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fix bug #362 and add missing specialization for affine-compact * projective

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(transplanted from 48f0bbb586
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This commit is contained in:
Gael Guennebaud
2012-03-30 23:22:29 +02:00
parent deeffdb245
commit cafd34fa91
2 changed files with 57 additions and 1 deletions
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31
Eigen/src/Geometry/Transform.h
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@@ -61,7 +61,7 @@ template< typename Lhs,
typename Rhs,
bool AnyProjective =
transform_traits<Lhs>::IsProjective ||
transform_traits<Lhs>::IsProjective>
transform_traits<Rhs>::IsProjective>
struct transform_transform_product_impl;
template< typename Other,
@@ -1391,6 +1391,35 @@ struct transform_transform_product_impl<Transform<Scalar,Dim,LhsMode,LhsOptions>
}
};
template<typename Scalar, int Dim, int LhsOptions, int RhsOptions>
struct transform_transform_product_impl<Transform<Scalar,Dim,AffineCompact,LhsOptions>,Transform<Scalar,Dim,Projective,RhsOptions>,true >
{
typedef Transform<Scalar,Dim,AffineCompact,LhsOptions> Lhs;
typedef Transform<Scalar,Dim,Projective,RhsOptions> Rhs;
typedef Transform<Scalar,Dim,Projective> ResultType;
static ResultType run(const Lhs& lhs, const Rhs& rhs)
{
ResultType res;
res.matrix().template topRows<Dim>() = lhs.matrix() * rhs.matrix();
res.matrix().row(Dim) = rhs.matrix().row(Dim);
return res;
}
};
template<typename Scalar, int Dim, int LhsOptions, int RhsOptions>
struct transform_transform_product_impl<Transform<Scalar,Dim,Projective,LhsOptions>,Transform<Scalar,Dim,AffineCompact,RhsOptions>,true >
{
typedef Transform<Scalar,Dim,Projective,LhsOptions> Lhs;
typedef Transform<Scalar,Dim,AffineCompact,RhsOptions> Rhs;
typedef Transform<Scalar,Dim,Projective> ResultType;
static ResultType run(const Lhs& lhs, const Rhs& rhs)
{
ResultType res(lhs.matrix().template leftCols<Dim>() * rhs.matrix());
res.matrix().col(Dim) += lhs.matrix().col(Dim);
return res;
}
};
} // end namespace internal
#endif // EIGEN_TRANSFORM_H