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Initialize isometric transforms like affine transforms.

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The isometric transform, like the affine transform, has an implicit last
row of [0, 0, 0, 1]. This was not being properly initialized, as verified
by a new test function.
This commit is contained in:
Greg Coombe 2019-01-11 23:14:35 -08:00
parent 4356a55a61
commit 9d988a1e1a
2 changed files with 62 additions and 3 deletions
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4
Eigen/src/Geometry/Transform.h
View File

@ -252,11 +252,11 @@ protected:
public: public:
/** Default constructor without initialization of the meaningful coefficients. /** Default constructor without initialization of the meaningful coefficients.
* If Mode==Affine, then the last row is set to [0 ... 0 1] */ * If Mode==Affine or Mode==Isometry, then the last row is set to [0 ... 0 1] */
EIGEN_DEVICE_FUNC inline Transform() EIGEN_DEVICE_FUNC inline Transform()
{ {
check_template_params(); check_template_params();
internal::transform_make_affine<(int(Mode)==Affine) ? Affine : AffineCompact>::run(m_matrix); internal::transform_make_affine<(int(Mode)==Affine || int(Mode)==Isometry) ? Affine : AffineCompact>::run(m_matrix);
} }
EIGEN_DEVICE_FUNC inline Transform(const Transform& other) EIGEN_DEVICE_FUNC inline Transform(const Transform& other)

61
test/geo_transformations.cpp
View File

@ -612,6 +612,62 @@ template<typename Scalar, int Dim, int Options> void transform_products()
VERIFY_IS_APPROX((ac*p).matrix(), a_m*p_m); VERIFY_IS_APPROX((ac*p).matrix(), a_m*p_m);
} }
template<typename Scalar, int Mode, int Options> void transformations_no_scale()
{
/* this test covers the following files:
Cross.h Quaternion.h, Transform.h
*/
typedef Matrix<Scalar,3,1> Vector3;
typedef Matrix<Scalar,4,1> Vector4;
typedef Quaternion<Scalar> Quaternionx;
typedef AngleAxis<Scalar> AngleAxisx;
typedef Transform<Scalar,3,Mode,Options> Transform3;
typedef Translation<Scalar,3> Translation3;
typedef Matrix<Scalar,4,4> Matrix4;
Vector3 v0 = Vector3::Random(),
v1 = Vector3::Random();
Transform3 t0, t1, t2;
Scalar a = internal::random<Scalar>(-Scalar(EIGEN_PI), Scalar(EIGEN_PI));
Quaternionx q1, q2;
q1 = AngleAxisx(a, v0.normalized());
t0 = Transform3::Identity();
VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity());
t0.setIdentity();
t1.setIdentity();
v1 = Vector3::Ones();
t0.linear() = q1.toRotationMatrix();
t0.pretranslate(v0);
t1.linear() = q1.conjugate().toRotationMatrix();
t1.translate(-v0);
VERIFY((t0 * t1).matrix().isIdentity(test_precision<Scalar>()));
t1.fromPositionOrientationScale(v0, q1, v1);
VERIFY_IS_APPROX(t1.matrix(), t0.matrix());
VERIFY_IS_APPROX(t1*v1, t0*v1);
// translation * vector
t0.setIdentity();
t0.translate(v0);
VERIFY_IS_APPROX((t0 * v1).template head<3>(), Translation3(v0) * v1);
// Conversion to matrix.
Transform3 t3;
t3.linear() = q1.toRotationMatrix();
t3.translation() = v1;
Matrix4 m3 = t3.matrix();
VERIFY((m3 * m3.inverse()).isIdentity(test_precision<Scalar>()));
// Verify implicit last row is initialized.
VERIFY_IS_APPROX(Vector4(m3.row(3)), Vector4(0.0, 0.0, 0.0, 1.0));
}
EIGEN_DECLARE_TEST(geo_transformations) EIGEN_DECLARE_TEST(geo_transformations)
{ {
for(int i = 0; i < g_repeat; i++) { for(int i = 0; i < g_repeat; i++) {
@ -625,7 +681,7 @@ EIGEN_DECLARE_TEST(geo_transformations)
CALL_SUBTEST_3(( transformations<double,Projective,AutoAlign>() )); CALL_SUBTEST_3(( transformations<double,Projective,AutoAlign>() ));
CALL_SUBTEST_3(( transformations<double,Projective,DontAlign>() )); CALL_SUBTEST_3(( transformations<double,Projective,DontAlign>() ));
CALL_SUBTEST_3(( transform_alignment<double>() )); CALL_SUBTEST_3(( transform_alignment<double>() ));
CALL_SUBTEST_4(( transformations<float,Affine,RowMajor|AutoAlign>() )); CALL_SUBTEST_4(( transformations<float,Affine,RowMajor|AutoAlign>() ));
CALL_SUBTEST_4(( non_projective_only<float,Affine,RowMajor>() )); CALL_SUBTEST_4(( non_projective_only<float,Affine,RowMajor>() ));
@ -641,5 +697,8 @@ EIGEN_DECLARE_TEST(geo_transformations)
CALL_SUBTEST_8(( transform_associativity<double,2,ColMajor>(Rotation2D<double>(internal::random<double>()*double(EIGEN_PI))) )); CALL_SUBTEST_8(( transform_associativity<double,2,ColMajor>(Rotation2D<double>(internal::random<double>()*double(EIGEN_PI))) ));
CALL_SUBTEST_8(( transform_associativity<double,3,ColMajor>(Quaterniond::UnitRandom()) )); CALL_SUBTEST_8(( transform_associativity<double,3,ColMajor>(Quaterniond::UnitRandom()) ));
CALL_SUBTEST_9(( transformations_no_scale<double,Affine,AutoAlign>() ));
CALL_SUBTEST_9(( transformations_no_scale<double,Isometry,AutoAlign>() ));
} }
} }