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Support matrix multiplication of homogeneous row vectors

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Sergiu Deitsch 2025-09-23 16:56:28 +02:00 committed by Rasmus Munk Larsen
parent 2d170aea11
commit 4df215785b
3 changed files with 20 additions and 2 deletions
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8
Eigen/src/Core/ProductEvaluators.h
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@ -1264,6 +1264,14 @@ struct generic_product_impl<Lhs, Rhs, SkewSymmetricShape, SkewSymmetricShape, Pr
} }
}; };
template <typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
struct generic_product_impl<Lhs, Rhs, MatrixShape, HomogeneousShape, ProductTag>
: generic_product_impl<Lhs, typename Rhs::PlainObject, MatrixShape, DenseShape, ProductTag> {};
template <typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
struct generic_product_impl<Lhs, Rhs, HomogeneousShape, MatrixShape, ProductTag>
: generic_product_impl<typename Lhs::PlainObject, Rhs, DenseShape, MatrixShape, ProductTag> {};
} // end namespace internal } // end namespace internal
} // end namespace Eigen } // end namespace Eigen

2
Eigen/src/Geometry/Homogeneous.h
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@ -80,14 +80,12 @@ class Homogeneous : public MatrixBase<Homogeneous<MatrixType, Direction_> >, int
template <typename Rhs> template <typename Rhs>
EIGEN_DEVICE_FUNC inline const Product<Homogeneous, Rhs> operator*(const MatrixBase<Rhs>& rhs) const { EIGEN_DEVICE_FUNC inline const Product<Homogeneous, Rhs> operator*(const MatrixBase<Rhs>& rhs) const {
eigen_assert(int(Direction) == Horizontal);
return Product<Homogeneous, Rhs>(*this, rhs.derived()); return Product<Homogeneous, Rhs>(*this, rhs.derived());
} }
template <typename Lhs> template <typename Lhs>
friend EIGEN_DEVICE_FUNC inline const Product<Lhs, Homogeneous> operator*(const MatrixBase<Lhs>& lhs, friend EIGEN_DEVICE_FUNC inline const Product<Lhs, Homogeneous> operator*(const MatrixBase<Lhs>& lhs,
const Homogeneous& rhs) { const Homogeneous& rhs) {
eigen_assert(int(Direction) == Vertical);
return Product<Lhs, Homogeneous>(lhs.derived(), rhs); return Product<Lhs, Homogeneous>(lhs.derived(), rhs);
} }

12
test/geo_homogeneous.cpp
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@ -112,6 +112,18 @@ void homogeneous(void) {
VERIFY_IS_APPROX((t2.template triangularView<Lower>() * v0.homogeneous()).eval(), VERIFY_IS_APPROX((t2.template triangularView<Lower>() * v0.homogeneous()).eval(),
(t2.template triangularView<Lower>() * hv0)); (t2.template triangularView<Lower>() * hv0));
{
const MatrixType points = MatrixType::Random();
const VectorType center = VectorType::Random();
const auto pts3 = points.rowwise() - center.transpose();
const auto pts_xy1 = pts3.template leftCols<Size - 1>().rowwise().homogeneous();
const auto pts_xy2 = pts3.template topRows<Size - 1>().colwise().homogeneous();
VERIFY_IS_APPROX(pts_xy1.transpose() * pts_xy1, pts_xy1.transpose() * pts_xy1.eval());
VERIFY_IS_APPROX(pts_xy2 * pts_xy2.transpose(), pts_xy2.eval() * pts_xy2.transpose());
}
} }
EIGEN_DECLARE_TEST(geo_homogeneous) { EIGEN_DECLARE_TEST(geo_homogeneous) {