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113 lines
4.1 KiB
C++
113 lines
4.1 KiB
C++
// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra.
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//
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// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
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//
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// Eigen is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 3 of the License, or (at your option) any later version.
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//
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// Alternatively, you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of
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// the License, or (at your option) any later version.
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//
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// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
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// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
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// GNU General Public License for more details.
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//
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// You should have received a copy of the GNU Lesser General Public
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// License and a copy of the GNU General Public License along with
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// Eigen. If not, see <http://www.gnu.org/licenses/>.
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#include "main.h"
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#include <Eigen/Geometry>
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template<typename Scalar,int Size> void homogeneous(void)
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{
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/* this test covers the following files:
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Homogeneous.h
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*/
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typedef Matrix<Scalar,Size,Size> MatrixType;
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typedef Matrix<Scalar,Size,1, ColMajor> VectorType;
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typedef Matrix<Scalar,Size+1,Size> HMatrixType;
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typedef Matrix<Scalar,Size+1,1> HVectorType;
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typedef Matrix<Scalar,Size,Size+1> T1MatrixType;
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typedef Matrix<Scalar,Size+1,Size+1> T2MatrixType;
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typedef Matrix<Scalar,Size+1,Size> T3MatrixType;
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Scalar largeEps = test_precision<Scalar>();
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if (ei_is_same_type<Scalar,float>::ret)
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largeEps = 1e-3f;
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VectorType v0 = VectorType::Random(),
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v1 = VectorType::Random(),
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ones = VectorType::Ones();
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HVectorType hv0 = HVectorType::Random(),
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hv1 = HVectorType::Random();
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MatrixType m0 = MatrixType::Random(),
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m1 = MatrixType::Random();
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HMatrixType hm0 = HMatrixType::Random(),
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hm1 = HMatrixType::Random();
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hv0 << v0, 1;
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VERIFY_IS_APPROX(v0.homogeneous(), hv0);
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VERIFY_IS_APPROX(v0, hv0.hnormalized());
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hm0 << m0, ones.transpose();
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VERIFY_IS_APPROX(m0.colwise().homogeneous(), hm0);
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VERIFY_IS_APPROX(m0, hm0.colwise().hnormalized());
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hm0.row(Size-1).setRandom();
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for(int j=0; j<Size; ++j)
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m0.col(j) = hm0.col(j).head(Size) / hm0(Size,j);
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VERIFY_IS_APPROX(m0, hm0.colwise().hnormalized());
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T1MatrixType t1 = T1MatrixType::Random();
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VERIFY_IS_APPROX(t1 * (v0.homogeneous().eval()), t1 * v0.homogeneous());
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VERIFY_IS_APPROX(t1 * (m0.colwise().homogeneous().eval()), t1 * m0.colwise().homogeneous());
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T2MatrixType t2 = T2MatrixType::Random();
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VERIFY_IS_APPROX(t2 * (v0.homogeneous().eval()), t2 * v0.homogeneous());
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VERIFY_IS_APPROX(t2 * (m0.colwise().homogeneous().eval()), t2 * m0.colwise().homogeneous());
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VERIFY_IS_APPROX((v0.transpose().rowwise().homogeneous().eval()) * t2,
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v0.transpose().rowwise().homogeneous() * t2);
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m0.transpose().rowwise().homogeneous().eval();
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VERIFY_IS_APPROX((m0.transpose().rowwise().homogeneous().eval()) * t2,
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m0.transpose().rowwise().homogeneous() * t2);
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T3MatrixType t3 = T3MatrixType::Random();
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VERIFY_IS_APPROX((v0.transpose().rowwise().homogeneous().eval()) * t3,
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v0.transpose().rowwise().homogeneous() * t3);
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VERIFY_IS_APPROX((m0.transpose().rowwise().homogeneous().eval()) * t3,
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m0.transpose().rowwise().homogeneous() * t3);
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// test product with a Transform object
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Transform<Scalar, Size, Affine> Rt;
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Matrix<Scalar, Size, Dynamic> pts, Rt_pts1;
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Rt.setIdentity();
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pts.setRandom(Size,5);
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Rt_pts1 = Rt * pts.colwise().homogeneous();
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// std::cerr << (Rt_pts1 - pts).sum() << "\n";
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VERIFY_IS_MUCH_SMALLER_THAN( (Rt_pts1 - pts).sum(), Scalar(1));
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}
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void test_geo_homogeneous()
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{
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for(int i = 0; i < g_repeat; i++) {
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CALL_SUBTEST_1(( homogeneous<float,1>() ));
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CALL_SUBTEST_2(( homogeneous<double,3>() ));
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CALL_SUBTEST_3(( homogeneous<double,8>() ));
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}
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}
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