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extend unit tests of Transform * MatrixBase and Transform * Homogeneous

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This commit is contained in:
Gael Guennebaud 2011-03-02 19:34:39 +01:00
parent 5cec29162b
commit dc727d86f1
1 changed files with 22 additions and 8 deletions
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30
test/geo_homogeneous.cpp
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@ -87,15 +87,29 @@ template<typename Scalar,int Size> void homogeneous(void)
m0.transpose().rowwise().homogeneous() * t3);
// test product with a Transform object
Transform<Scalar, Size, Affine> Rt;
Matrix<Scalar, Size, Dynamic> pts, Rt_pts1;
Transform<Scalar, Size, Affine> aff;
Transform<Scalar, Size, AffineCompact> caff;
Transform<Scalar, Size, Projective> proj;
Matrix<Scalar, Size, Dynamic> pts;
Matrix<Scalar, Size+1, Dynamic> pts1, pts2;
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));
aff.affine().setRandom();
proj = caff = aff;
pts.setRandom(Size,internal::random<int>(1,20));
pts1 = pts.colwise().homogeneous();
VERIFY_IS_APPROX(aff * pts.colwise().homogeneous(), (aff * pts1).colwise().hnormalized());
VERIFY_IS_APPROX(caff * pts.colwise().homogeneous(), (caff * pts1).colwise().hnormalized());
VERIFY_IS_APPROX(proj * pts.colwise().homogeneous(), (proj * pts1));
VERIFY_IS_APPROX((aff * pts1).colwise().hnormalized(), aff * pts);
VERIFY_IS_APPROX((caff * pts1).colwise().hnormalized(), caff * pts);
pts2 = pts1;
pts2.row(Size).setRandom();
VERIFY_IS_APPROX((aff * pts2).colwise().hnormalized(), aff * pts2.colwise().hnormalized());
VERIFY_IS_APPROX((caff * pts2).colwise().hnormalized(), caff * pts2.colwise().hnormalized());
VERIFY_IS_APPROX((proj * pts2).colwise().hnormalized(), (proj * pts2.colwise().hnormalized().colwise().homogeneous()).colwise().hnormalized());
}
void test_geo_homogeneous()