1 // This file is part of Eigen, a lightweight C++ template library 2 // for linear algebra. 3 // 4 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud (at) inria.fr> 5 // 6 // This Source Code Form is subject to the terms of the Mozilla 7 // Public License v. 2.0. If a copy of the MPL was not distributed 8 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 9 10 #include "main.h" 11 #include <Eigen/Geometry> 12 13 template<typename Scalar,int Size> void homogeneous(void) 14 { 15 /* this test covers the following files: 16 Homogeneous.h 17 */ 18 19 typedef Matrix<Scalar,Size,Size> MatrixType; 20 typedef Matrix<Scalar,Size,1, ColMajor> VectorType; 21 22 typedef Matrix<Scalar,Size+1,Size> HMatrixType; 23 typedef Matrix<Scalar,Size+1,1> HVectorType; 24 25 typedef Matrix<Scalar,Size,Size+1> T1MatrixType; 26 typedef Matrix<Scalar,Size+1,Size+1> T2MatrixType; 27 typedef Matrix<Scalar,Size+1,Size> T3MatrixType; 28 29 VectorType v0 = VectorType::Random(), 30 ones = VectorType::Ones(); 31 32 HVectorType hv0 = HVectorType::Random(); 33 34 MatrixType m0 = MatrixType::Random(); 35 36 HMatrixType hm0 = HMatrixType::Random(); 37 38 hv0 << v0, 1; 39 VERIFY_IS_APPROX(v0.homogeneous(), hv0); 40 VERIFY_IS_APPROX(v0, hv0.hnormalized()); 41 42 VERIFY_IS_APPROX(v0.homogeneous().sum(), hv0.sum()); 43 VERIFY_IS_APPROX(v0.homogeneous().minCoeff(), hv0.minCoeff()); 44 VERIFY_IS_APPROX(v0.homogeneous().maxCoeff(), hv0.maxCoeff()); 45 46 hm0 << m0, ones.transpose(); 47 VERIFY_IS_APPROX(m0.colwise().homogeneous(), hm0); 48 VERIFY_IS_APPROX(m0, hm0.colwise().hnormalized()); 49 hm0.row(Size-1).setRandom(); 50 for(int j=0; j<Size; ++j) 51 m0.col(j) = hm0.col(j).head(Size) / hm0(Size,j); 52 VERIFY_IS_APPROX(m0, hm0.colwise().hnormalized()); 53 54 T1MatrixType t1 = T1MatrixType::Random(); 55 VERIFY_IS_APPROX(t1 * (v0.homogeneous().eval()), t1 * v0.homogeneous()); 56 VERIFY_IS_APPROX(t1 * (m0.colwise().homogeneous().eval()), t1 * m0.colwise().homogeneous()); 57 58 T2MatrixType t2 = T2MatrixType::Random(); 59 VERIFY_IS_APPROX(t2 * (v0.homogeneous().eval()), t2 * v0.homogeneous()); 60 VERIFY_IS_APPROX(t2 * (m0.colwise().homogeneous().eval()), t2 * m0.colwise().homogeneous()); 61 VERIFY_IS_APPROX(t2 * (v0.homogeneous().asDiagonal()), t2 * hv0.asDiagonal()); 62 VERIFY_IS_APPROX((v0.homogeneous().asDiagonal()) * t2, hv0.asDiagonal() * t2); 63 64 VERIFY_IS_APPROX((v0.transpose().rowwise().homogeneous().eval()) * t2, 65 v0.transpose().rowwise().homogeneous() * t2); 66 VERIFY_IS_APPROX((m0.transpose().rowwise().homogeneous().eval()) * t2, 67 m0.transpose().rowwise().homogeneous() * t2); 68 69 T3MatrixType t3 = T3MatrixType::Random(); 70 VERIFY_IS_APPROX((v0.transpose().rowwise().homogeneous().eval()) * t3, 71 v0.transpose().rowwise().homogeneous() * t3); 72 VERIFY_IS_APPROX((m0.transpose().rowwise().homogeneous().eval()) * t3, 73 m0.transpose().rowwise().homogeneous() * t3); 74 75 // test product with a Transform object 76 Transform<Scalar, Size, Affine> aff; 77 Transform<Scalar, Size, AffineCompact> caff; 78 Transform<Scalar, Size, Projective> proj; 79 Matrix<Scalar, Size, Dynamic> pts; 80 Matrix<Scalar, Size+1, Dynamic> pts1, pts2; 81 82 aff.affine().setRandom(); 83 proj = caff = aff; 84 pts.setRandom(Size,internal::random<int>(1,20)); 85 86 pts1 = pts.colwise().homogeneous(); 87 VERIFY_IS_APPROX(aff * pts.colwise().homogeneous(), (aff * pts1).colwise().hnormalized()); 88 VERIFY_IS_APPROX(caff * pts.colwise().homogeneous(), (caff * pts1).colwise().hnormalized()); 89 VERIFY_IS_APPROX(proj * pts.colwise().homogeneous(), (proj * pts1)); 90 91 VERIFY_IS_APPROX((aff * pts1).colwise().hnormalized(), aff * pts); 92 VERIFY_IS_APPROX((caff * pts1).colwise().hnormalized(), caff * pts); 93 94 pts2 = pts1; 95 pts2.row(Size).setRandom(); 96 VERIFY_IS_APPROX((aff * pts2).colwise().hnormalized(), aff * pts2.colwise().hnormalized()); 97 VERIFY_IS_APPROX((caff * pts2).colwise().hnormalized(), caff * pts2.colwise().hnormalized()); 98 VERIFY_IS_APPROX((proj * pts2).colwise().hnormalized(), (proj * pts2.colwise().hnormalized().colwise().homogeneous()).colwise().hnormalized()); 99 100 // Test combination of homogeneous 101 102 VERIFY_IS_APPROX( (t2 * v0.homogeneous()).hnormalized(), 103 (t2.template topLeftCorner<Size,Size>() * v0 + t2.template topRightCorner<Size,1>()) 104 / ((t2.template bottomLeftCorner<1,Size>()*v0).value() + t2(Size,Size)) ); 105 106 VERIFY_IS_APPROX( (t2 * pts.colwise().homogeneous()).colwise().hnormalized(), 107 (Matrix<Scalar, Size+1, Dynamic>(t2 * pts1).colwise().hnormalized()) ); 108 109 VERIFY_IS_APPROX( (t2 .lazyProduct( v0.homogeneous() )).hnormalized(), (t2 * v0.homogeneous()).hnormalized() ); 110 VERIFY_IS_APPROX( (t2 .lazyProduct ( pts.colwise().homogeneous() )).colwise().hnormalized(), (t2 * pts1).colwise().hnormalized() ); 111 112 VERIFY_IS_APPROX( (v0.transpose().homogeneous() .lazyProduct( t2 )).hnormalized(), (v0.transpose().homogeneous()*t2).hnormalized() ); 113 VERIFY_IS_APPROX( (pts.transpose().rowwise().homogeneous() .lazyProduct( t2 )).rowwise().hnormalized(), (pts1.transpose()*t2).rowwise().hnormalized() ); 114 115 VERIFY_IS_APPROX( (t2.template triangularView<Lower>() * v0.homogeneous()).eval(), (t2.template triangularView<Lower>()*hv0) ); 116 } 117 118 void test_geo_homogeneous() 119 { 120 for(int i = 0; i < g_repeat; i++) { 121 CALL_SUBTEST_1(( homogeneous<float,1>() )); 122 CALL_SUBTEST_2(( homogeneous<double,3>() )); 123 CALL_SUBTEST_3(( homogeneous<double,8>() )); 124 } 125 } 126
