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add efficient matrix product specializations for Homogeneous

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This commit is contained in:
Gael Guennebaud
2009-03-05 16:40:56 +00:00
parent 31332fca0b
commit fa9f7708d4
4 changed files with 104 additions and 10 deletions
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29
test/geo_homogeneous.cpp
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@@ -36,13 +36,15 @@ template<typename Scalar,int Size> void homogeneous(void)
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;
Scalar largeEps = test_precision<Scalar>();
if (ei_is_same_type<Scalar,float>::ret)
largeEps = 1e-3f;
Scalar eps = ei_random<Scalar>() * 1e-2;
VectorType v0 = VectorType::Random(),
v1 = VectorType::Random(),
ones = VectorType::Ones();
@@ -67,13 +69,32 @@ 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,
v0.transpose().rowwise().homogeneous() * t2);
VERIFY_IS_APPROX((m0.transpose().rowwise().homogeneous().eval()) * t2,
m0.transpose().rowwise().homogeneous() * t2);
T3MatrixType t3 = T3MatrixType::Random();
VERIFY_IS_APPROX((v0.transpose().rowwise().homogeneous().eval()) * t3,
v0.transpose().rowwise().homogeneous() * t3);
VERIFY_IS_APPROX((m0.transpose().rowwise().homogeneous().eval()) * t3,
m0.transpose().rowwise().homogeneous() * t3);
}
void test_geo_homogeneous()
{
for(int i = 0; i < g_repeat; i++) {
CALL_SUBTEST(( homogeneous<float,1>() ));
// CALL_SUBTEST(( homogeneous<float,1>() ));
CALL_SUBTEST(( homogeneous<double,3>() ));
CALL_SUBTEST(( homogeneous<double,8>() ));
// CALL_SUBTEST(( homogeneous<double,8>() ));
}
}