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fix bug #362 and add missing specialization for affine-compact * projective

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(transplanted from 48f0bbb58624e3a65dc989d6e4b24ed58c4465e4
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This commit is contained in:
Gael Guennebaud 2012-03-30 23:22:29 +02:00
parent deeffdb245
commit cafd34fa91
2 changed files with 57 additions and 1 deletions
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31
Eigen/src/Geometry/Transform.h
View File

@ -61,7 +61,7 @@ template< typename Lhs,
typename Rhs, typename Rhs,
bool AnyProjective = bool AnyProjective =
transform_traits<Lhs>::IsProjective || transform_traits<Lhs>::IsProjective ||
transform_traits<Lhs>::IsProjective> transform_traits<Rhs>::IsProjective>
struct transform_transform_product_impl; struct transform_transform_product_impl;
template< typename Other, template< typename Other,
@ -1391,6 +1391,35 @@ struct transform_transform_product_impl<Transform<Scalar,Dim,LhsMode,LhsOptions>
} }
}; };
template<typename Scalar, int Dim, int LhsOptions, int RhsOptions>
struct transform_transform_product_impl<Transform<Scalar,Dim,AffineCompact,LhsOptions>,Transform<Scalar,Dim,Projective,RhsOptions>,true >
{
typedef Transform<Scalar,Dim,AffineCompact,LhsOptions> Lhs;
typedef Transform<Scalar,Dim,Projective,RhsOptions> Rhs;
typedef Transform<Scalar,Dim,Projective> ResultType;
static ResultType run(const Lhs& lhs, const Rhs& rhs)
{
ResultType res;
res.matrix().template topRows<Dim>() = lhs.matrix() * rhs.matrix();
res.matrix().row(Dim) = rhs.matrix().row(Dim);
return res;
}
};
template<typename Scalar, int Dim, int LhsOptions, int RhsOptions>
struct transform_transform_product_impl<Transform<Scalar,Dim,Projective,LhsOptions>,Transform<Scalar,Dim,AffineCompact,RhsOptions>,true >
{
typedef Transform<Scalar,Dim,Projective,LhsOptions> Lhs;
typedef Transform<Scalar,Dim,AffineCompact,RhsOptions> Rhs;
typedef Transform<Scalar,Dim,Projective> ResultType;
static ResultType run(const Lhs& lhs, const Rhs& rhs)
{
ResultType res(lhs.matrix().template leftCols<Dim>() * rhs.matrix());
res.matrix().col(Dim) += lhs.matrix().col(Dim);
return res;
}
};
} // end namespace internal } // end namespace internal
#endif // EIGEN_TRANSFORM_H #endif // EIGEN_TRANSFORM_H

27
test/geo_transformations.cpp
View File

@ -448,6 +448,29 @@ template<typename Scalar> void transform_alignment()
#endif #endif
} }
template<typename Scalar, int Dim, int Options> void transform_products()
{
typedef Matrix<Scalar,Dim+1,Dim+1> Mat;
typedef Transform<Scalar,Dim,Projective,Options> Proj;
typedef Transform<Scalar,Dim,Affine,Options> Aff;
typedef Transform<Scalar,Dim,AffineCompact,Options> AffC;
Proj p; p.matrix().setRandom();
Aff a; a.linear().setRandom(); a.translation().setRandom();
AffC ac = a;
Mat p_m(p.matrix()), a_m(a.matrix());
VERIFY_IS_APPROX((p*p).matrix(), p_m*p_m);
VERIFY_IS_APPROX((a*a).matrix(), a_m*a_m);
VERIFY_IS_APPROX((p*a).matrix(), p_m*a_m);
VERIFY_IS_APPROX((a*p).matrix(), a_m*p_m);
VERIFY_IS_APPROX((ac*a).matrix(), a_m*a_m);
VERIFY_IS_APPROX((a*ac).matrix(), a_m*a_m);
VERIFY_IS_APPROX((p*ac).matrix(), p_m*a_m);
VERIFY_IS_APPROX((ac*p).matrix(), a_m*p_m);
}
void test_geo_transformations() void test_geo_transformations()
{ {
for(int i = 0; i < g_repeat; i++) { for(int i = 0; i < g_repeat; i++) {
@ -470,5 +493,9 @@ void test_geo_transformations()
CALL_SUBTEST_6(( transformations<double,Projective,RowMajor|AutoAlign>() )); CALL_SUBTEST_6(( transformations<double,Projective,RowMajor|AutoAlign>() ));
CALL_SUBTEST_6(( transformations<double,Projective,RowMajor|DontAlign>() )); CALL_SUBTEST_6(( transformations<double,Projective,RowMajor|DontAlign>() ));
CALL_SUBTEST_7(( transform_products<double,3,RowMajor|AutoAlign>() ));
CALL_SUBTEST_7(( transform_products<float,2,AutoAlign>() ));
} }
} }