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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@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 
homogeneous(void)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   hm0 << m0, ones.transpose();
43   VERIFY_IS_APPROX(m0.colwise().homogeneous(), hm0);
44   VERIFY_IS_APPROX(m0, hm0.colwise().hnormalized());
45   hm0.row(Size-1).setRandom();
46   for(int j=0; j<Size; ++j)
47     m0.col(j) = hm0.col(j).head(Size) / hm0(Size,j);
48   VERIFY_IS_APPROX(m0, hm0.colwise().hnormalized());
49 
50   T1MatrixType t1 = T1MatrixType::Random();
51   VERIFY_IS_APPROX(t1 * (v0.homogeneous().eval()), t1 * v0.homogeneous());
52   VERIFY_IS_APPROX(t1 * (m0.colwise().homogeneous().eval()), t1 * m0.colwise().homogeneous());
53 
54   T2MatrixType t2 = T2MatrixType::Random();
55   VERIFY_IS_APPROX(t2 * (v0.homogeneous().eval()), t2 * v0.homogeneous());
56   VERIFY_IS_APPROX(t2 * (m0.colwise().homogeneous().eval()), t2 * m0.colwise().homogeneous());
57 
58   VERIFY_IS_APPROX((v0.transpose().rowwise().homogeneous().eval()) * t2,
59                     v0.transpose().rowwise().homogeneous() * t2);
60                     m0.transpose().rowwise().homogeneous().eval();
61   VERIFY_IS_APPROX((m0.transpose().rowwise().homogeneous().eval()) * t2,
62                     m0.transpose().rowwise().homogeneous() * t2);
63 
64   T3MatrixType t3 = T3MatrixType::Random();
65   VERIFY_IS_APPROX((v0.transpose().rowwise().homogeneous().eval()) * t3,
66                     v0.transpose().rowwise().homogeneous() * t3);
67   VERIFY_IS_APPROX((m0.transpose().rowwise().homogeneous().eval()) * t3,
68                     m0.transpose().rowwise().homogeneous() * t3);
69 
70   // test product with a Transform object
71   Transform<Scalar, Size, Affine> aff;
72   Transform<Scalar, Size, AffineCompact> caff;
73   Transform<Scalar, Size, Projective> proj;
74   Matrix<Scalar, Size, Dynamic>   pts;
75   Matrix<Scalar, Size+1, Dynamic> pts1, pts2;
76 
77   aff.affine().setRandom();
78   proj = caff = aff;
79   pts.setRandom(Size,internal::random<int>(1,20));
80 
81   pts1 = pts.colwise().homogeneous();
82   VERIFY_IS_APPROX(aff  * pts.colwise().homogeneous(), (aff  * pts1).colwise().hnormalized());
83   VERIFY_IS_APPROX(caff * pts.colwise().homogeneous(), (caff * pts1).colwise().hnormalized());
84   VERIFY_IS_APPROX(proj * pts.colwise().homogeneous(), (proj * pts1));
85 
86   VERIFY_IS_APPROX((aff  * pts1).colwise().hnormalized(),  aff  * pts);
87   VERIFY_IS_APPROX((caff * pts1).colwise().hnormalized(), caff * pts);
88 
89   pts2 = pts1;
90   pts2.row(Size).setRandom();
91   VERIFY_IS_APPROX((aff  * pts2).colwise().hnormalized(), aff  * pts2.colwise().hnormalized());
92   VERIFY_IS_APPROX((caff * pts2).colwise().hnormalized(), caff * pts2.colwise().hnormalized());
93   VERIFY_IS_APPROX((proj * pts2).colwise().hnormalized(), (proj * pts2.colwise().hnormalized().colwise().homogeneous()).colwise().hnormalized());
94 }
95 
test_geo_homogeneous()96 void test_geo_homogeneous()
97 {
98   for(int i = 0; i < g_repeat; i++) {
99     CALL_SUBTEST_1(( homogeneous<float,1>() ));
100     CALL_SUBTEST_2(( homogeneous<double,3>() ));
101     CALL_SUBTEST_3(( homogeneous<double,8>() ));
102   }
103 }
104