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fix #1 : need to nest by value the affine part in homogeneous product

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This commit is contained in:
Gael Guennebaud
2009-05-18 17:55:50 +02:00
parent e0832d5d93
commit e186728867
4 changed files with 31 additions and 16 deletions
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29
test/geo_homogeneous.cpp
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@@ -33,10 +33,10 @@ template<typename Scalar,int Size> void homogeneous(void)
typedef Matrix<Scalar,Size,Size> MatrixType;
typedef Matrix<Scalar,Size,1> VectorType;
typedef Matrix<Scalar,Size+1,Size> HMatrixType;
typedef Matrix<Scalar,Size+1,1> HVectorType;
typedef Matrix<Scalar,Size,Size+1> T1MatrixType;
typedef Matrix<Scalar,Size+1,Size+1> T2MatrixType;
typedef Matrix<Scalar,Size+1,Size> T3MatrixType;
@@ -51,17 +51,17 @@ template<typename Scalar,int Size> void homogeneous(void)
HVectorType hv0 = HVectorType::Random(),
hv1 = HVectorType::Random();
MatrixType m0 = MatrixType::Random(),
m1 = MatrixType::Random();
HMatrixType hm0 = HMatrixType::Random(),
hm1 = HMatrixType::Random();
hv0 << v0, 1;
VERIFY_IS_APPROX(v0.homogeneous(), hv0);
VERIFY_IS_APPROX(v0, hv0.hnormalized());
hm0 << m0, ones.transpose();
VERIFY_IS_APPROX(m0.colwise().homogeneous(), hm0);
VERIFY_IS_APPROX(m0, hm0.colwise().hnormalized());
@@ -69,16 +69,16 @@ template<typename Scalar,int Size> void homogeneous(void)
for(int j=0; j<Size; ++j)
m0.col(j) = hm0.col(j).start(Size) / hm0(Size,j);
VERIFY_IS_APPROX(m0, hm0.colwise().hnormalized());
T1MatrixType t1 = T1MatrixType::Random();
VERIFY_IS_APPROX(t1 * (v0.homogeneous().eval()), t1 * v0.homogeneous());
VERIFY_IS_APPROX(t1 * (m0.colwise().homogeneous().eval()), t1 * m0.colwise().homogeneous());
T2MatrixType t2 = T2MatrixType::Random();
VERIFY_IS_APPROX(t2 * (v0.homogeneous().eval()), t2 * v0.homogeneous());
VERIFY_IS_APPROX(t2 * (m0.colwise().homogeneous().eval()), t2 * m0.colwise().homogeneous());
VERIFY_IS_APPROX((v0.transpose().rowwise().homogeneous().eval()) * t2,
VERIFY_IS_APPROX((v0.transpose().rowwise().homogeneous().eval()) * t2,
v0.transpose().rowwise().homogeneous() * t2);
VERIFY_IS_APPROX((m0.transpose().rowwise().homogeneous().eval()) * t2,
m0.transpose().rowwise().homogeneous() * t2);
@@ -88,6 +88,17 @@ template<typename Scalar,int Size> void homogeneous(void)
v0.transpose().rowwise().homogeneous() * t3);
VERIFY_IS_APPROX((m0.transpose().rowwise().homogeneous().eval()) * t3,
m0.transpose().rowwise().homogeneous() * t3);
// test product with a Transform object
Transform<Scalar, Size, Affine> Rt;
Matrix<Scalar, Size, Dynamic> pts, Rt_pts1;
Rt.setIdentity();
pts.setRandom(Size,5);
Rt_pts1 = Rt * pts.colwise().homogeneous();
std::cerr << (Rt_pts1 - pts).sum() << "\n";
VERIFY_IS_MUCH_SMALLER_THAN( (Rt_pts1 - pts).sum(), Scalar(1));
}
void test_geo_homogeneous()