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Matrix product refactoring (rhs products only).

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Added strong inlines required for MSVC for proper inlining.
Added specializations for DiagonalMatrix products to RotationBase.
Added left- and righ-hand-side products with DiagonalMatrix to Transform.
RHS Transform products now return Matrix objects only.
Split the geo_transformations unit test. Some tests were not made for projectivities.
Removed unused variables from main.h that caused warnings.
This commit is contained in:
Hauke Heibel
2010-08-19 19:25:35 +02:00
parent d4b664c4cd
commit 55c7848877
7 changed files with 193 additions and 182 deletions
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120
test/geo_transformations.cpp
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@@ -27,6 +27,81 @@
#include <Eigen/LU>
#include <Eigen/SVD>
template<typename Scalar, int Mode> void non_projective_only(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;
typedef Matrix<Scalar,2,1> Vector2;
typedef Matrix<Scalar,3,1> Vector3;
typedef Matrix<Scalar,4,1> Vector4;
typedef Quaternion<Scalar> Quaternionx;
typedef AngleAxis<Scalar> AngleAxisx;
typedef Transform<Scalar,2,Mode> Transform2;
typedef Transform<Scalar,3,Mode> Transform3;
typedef Transform<Scalar,2,Isometry> Isometry2;
typedef Transform<Scalar,3,Isometry> Isometry3;
typedef typename Transform3::MatrixType MatrixType;
typedef DiagonalMatrix<Scalar,2> AlignedScaling2;
typedef DiagonalMatrix<Scalar,3> AlignedScaling3;
typedef Translation<Scalar,2> Translation2;
typedef Translation<Scalar,3> Translation3;
Scalar largeEps = test_precision<Scalar>();
if (ei_is_same_type<Scalar,float>::ret)
largeEps = 1e-2f;
Vector3 v0 = Vector3::Random(),
v1 = Vector3::Random();
Transform3 t0, t1, t2;
Scalar a = ei_random<Scalar>(-Scalar(M_PI), Scalar(M_PI));
Quaternionx q1, q2;
q1 = AngleAxisx(a, v0.normalized());
t0 = Transform3::Identity();
VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity());
t0.linear() = q1.toRotationMatrix();
v0 << 50, 2, 1;
t0.scale(v0);
VERIFY_IS_APPROX( (t0 * Vector3(1,0,0)).template head<3>().norm(), v0.x());
t0.setIdentity();
t1.setIdentity();
v1 << 1, 2, 3;
t0.linear() = q1.toRotationMatrix();
t0.pretranslate(v0);
t0.scale(v1);
t1.linear() = q1.conjugate().toRotationMatrix();
t1.prescale(v1.cwiseInverse());
t1.translate(-v0);
VERIFY((t0 * t1).matrix().isIdentity(test_precision<Scalar>()));
t1.fromPositionOrientationScale(v0, q1, v1);
VERIFY_IS_APPROX(t1.matrix(), t0.matrix());
VERIFY_IS_APPROX(t1*v1, t0*v1);
// translation * vector
t0.setIdentity();
t0.translate(v0);
VERIFY_IS_APPROX((t0 * v1).template head<3>(), Translation3(v0) * v1);
// AlignedScaling * vector
t0.setIdentity();
t0.scale(v0);
VERIFY_IS_APPROX((t0 * v1).template head<3>(), AlignedScaling3(v0) * v1);
}
template<typename Scalar, int Mode> void transformations(void)
{
/* this test covers the following files:
@@ -42,6 +117,8 @@ template<typename Scalar, int Mode> void transformations(void)
typedef AngleAxis<Scalar> AngleAxisx;
typedef Transform<Scalar,2,Mode> Transform2;
typedef Transform<Scalar,3,Mode> Transform3;
typedef Transform<Scalar,2,Isometry> Isometry2;
typedef Transform<Scalar,3,Isometry> Isometry3;
typedef typename Transform3::MatrixType MatrixType;
typedef DiagonalMatrix<Scalar,2> AlignedScaling2;
typedef DiagonalMatrix<Scalar,3> AlignedScaling3;
@@ -115,17 +192,6 @@ template<typename Scalar, int Mode> void transformations(void)
t0 = Transform3::Identity();
VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity());
t0.linear() = q1.toRotationMatrix();
t1.setIdentity();
t1.linear() = q1.toRotationMatrix();
v0 << 50, 2, 1;//= ei_random_matrix<Vector3>().cwiseProduct(Vector3(10,2,0.5));
t0.scale(v0);
t1.prescale(v0);
VERIFY_IS_APPROX( (t0 * Vector3(1,0,0)).template head<3>().norm(), v0.x());
//VERIFY(!ei_isApprox((t1 * Vector3(1,0,0)).norm(), v0.x()));
t0.setIdentity();
t1.setIdentity();
v1 << 1, 2, 3;
@@ -140,7 +206,6 @@ template<typename Scalar, int Mode> void transformations(void)
t1.fromPositionOrientationScale(v0, q1, v1);
VERIFY_IS_APPROX(t1.matrix(), t0.matrix());
VERIFY_IS_APPROX(t1*v1, t0*v1);
t0.setIdentity(); t0.scale(v0).rotate(q1.toRotationMatrix());
t1.setIdentity(); t1.scale(v0).rotate(q1);
@@ -248,20 +313,20 @@ template<typename Scalar, int Mode> void transformations(void)
t0.setIdentity();
t0.prerotate(q1).prescale(v0).pretranslate(v0);
// translation * aligned scaling and transformation * mat
t1 = (Translation3(v0) * AlignedScaling3(v0)) * Matrix3(q1);
t1 = (Translation3(v0) * AlignedScaling3(v0)) * Transform3(q1);
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// scaling * mat and translation * mat
t1 = Translation3(v0) * (AlignedScaling3(v0) * Matrix3(q1));
t1 = Translation3(v0) * (AlignedScaling3(v0) * Transform3(q1));
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
t0.setIdentity();
t0.scale(v0).translate(v0).rotate(q1);
// translation * mat and aligned scaling * transformation
t1 = AlignedScaling3(v0) * (Translation3(v0) * Matrix3(q1));
t1 = AlignedScaling3(v0) * (Translation3(v0) * Transform3(q1));
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// transformation * aligned scaling
t0.scale(v0);
t1 = t1 * AlignedScaling3(v0);
t1 *= AlignedScaling3(v0);
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// transformation * translation
t0.translate(v0);
@@ -302,16 +367,6 @@ template<typename Scalar, int Mode> void transformations(void)
t1 = t1 * (q1 * AlignedScaling3(v1));
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// translation * vector
t0.setIdentity();
t0.translate(v0);
VERIFY_IS_APPROX((t0 * v1).template head<3>(), Translation3(v0) * v1);
// AlignedScaling * vector
t0.setIdentity();
t0.scale(v0);
VERIFY_IS_APPROX((t0 * v1).template head<3>(), AlignedScaling3(v0) * v1);
// test transform inversion
t0.setIdentity();
t0.translate(v0);
@@ -327,11 +382,6 @@ template<typename Scalar, int Mode> void transformations(void)
t044.block(0,0,t0.matrix().rows(),4) = t0.matrix();
VERIFY_IS_APPROX(t0.inverse(Isometry).matrix(), t044.inverse().block(0,0,t0.matrix().rows(),4));
// test extract rotation and aligned scaling
// t0.setIdentity();
// t0.translate(v0).rotate(q1).scale(v1);
// VERIFY_IS_APPROX(t0.rotation() * v1, Matrix3(q1) * v1);
Matrix3 mat_rotation, mat_scaling;
t0.setIdentity();
t0.translate(v0).rotate(q1).scale(v1);
@@ -372,8 +422,12 @@ template<typename Scalar, int Mode> void transformations(void)
void test_geo_transformations()
{
for(int i = 0; i < g_repeat; i++) {
//CALL_SUBTEST_1(( transformations<double,Affine>() ));
//CALL_SUBTEST_2(( transformations<float,AffineCompact>() ));
CALL_SUBTEST_1(( transformations<double,Affine>() ));
CALL_SUBTEST_1(( non_projective_only<double,Affine>() ));
CALL_SUBTEST_2(( transformations<float,AffineCompact>() ));
CALL_SUBTEST_2(( non_projective_only<float,AffineCompact>() ));
CALL_SUBTEST_3(( transformations<double,Projective>() ));
}
}