From 1ded6bf3faf3aabb676650df276cdcfe40dbb18d Mon Sep 17 00:00:00 2001 From: Gael Guennebaud Date: Tue, 20 Dec 2016 09:35:00 +0100 Subject: [PATCH] Make sure that HyperPlane::transform manitains a unit normal vector in the Affine case. --- Eigen/src/Geometry/Hyperplane.h | 3 +++ test/geo_hyperplane.cpp | 3 +++ 2 files changed, 6 insertions(+) diff --git a/Eigen/src/Geometry/Hyperplane.h b/Eigen/src/Geometry/Hyperplane.h index 00b7c4300..ad5b6e666 100644 --- a/Eigen/src/Geometry/Hyperplane.h +++ b/Eigen/src/Geometry/Hyperplane.h @@ -218,7 +218,10 @@ public: inline Hyperplane& transform(const MatrixBase& mat, TransformTraits traits = Affine) { if (traits==Affine) + { normal() = mat.inverse().transpose() * normal(); + m_coeffs /= normal().norm(); + } else if (traits==Isometry) normal() = mat * normal(); else diff --git a/test/geo_hyperplane.cpp b/test/geo_hyperplane.cpp index 327537801..617407d21 100644 --- a/test/geo_hyperplane.cpp +++ b/test/geo_hyperplane.cpp @@ -59,12 +59,15 @@ template void hyperplane(const HyperplaneType& _plane) VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot,Isometry).absDistance(rot * p1), Scalar(1) ); pl2 = pl1; VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot*scaling).absDistance((rot*scaling) * p1), Scalar(1) ); + VERIFY_IS_APPROX( pl2.normal().norm(), RealScalar(1) ); pl2 = pl1; VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot*scaling*translation) .absDistance((rot*scaling*translation) * p1), Scalar(1) ); + VERIFY_IS_APPROX( pl2.normal().norm(), RealScalar(1) ); pl2 = pl1; VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot*translation,Isometry) .absDistance((rot*translation) * p1), Scalar(1) ); + VERIFY_IS_APPROX( pl2.normal().norm(), RealScalar(1) ); } // casting