devtools/eigen
1
0
Fork 0
mirror of https://gitlab.com/libeigen/eigen.git synced 2026-04-10 11:34:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Make Transform::computeRotationScaling(0,&S) continuous

Browse Source
This commit is contained in:
Essex Edwards
2020-12-14 13:03:46 -08:00
committed by Antonio Sánchez
parent 0bdc0dba20
commit e741b43668
2 changed files with 32 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

28
test/geo_transformations.cpp
View File

@@ -672,11 +672,39 @@ template<typename Scalar, int Mode, int Options> void transformations_no_scale()
VERIFY(t3.rotation().data()==t3.linear().data());
}
template<typename Scalar, int Mode, int Options> void transformations_computed_scaling_continuity()
{
typedef Matrix<Scalar, 3, 1> Vector3;
typedef Transform<Scalar, 3, Mode, Options> Transform3;
typedef Matrix<Scalar, 3, 3> Matrix3;
// Given: two transforms that differ by '2*eps'.
Scalar eps(1e-3);
Vector3 v0 = Vector3::Random().normalized(),
v1 = Vector3::Random().normalized(),
v3 = Vector3::Random().normalized();
Transform3 t0, t1;
// The interesting case is when their determinants have different signs.
Matrix3 rank2 = 50 * v0 * v0.adjoint() + 20 * v1 * v1.adjoint();
t0.linear() = rank2 + eps * v3 * v3.adjoint();
t1.linear() = rank2 - eps * v3 * v3.adjoint();
// When: computing the rotation-scaling parts
Matrix3 r0, s0, r1, s1;
t0.computeRotationScaling(&r0, &s0);
t1.computeRotationScaling(&r1, &s1);
// Then: the scaling parts should differ by no more than '2*eps'.
const Scalar c(2.1); // 2 + room for rounding errors
VERIFY((s0 - s1).norm() < c * eps);
}
EIGEN_DECLARE_TEST(geo_transformations)
{
for(int i = 0; i < g_repeat; i++) {
CALL_SUBTEST_1(( transformations<double,Affine,AutoAlign>() ));
CALL_SUBTEST_1(( non_projective_only<double,Affine,AutoAlign>() ));
CALL_SUBTEST_1(( transformations_computed_scaling_continuity<double,Affine,AutoAlign>() ));
CALL_SUBTEST_2(( transformations<float,AffineCompact,AutoAlign>() ));
CALL_SUBTEST_2(( non_projective_only<float,AffineCompact,AutoAlign>() ));