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bug #997: add missing evaluators for m.lazyProduct(v.homogeneous())

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This commit is contained in:
Gael Guennebaud 2015-06-08 15:43:41 +02:00
parent e6c5723dcd
commit 8f031a3cee
2 changed files with 77 additions and 0 deletions
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62
Eigen/src/Geometry/Homogeneous.h
View File

@ -365,6 +365,37 @@ struct generic_product_impl<Homogeneous<LhsArg,Horizontal>, Rhs, HomogeneousShap
}
};
template<typename Lhs,typename Rhs>
struct homogeneous_right_product_refactoring_helper
{
enum {
Dim = Lhs::ColsAtCompileTime,
Rows = Lhs::RowsAtCompileTime
};
typedef typename Rhs::template ConstNRowsBlockXpr<Dim>::Type LinearBlockConst;
typedef typename remove_const<LinearBlockConst>::type LinearBlock;
typedef typename Rhs::ConstRowXpr ConstantColumn;
typedef Replicate<const ConstantColumn,Rows,1> ConstantBlock;
typedef Product<Lhs,LinearBlock,LazyProduct> LinearProduct;
typedef CwiseBinaryOp<internal::scalar_sum_op<typename Lhs::Scalar>, const LinearProduct, const ConstantBlock> Xpr;
};
template<typename Lhs, typename Rhs, int ProductTag>
struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, HomogeneousShape, DenseShape>
: public evaluator<typename homogeneous_right_product_refactoring_helper<typename Lhs::NestedExpression,Rhs>::Xpr>
{
typedef Product<Lhs, Rhs, LazyProduct> XprType;
typedef homogeneous_right_product_refactoring_helper<typename Lhs::NestedExpression,Rhs> helper;
typedef typename helper::ConstantBlock ConstantBlock;
typedef typename helper::Xpr RefactoredXpr;
typedef evaluator<RefactoredXpr> Base;
EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr)
: Base( xpr.lhs().nestedExpression() .lazyProduct( xpr.rhs().template topRows<helper::Dim>(xpr.lhs().nestedExpression().cols()) )
+ ConstantBlock(xpr.rhs().row(xpr.rhs().rows()-1),xpr.lhs().rows(), 1) )
{}
};
template<typename Lhs, typename RhsArg, int ProductTag>
struct generic_product_impl<Lhs, Homogeneous<RhsArg,Vertical>, DenseShape, HomogeneousShape, ProductTag>
{
@ -375,6 +406,37 @@ struct generic_product_impl<Lhs, Homogeneous<RhsArg,Vertical>, DenseShape, Homog
}
};
template<typename Lhs,typename Rhs>
struct homogeneous_left_product_refactoring_helper
{
enum {
Dim = Rhs::RowsAtCompileTime,
Cols = Rhs::ColsAtCompileTime
};
typedef typename Lhs::template ConstNColsBlockXpr<Dim>::Type LinearBlockConst;
typedef typename remove_const<LinearBlockConst>::type LinearBlock;
typedef typename Lhs::ConstColXpr ConstantColumn;
typedef Replicate<const ConstantColumn,1,Cols> ConstantBlock;
typedef Product<LinearBlock,Rhs,LazyProduct> LinearProduct;
typedef CwiseBinaryOp<internal::scalar_sum_op<typename Lhs::Scalar>, const LinearProduct, const ConstantBlock> Xpr;
};
template<typename Lhs, typename Rhs, int ProductTag>
struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, DenseShape, HomogeneousShape>
: public evaluator<typename homogeneous_left_product_refactoring_helper<Lhs,typename Rhs::NestedExpression>::Xpr>
{
typedef Product<Lhs, Rhs, LazyProduct> XprType;
typedef homogeneous_left_product_refactoring_helper<Lhs,typename Rhs::NestedExpression> helper;
typedef typename helper::ConstantBlock ConstantBlock;
typedef typename helper::Xpr RefactoredXpr;
typedef evaluator<RefactoredXpr> Base;
EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr)
: Base( xpr.lhs().template leftCols<helper::Dim>(xpr.rhs().nestedExpression().rows()) .lazyProduct( xpr.rhs().nestedExpression() )
+ ConstantBlock(xpr.lhs().col(xpr.lhs().cols()-1),1,xpr.rhs().cols()) )
{}
};
template<typename Scalar, int Dim, int Mode,int Options, typename RhsArg, int ProductTag>
struct generic_product_impl<Transform<Scalar,Dim,Mode,Options>, Homogeneous<RhsArg,Vertical>, DenseShape, HomogeneousShape, ProductTag>
{

15
test/geo_homogeneous.cpp
View File

@ -94,6 +94,21 @@ template<typename Scalar,int Size> void homogeneous(void)
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());
// Test combination of homogeneous
VERIFY_IS_APPROX( (t2 * v0.homogeneous()).hnormalized(),
(t2.template topLeftCorner<Size,Size>() * v0 + t2.template topRightCorner<Size,1>())
/ ((t2.template bottomLeftCorner<1,Size>()*v0).value() + t2(Size,Size)) );
VERIFY_IS_APPROX( (t2 * pts.colwise().homogeneous()).colwise().hnormalized(),
(Matrix<Scalar, Size+1, Dynamic>(t2 * pts1).colwise().hnormalized()) );
VERIFY_IS_APPROX( (t2 .lazyProduct( v0.homogeneous() )).hnormalized(), (t2 * v0.homogeneous()).hnormalized() );
VERIFY_IS_APPROX( (t2 .lazyProduct ( pts.colwise().homogeneous() )).colwise().hnormalized(), (t2 * pts1).colwise().hnormalized() );
VERIFY_IS_APPROX( (v0.transpose().homogeneous() .lazyProduct( t2 )).hnormalized(), (v0.transpose().homogeneous()*t2).hnormalized() );
VERIFY_IS_APPROX( (pts.transpose().rowwise().homogeneous() .lazyProduct( t2 )).rowwise().hnormalized(), (pts1.transpose()*t2).rowwise().hnormalized() );
}
void test_geo_homogeneous()