GitHub-Proxy/eigen
1
0
Fork 0
mirror of https://gitlab.com/libeigen/eigen.git synced 2025-04-22 01:29:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

fix transform * matrix products: in particular it now truely considers the rhs as a set of (homogeneous) points and do not neglect the homogeneous coordinates in the case of affine transform

Browse Source
This commit is contained in:
Gael Guennebaud 2011-03-02 19:26:38 +01:00
parent adacacb285
commit d30f0c0953
1 changed files with 32 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

43
Eigen/src/Geometry/Transform.h
View File

@ -43,7 +43,9 @@ struct transform_traits
template< typename TransformType,
typename MatrixType,
bool IsProjective = transform_traits<TransformType>::IsProjective>
int Case = transform_traits<TransformType>::IsProjective ? 0
: int(MatrixType::RowsAtCompileTime) == int(transform_traits<TransformType>::HDim) ? 1
: 2>
struct transform_right_product_impl;
template< typename Other,
@ -1204,7 +1206,7 @@ struct transform_product_result
};
template< typename TransformType, typename MatrixType >
struct transform_right_product_impl< TransformType, MatrixType, true >
struct transform_right_product_impl< TransformType, MatrixType, 0 >
{
typedef typename MatrixType::PlainObject ResultType;
@ -1215,7 +1217,7 @@ struct transform_right_product_impl< TransformType, MatrixType, true >
};
template< typename TransformType, typename MatrixType >
struct transform_right_product_impl< TransformType, MatrixType, false >
struct transform_right_product_impl< TransformType, MatrixType, 1 >
{
enum {
Dim = TransformType::Dim,
@ -1228,20 +1230,39 @@ struct transform_right_product_impl< TransformType, MatrixType, false >
EIGEN_STRONG_INLINE static ResultType run(const TransformType& T, const MatrixType& other)
{
EIGEN_STATIC_ASSERT(OtherRows==Dim || OtherRows==HDim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);
EIGEN_STATIC_ASSERT(OtherRows==HDim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);
typedef Block<ResultType, Dim, OtherCols> TopLeftLhs;
typedef Block<const MatrixType, Dim, OtherCols> TopLeftRhs;
ResultType res(other.rows(),other.cols());
TopLeftLhs(res, 0, 0, Dim, other.cols()).noalias() = T.affine() * other;
res.row(OtherRows-1) = other.row(OtherRows-1);
return res;
}
};
TopLeftLhs(res, 0, 0, Dim, other.cols()) =
( T.linear() * TopLeftRhs(other, 0, 0, Dim, other.cols()) ).colwise() +
T.translation();
template< typename TransformType, typename MatrixType >
struct transform_right_product_impl< TransformType, MatrixType, 2 >
{
enum {
Dim = TransformType::Dim,
HDim = TransformType::HDim,
OtherRows = MatrixType::RowsAtCompileTime,
OtherCols = MatrixType::ColsAtCompileTime
};
// we need to take .rows() because OtherRows might be Dim or HDim
if (OtherRows==HDim)
res.row(other.rows()) = other.row(other.rows());
typedef typename MatrixType::PlainObject ResultType;
EIGEN_STRONG_INLINE static ResultType run(const TransformType& T, const MatrixType& other)
{
EIGEN_STATIC_ASSERT(OtherRows==Dim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);
typedef Block<ResultType, Dim, OtherCols> TopLeftLhs;
ResultType res(other.rows(),other.cols());
TopLeftLhs(res, 0, 0, Dim, other.cols()).noalias() = T.linear() * other;
TopLeftLhs(res, 0, 0, Dim, other.cols()).colwise() += T.translation();
return res;
}