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Add an Options template paramter to Transform to enable/disable alignment

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This commit is contained in:
Gael Guennebaud
2011-01-27 16:07:33 +01:00
parent e3306953ef
commit a954a0fbd5
8 changed files with 234 additions and 159 deletions
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60
test/geo_transformations.cpp
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@@ -27,7 +27,7 @@
#include <Eigen/LU>
#include <Eigen/SVD>
template<typename Scalar, int Mode> void non_projective_only(void)
template<typename Scalar, int Mode, int Options> void non_projective_only()
{
/* this test covers the following files:
Cross.h Quaternion.h, Transform.cpp
@@ -40,10 +40,10 @@ template<typename Scalar, int Mode> void non_projective_only(void)
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 Transform<Scalar,2,Mode,Options> Transform2;
typedef Transform<Scalar,3,Mode,Options> Transform3;
typedef Transform<Scalar,2,Isometry,Options> Isometry2;
typedef Transform<Scalar,3,Isometry,Options> Isometry3;
typedef typename Transform3::MatrixType MatrixType;
typedef DiagonalMatrix<Scalar,2> AlignedScaling2;
typedef DiagonalMatrix<Scalar,3> AlignedScaling3;
@@ -102,7 +102,7 @@ template<typename Scalar, int Mode> void non_projective_only(void)
VERIFY_IS_APPROX((t0 * v1).template head<3>(), AlignedScaling3(v0) * v1);
}
template<typename Scalar, int Mode> void transformations(void)
template<typename Scalar, int Mode, int Options> void transformations()
{
/* this test covers the following files:
Cross.h Quaternion.h, Transform.cpp
@@ -115,10 +115,10 @@ template<typename Scalar, int Mode> void transformations(void)
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 Transform<Scalar,2,Mode,Options> Transform2;
typedef Transform<Scalar,3,Mode,Options> Transform3;
typedef Transform<Scalar,2,Isometry,Options> Isometry2;
typedef Transform<Scalar,3,Isometry,Options> Isometry3;
typedef typename Transform3::MatrixType MatrixType;
typedef DiagonalMatrix<Scalar,2> AlignedScaling2;
typedef DiagonalMatrix<Scalar,3> AlignedScaling3;
@@ -427,15 +427,45 @@ template<typename Scalar, int Mode> void transformations(void)
}
template<typename Scalar> void transform_alignment()
{
typedef Transform<Scalar,3,Projective,AutoAlign> Projective4a;
typedef Transform<Scalar,3,Projective,DontAlign> Projective4u;
EIGEN_ALIGN16 Scalar array1[16];
EIGEN_ALIGN16 Scalar array2[16];
EIGEN_ALIGN16 Scalar array3[16+1];
Scalar* array3u = array3+1;
Projective4a *p1 = ::new(reinterpret_cast<void*>(array1)) Projective4a;
Projective4u *p2 = ::new(reinterpret_cast<void*>(array2)) Projective4u;
Projective4u *p3 = ::new(reinterpret_cast<void*>(array3u)) Projective4u;
p1->matrix().setRandom();
*p2 = *p1;
*p3 = *p1;
VERIFY_IS_APPROX(p1->matrix(), p2->matrix());
VERIFY_IS_APPROX(p1->matrix(), p3->matrix());
VERIFY_IS_APPROX( (*p1) * (*p1), (*p2)*(*p3));
#ifdef EIGEN_VECTORIZE
VERIFY_RAISES_ASSERT((::new(reinterpret_cast<void*>(array3u)) Projective4a));
#endif
}
void test_geo_transformations()
{
for(int i = 0; i < g_repeat; i++) {
CALL_SUBTEST_1(( transformations<double,Affine>() ));
CALL_SUBTEST_1(( non_projective_only<double,Affine>() ));
CALL_SUBTEST_1(( transformations<double,Affine,AutoAlign>() ));
CALL_SUBTEST_1(( non_projective_only<double,Affine,AutoAlign>() ));
CALL_SUBTEST_2(( transformations<float,AffineCompact>() ));
CALL_SUBTEST_2(( non_projective_only<float,AffineCompact>() ));
CALL_SUBTEST_2(( transformations<float,AffineCompact,AutoAlign>() ));
CALL_SUBTEST_2(( non_projective_only<float,AffineCompact,AutoAlign>() ));
CALL_SUBTEST_3(( transformations<double,Projective>() ));
CALL_SUBTEST_3(( transformations<double,Projective,AutoAlign>() ));
CALL_SUBTEST_3(( transformations<double,Projective,DontAlign>() ));
CALL_SUBTEST_3(( transform_alignment<double>() ));
}
}