#include <Eigen/SVD>
template<typename Scalar> void transformations(void)
template<typename Scalar, int Mode> void transformations(void)
{
/* this test covers the following files:
Cross.h Quaternion.h, Transform.cpp
*/
typedef Matrix<Scalar,2,2> Matrix2;
typedef Matrix<Scalar,3,3> Matrix3;
typedef Matrix<Scalar,4,4> Matrix4;
@@ -41,8 +40,9 @@ template<typename Scalar> void transformations(void)
typedef Matrix<Scalar,4,1> Vector4;
typedef Quaternion<Scalar> Quaternionx;
typedef AngleAxis<Scalar> AngleAxisx;
typedef Transform<Scalar,2> Transform2;
typedef Transform<Scalar,3> Transform3;
typedef Transform<Scalar,2,Mode> Transform2;
typedef Transform<Scalar,3,Mode> Transform3;
typedef typename Transform3::MatrixType MatrixType;
typedef DiagonalMatrix<Scalar,2> AlignedScaling2;
typedef DiagonalMatrix<Scalar,3> AlignedScaling3;
typedef Translation<Scalar,2> Translation2;
@@ -111,7 +111,7 @@ template<typename Scalar> void transformations(void)
t0.scale(v0);
t1.prescale(v0);
VERIFY_IS_APPROX( (t0 * Vector3(1,0,0)).norm(), v0.x());
VERIFY_IS_APPROX( (t0 * Vector3(1,0,0)).template start<3>().norm(), v0.x());
//VERIFY(!ei_isApprox((t1 * Vector3(1,0,0)).norm(), v0.x()));
t0.setIdentity();
@@ -124,7 +124,7 @@ template<typename Scalar> void transformations(void)
t1.prescale(v1.cwise().inverse());
t1.translate(-v0);
VERIFY((t0.matrix() * t1.matrix()).isIdentity(test_precision<Scalar>()));
VERIFY((t0 * t1).matrix().isIdentity(test_precision<Scalar>()));
t1.fromPositionOrientationScale(v0, q1, v1);
VERIFY_IS_APPROX(t1.matrix(), t0.matrix());
@@ -146,7 +146,9 @@ template<typename Scalar> void transformations(void)
Matrix4 mat4;
mat4 << mat3 , Vector3::Zero() , Vector4::Zero().transpose();
Transform3 tmat3(mat3), tmat4(mat4);
tmat4.matrix()(3,3) = Scalar(1);
if(Mode!=int(AffineCompact))
tmat4.matrix()(3,3) = Scalar(1);
std::cerr << tmat3.matrix() << "\n\n" << tmat4.matrix() << "\n\n";
VERIFY_IS_APPROX(tmat3.matrix(), tmat4.matrix());
Scalar a3 = ei_random<Scalar>(-Scalar(M_PI), Scalar(M_PI));
@@ -157,7 +159,7 @@ template<typename Scalar> void transformations(void)
t4 = aa3;
VERIFY_IS_APPROX(t3.matrix(), t4.matrix());
t4.rotate(AngleAxisx(-a3,v3));
VERIFY_IS_APPROX(t4.matrix(), Matrix4::Identity());
VERIFY_IS_APPROX(t4.matrix(), MatrixType::Identity());
t4 *= aa3;
VERIFY_IS_APPROX(t3.matrix(), t4.matrix());
@@ -167,7 +169,7 @@ template<typename Scalar> void transformations(void)
t4 = tv3;
VERIFY_IS_APPROX(t5.matrix(), t4.matrix());
t4.translate(-v3);
VERIFY_IS_APPROX(t4.matrix(), Matrix4::Identity());
VERIFY_IS_APPROX(t4.matrix(), MatrixType::Identity());
t4 *= tv3;
VERIFY_IS_APPROX(t5.matrix(), t4.matrix());
@@ -176,12 +178,12 @@ template<typename Scalar> void transformations(void)
t4 = sv3;
VERIFY_IS_APPROX(t6.matrix(), t4.matrix());
t4.scale(v3.cwise().inverse());
VERIFY_IS_APPROX(t4.matrix(), Matrix4::Identity());
VERIFY_IS_APPROX(t4.matrix(), MatrixType::Identity());
t4 *= sv3;
VERIFY_IS_APPROX(t6.matrix(), t4.matrix());
// matrix * transform
VERIFY_IS_APPROX(Transform3(t3.matrix()*t4).matrix(), Transform3(t3*t4).matrix());
VERIFY_IS_APPROX((t3.matrix()*t4).matrix(), (t3*t4).matrix());
// chained Transform product
VERIFY_IS_APPROX(((t3*t4)*t5).matrix(), (t3*(t4*t5)).matrix());
@@ -282,21 +284,24 @@ template<typename Scalar> void transformations(void)
// translation * vector
t0.setIdentity();
t0.translate(v0);
VERIFY_IS_APPROX(t0 * v1, Translation3(v0) * v1);
VERIFY_IS_APPROX((t0 * v1).template start<3>(), Translation3(v0) * v1);
// AlignedScaling * vector
t0.setIdentity();
t0.scale(v0);
VERIFY_IS_APPROX(t0 * v1, AlignedScaling3(v0) * v1);
VERIFY_IS_APPROX((t0 * v1).template start<3>(), AlignedScaling3(v0) * v1);
// test transform inversion
t0.setIdentity();
t0.translate(v0);
t0.linear().setRandom();
VERIFY_IS_APPROX(t0.inverse(Affine), t0.matrix().inverse());
t0.setIdentity();
t0.translate(v0).rotate(q1);
VERIFY_IS_APPROX(t0.inverse(Isometry), t0.matrix().inverse());
if(Mode!=AffineCompact)
{
t0.setIdentity();
t0.translate(v0);
t0.linear().setRandom();
VERIFY_IS_APPROX(t0.inverse(Affine), t0.matrix().inverse());
t0.setIdentity();
t0.translate(v0).rotate(q1);
VERIFY_IS_APPROX(t0.inverse(Isometry), t0.matrix().inverse());
}
// test extract rotation and aligned scaling
// t0.setIdentity();
@@ -316,9 +321,9 @@ template<typename Scalar> void transformations(void)
VERIFY_IS_APPROX(mat_rotation.determinant(), Scalar(1));
// test casting
Transform<float,3> t1f = t1.template cast<float>();
Transform<float,3,Mode> t1f = t1.template cast<float>();
VERIFY_IS_APPROX(t1f.template cast<Scalar>(),t1);
Transform<double,3> t1d = t1.template cast<double>();
Transform<double,3,Mode> t1d = t1.template cast<double>();
VERIFY_IS_APPROX(t1d.template cast<Scalar>(),t1);
Translation3 tr1(v0);
@@ -343,12 +348,15 @@ template<typename Scalar> void transformations(void)
VERIFY_IS_APPROX(r2d1f.template cast<Scalar>(),r2d1);
Rotation2D<double> r2d1d = r2d1.template cast<double>();
VERIFY_IS_APPROX(r2d1d.template cast<Scalar>(),r2d1);
}
void test_geo_transformations()
{
for(int i = 0; i < g_repeat; i++) {
CALL_SUBTEST( transformations<float>() );
CALL_SUBTEST( transformations<double>() );
// CALL_SUBTEST( transformations<float>() );
CALL_SUBTEST(( transformations<double,Affine>() ));
CALL_SUBTEST(( transformations<double,AffineCompact>() ));
CALL_SUBTEST(( transformations<double,Projective>() ));
}
}