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Make Transform::computeRotationScaling(0,&S) continuous

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Essex Edwards 2020-12-14 13:03:46 -08:00 committed by Antonio Sánchez
parent 0bdc0dba20
commit e741b43668
2 changed files with 32 additions and 4 deletions
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8
Eigen/src/Geometry/Transform.h
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@ -1101,12 +1101,12 @@ EIGEN_DEVICE_FUNC void Transform<Scalar,Dim,Mode,Options>::computeRotationScalin
Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant(); // so x has absolute value 1 Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant(); // so x has absolute value 1
VectorType sv(svd.singularValues()); VectorType sv(svd.singularValues());
sv.coeffRef(0) *= x; sv.coeffRef(Dim-1) *= x;
if(scaling) *scaling = svd.matrixV() * sv.asDiagonal() * svd.matrixV().adjoint(); if(scaling) *scaling = svd.matrixV() * sv.asDiagonal() * svd.matrixV().adjoint();
if(rotation) if(rotation)
{ {
LinearMatrixType m(svd.matrixU()); LinearMatrixType m(svd.matrixU());
m.col(0) /= x; m.col(Dim-1) /= x;
*rotation = m * svd.matrixV().adjoint(); *rotation = m * svd.matrixV().adjoint();
} }
} }
@ -1130,12 +1130,12 @@ EIGEN_DEVICE_FUNC void Transform<Scalar,Dim,Mode,Options>::computeScalingRotatio
Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant(); // so x has absolute value 1 Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant(); // so x has absolute value 1
VectorType sv(svd.singularValues()); VectorType sv(svd.singularValues());
sv.coeffRef(0) *= x; sv.coeffRef(Dim-1) *= x;
if(scaling) *scaling = svd.matrixU() * sv.asDiagonal() * svd.matrixU().adjoint(); if(scaling) *scaling = svd.matrixU() * sv.asDiagonal() * svd.matrixU().adjoint();
if(rotation) if(rotation)
{ {
LinearMatrixType m(svd.matrixU()); LinearMatrixType m(svd.matrixU());
m.col(0) /= x; m.col(Dim-1) /= x;
*rotation = m * svd.matrixV().adjoint(); *rotation = m * svd.matrixV().adjoint();
} }
} }

28
test/geo_transformations.cpp
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@ -672,11 +672,39 @@ template<typename Scalar, int Mode, int Options> void transformations_no_scale()
VERIFY(t3.rotation().data()==t3.linear().data()); VERIFY(t3.rotation().data()==t3.linear().data());
} }
template<typename Scalar, int Mode, int Options> void transformations_computed_scaling_continuity()
{
typedef Matrix<Scalar, 3, 1> Vector3;
typedef Transform<Scalar, 3, Mode, Options> Transform3;
typedef Matrix<Scalar, 3, 3> Matrix3;
// Given: two transforms that differ by '2*eps'.
Scalar eps(1e-3);
Vector3 v0 = Vector3::Random().normalized(),
v1 = Vector3::Random().normalized(),
v3 = Vector3::Random().normalized();
Transform3 t0, t1;
// The interesting case is when their determinants have different signs.
Matrix3 rank2 = 50 * v0 * v0.adjoint() + 20 * v1 * v1.adjoint();
t0.linear() = rank2 + eps * v3 * v3.adjoint();
t1.linear() = rank2 - eps * v3 * v3.adjoint();
// When: computing the rotation-scaling parts
Matrix3 r0, s0, r1, s1;
t0.computeRotationScaling(&r0, &s0);
t1.computeRotationScaling(&r1, &s1);
// Then: the scaling parts should differ by no more than '2*eps'.
const Scalar c(2.1); // 2 + room for rounding errors
VERIFY((s0 - s1).norm() < c * eps);
}
EIGEN_DECLARE_TEST(geo_transformations) EIGEN_DECLARE_TEST(geo_transformations)
{ {
for(int i = 0; i < g_repeat; i++) { for(int i = 0; i < g_repeat; i++) {
CALL_SUBTEST_1(( transformations<double,Affine,AutoAlign>() )); CALL_SUBTEST_1(( transformations<double,Affine,AutoAlign>() ));
CALL_SUBTEST_1(( non_projective_only<double,Affine,AutoAlign>() )); CALL_SUBTEST_1(( non_projective_only<double,Affine,AutoAlign>() ));
CALL_SUBTEST_1(( transformations_computed_scaling_continuity<double,Affine,AutoAlign>() ));
CALL_SUBTEST_2(( transformations<float,AffineCompact,AutoAlign>() )); CALL_SUBTEST_2(( transformations<float,AffineCompact,AutoAlign>() ));
CALL_SUBTEST_2(( non_projective_only<float,AffineCompact,AutoAlign>() )); CALL_SUBTEST_2(( non_projective_only<float,AffineCompact,AutoAlign>() ));