732 lines
26 KiB
C++
732 lines
26 KiB
C++
// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra.
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//
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// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
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//
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// This Source Code Form is subject to the terms of the Mozilla
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// Public License v. 2.0. If a copy of the MPL was not distributed
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// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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#include "main.h"
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#include <Eigen/Geometry>
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#include <Eigen/LU>
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#include <Eigen/SVD>
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template<typename T>
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Matrix<T,2,1> angleToVec(T a)
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{
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return Matrix<T,2,1>(std::cos(a), std::sin(a));
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}
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// This permits to workaround a bug in clang/llvm code generation.
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template<typename T>
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EIGEN_DONT_INLINE
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void dont_over_optimize(T& x) { volatile typename T::Scalar tmp = x(0); x(0) = tmp; }
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template<typename Scalar, int Mode, int Options> void non_projective_only()
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{
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/* this test covers the following files:
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Cross.h Quaternion.h, Transform.cpp
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*/
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typedef Matrix<Scalar,3,1> Vector3;
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typedef Quaternion<Scalar> Quaternionx;
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typedef AngleAxis<Scalar> AngleAxisx;
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typedef Transform<Scalar,3,Mode,Options> Transform3;
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typedef DiagonalMatrix<Scalar,3> AlignedScaling3;
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typedef Translation<Scalar,3> Translation3;
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Vector3 v0 = Vector3::Random(),
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v1 = Vector3::Random();
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Transform3 t0, t1, t2;
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Scalar a = internal::random<Scalar>(-Scalar(EIGEN_PI), Scalar(EIGEN_PI));
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Quaternionx q1, q2;
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q1 = AngleAxisx(a, v0.normalized());
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t0 = Transform3::Identity();
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VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity());
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t0.linear() = q1.toRotationMatrix();
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v0 << 50, 2, 1;
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t0.scale(v0);
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VERIFY_IS_APPROX( (t0 * Vector3(1,0,0)).template head<3>().norm(), v0.x());
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t0.setIdentity();
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t1.setIdentity();
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v1 << 1, 2, 3;
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t0.linear() = q1.toRotationMatrix();
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t0.pretranslate(v0);
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t0.scale(v1);
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t1.linear() = q1.conjugate().toRotationMatrix();
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t1.prescale(v1.cwiseInverse());
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t1.translate(-v0);
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VERIFY((t0 * t1).matrix().isIdentity(test_precision<Scalar>()));
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t1.fromPositionOrientationScale(v0, q1, v1);
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VERIFY_IS_APPROX(t1.matrix(), t0.matrix());
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VERIFY_IS_APPROX(t1*v1, t0*v1);
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// translation * vector
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t0.setIdentity();
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t0.translate(v0);
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VERIFY_IS_APPROX((t0 * v1).template head<3>(), Translation3(v0) * v1);
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// AlignedScaling * vector
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t0.setIdentity();
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t0.scale(v0);
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VERIFY_IS_APPROX((t0 * v1).template head<3>(), AlignedScaling3(v0) * v1);
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}
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template<typename Scalar, int Mode, int Options> void transformations()
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{
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/* this test covers the following files:
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Cross.h Quaternion.h, Transform.cpp
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*/
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using std::cos;
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using std::abs;
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typedef Matrix<Scalar,3,3> Matrix3;
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typedef Matrix<Scalar,4,4> Matrix4;
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typedef Matrix<Scalar,2,1> Vector2;
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typedef Matrix<Scalar,3,1> Vector3;
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typedef Matrix<Scalar,4,1> Vector4;
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typedef Quaternion<Scalar> Quaternionx;
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typedef AngleAxis<Scalar> AngleAxisx;
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typedef Transform<Scalar,2,Mode,Options> Transform2;
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typedef Transform<Scalar,3,Mode,Options> Transform3;
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typedef typename Transform3::MatrixType MatrixType;
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typedef DiagonalMatrix<Scalar,3> AlignedScaling3;
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typedef Translation<Scalar,2> Translation2;
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typedef Translation<Scalar,3> Translation3;
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Vector3 v0 = Vector3::Random(),
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v1 = Vector3::Random();
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Matrix3 matrot1, m;
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Scalar a = internal::random<Scalar>(-Scalar(EIGEN_PI), Scalar(EIGEN_PI));
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Scalar s0 = internal::random<Scalar>(), s1 = internal::random<Scalar>();
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while(v0.norm() < test_precision<Scalar>()) v0 = Vector3::Random();
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while(v1.norm() < test_precision<Scalar>()) v1 = Vector3::Random();
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VERIFY_IS_APPROX(v0, AngleAxisx(a, v0.normalized()) * v0);
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VERIFY_IS_APPROX(-v0, AngleAxisx(Scalar(EIGEN_PI), v0.unitOrthogonal()) * v0);
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if(abs(cos(a)) > test_precision<Scalar>())
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{
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VERIFY_IS_APPROX(cos(a)*v0.squaredNorm(), v0.dot(AngleAxisx(a, v0.unitOrthogonal()) * v0));
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}
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m = AngleAxisx(a, v0.normalized()).toRotationMatrix().adjoint();
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VERIFY_IS_APPROX(Matrix3::Identity(), m * AngleAxisx(a, v0.normalized()));
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VERIFY_IS_APPROX(Matrix3::Identity(), AngleAxisx(a, v0.normalized()) * m);
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Quaternionx q1, q2;
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q1 = AngleAxisx(a, v0.normalized());
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q2 = AngleAxisx(a, v1.normalized());
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// rotation matrix conversion
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matrot1 = AngleAxisx(Scalar(0.1), Vector3::UnitX())
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* AngleAxisx(Scalar(0.2), Vector3::UnitY())
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* AngleAxisx(Scalar(0.3), Vector3::UnitZ());
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VERIFY_IS_APPROX(matrot1 * v1,
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AngleAxisx(Scalar(0.1), Vector3(1,0,0)).toRotationMatrix()
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* (AngleAxisx(Scalar(0.2), Vector3(0,1,0)).toRotationMatrix()
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* (AngleAxisx(Scalar(0.3), Vector3(0,0,1)).toRotationMatrix() * v1)));
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// angle-axis conversion
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AngleAxisx aa = AngleAxisx(q1);
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VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1);
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// The following test is stable only if 2*angle != angle and v1 is not colinear with axis
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if( (abs(aa.angle()) > test_precision<Scalar>()) && (abs(aa.axis().dot(v1.normalized()))<(Scalar(1)-Scalar(4)*test_precision<Scalar>())) )
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{
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VERIFY( !(q1 * v1).isApprox(Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1) );
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}
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aa.fromRotationMatrix(aa.toRotationMatrix());
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VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1);
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// The following test is stable only if 2*angle != angle and v1 is not colinear with axis
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if( (abs(aa.angle()) > test_precision<Scalar>()) && (abs(aa.axis().dot(v1.normalized()))<(Scalar(1)-Scalar(4)*test_precision<Scalar>())) )
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{
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VERIFY( !(q1 * v1).isApprox(Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1) );
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}
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// AngleAxis
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VERIFY_IS_APPROX(AngleAxisx(a,v1.normalized()).toRotationMatrix(),
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Quaternionx(AngleAxisx(a,v1.normalized())).toRotationMatrix());
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AngleAxisx aa1;
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m = q1.toRotationMatrix();
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aa1 = m;
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VERIFY_IS_APPROX(AngleAxisx(m).toRotationMatrix(),
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Quaternionx(m).toRotationMatrix());
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// Transform
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// TODO complete the tests !
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a = 0;
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while (abs(a)<Scalar(0.1))
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a = internal::random<Scalar>(-Scalar(0.4)*Scalar(EIGEN_PI), Scalar(0.4)*Scalar(EIGEN_PI));
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q1 = AngleAxisx(a, v0.normalized());
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Transform3 t0, t1, t2;
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// first test setIdentity() and Identity()
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t0.setIdentity();
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VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity());
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t0.matrix().setZero();
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t0 = Transform3::Identity();
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VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity());
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t0.setIdentity();
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t1.setIdentity();
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v1 << 1, 2, 3;
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t0.linear() = q1.toRotationMatrix();
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t0.pretranslate(v0);
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t0.scale(v1);
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t1.linear() = q1.conjugate().toRotationMatrix();
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t1.prescale(v1.cwiseInverse());
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t1.translate(-v0);
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VERIFY((t0 * t1).matrix().isIdentity(test_precision<Scalar>()));
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t1.fromPositionOrientationScale(v0, q1, v1);
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VERIFY_IS_APPROX(t1.matrix(), t0.matrix());
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t0.setIdentity(); t0.scale(v0).rotate(q1.toRotationMatrix());
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t1.setIdentity(); t1.scale(v0).rotate(q1);
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VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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t0.setIdentity(); t0.scale(v0).rotate(AngleAxisx(q1));
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VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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VERIFY_IS_APPROX(t0.scale(a).matrix(), t1.scale(Vector3::Constant(a)).matrix());
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VERIFY_IS_APPROX(t0.prescale(a).matrix(), t1.prescale(Vector3::Constant(a)).matrix());
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// More transform constructors, operator=, operator*=
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Matrix3 mat3 = Matrix3::Random();
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Matrix4 mat4;
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mat4 << mat3 , Vector3::Zero() , Vector4::Zero().transpose();
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Transform3 tmat3(mat3), tmat4(mat4);
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if(Mode!=int(AffineCompact))
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tmat4.matrix()(3,3) = Scalar(1);
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VERIFY_IS_APPROX(tmat3.matrix(), tmat4.matrix());
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Scalar a3 = internal::random<Scalar>(-Scalar(EIGEN_PI), Scalar(EIGEN_PI));
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Vector3 v3 = Vector3::Random().normalized();
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AngleAxisx aa3(a3, v3);
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Transform3 t3(aa3);
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Transform3 t4;
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t4 = aa3;
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VERIFY_IS_APPROX(t3.matrix(), t4.matrix());
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t4.rotate(AngleAxisx(-a3,v3));
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VERIFY_IS_APPROX(t4.matrix(), MatrixType::Identity());
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t4 *= aa3;
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VERIFY_IS_APPROX(t3.matrix(), t4.matrix());
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do {
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v3 = Vector3::Random();
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dont_over_optimize(v3);
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} while (v3.cwiseAbs().minCoeff()<NumTraits<Scalar>::epsilon());
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Translation3 tv3(v3);
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Transform3 t5(tv3);
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t4 = tv3;
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VERIFY_IS_APPROX(t5.matrix(), t4.matrix());
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t4.translate((-v3).eval());
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VERIFY_IS_APPROX(t4.matrix(), MatrixType::Identity());
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t4 *= tv3;
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VERIFY_IS_APPROX(t5.matrix(), t4.matrix());
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AlignedScaling3 sv3(v3);
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Transform3 t6(sv3);
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t4 = sv3;
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VERIFY_IS_APPROX(t6.matrix(), t4.matrix());
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t4.scale(v3.cwiseInverse());
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VERIFY_IS_APPROX(t4.matrix(), MatrixType::Identity());
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t4 *= sv3;
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VERIFY_IS_APPROX(t6.matrix(), t4.matrix());
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// matrix * transform
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VERIFY_IS_APPROX((t3.matrix()*t4).matrix(), (t3*t4).matrix());
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// chained Transform product
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VERIFY_IS_APPROX(((t3*t4)*t5).matrix(), (t3*(t4*t5)).matrix());
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// check that Transform product doesn't have aliasing problems
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t5 = t4;
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t5 = t5*t5;
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VERIFY_IS_APPROX(t5, t4*t4);
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// 2D transformation
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Transform2 t20, t21;
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Vector2 v20 = Vector2::Random();
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Vector2 v21 = Vector2::Random();
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for (int k=0; k<2; ++k)
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if (abs(v21[k])<Scalar(1e-3)) v21[k] = Scalar(1e-3);
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t21.setIdentity();
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t21.linear() = Rotation2D<Scalar>(a).toRotationMatrix();
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VERIFY_IS_APPROX(t20.fromPositionOrientationScale(v20,a,v21).matrix(),
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t21.pretranslate(v20).scale(v21).matrix());
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t21.setIdentity();
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t21.linear() = Rotation2D<Scalar>(-a).toRotationMatrix();
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VERIFY( (t20.fromPositionOrientationScale(v20,a,v21)
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* (t21.prescale(v21.cwiseInverse()).translate(-v20))).matrix().isIdentity(test_precision<Scalar>()) );
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// Transform - new API
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// 3D
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t0.setIdentity();
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t0.rotate(q1).scale(v0).translate(v0);
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// mat * aligned scaling and mat * translation
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t1 = (Matrix3(q1) * AlignedScaling3(v0)) * Translation3(v0);
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VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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t1 = (Matrix3(q1) * Eigen::Scaling(v0)) * Translation3(v0);
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VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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t1 = (q1 * Eigen::Scaling(v0)) * Translation3(v0);
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VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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// mat * transformation and aligned scaling * translation
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t1 = Matrix3(q1) * (AlignedScaling3(v0) * Translation3(v0));
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VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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t0.setIdentity();
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t0.scale(s0).translate(v0);
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t1 = Eigen::Scaling(s0) * Translation3(v0);
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VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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t0.prescale(s0);
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t1 = Eigen::Scaling(s0) * t1;
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VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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t0 = t3;
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t0.scale(s0);
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t1 = t3 * Eigen::Scaling(s0,s0,s0);
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VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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t0.prescale(s0);
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t1 = Eigen::Scaling(s0,s0,s0) * t1;
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VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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t0 = t3;
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t0.scale(s0);
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t1 = t3 * Eigen::Scaling(s0);
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VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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t0.prescale(s0);
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t1 = Eigen::Scaling(s0) * t1;
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VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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t0.setIdentity();
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t0.prerotate(q1).prescale(v0).pretranslate(v0);
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// translation * aligned scaling and transformation * mat
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t1 = (Translation3(v0) * AlignedScaling3(v0)) * Transform3(q1);
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VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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// scaling * mat and translation * mat
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t1 = Translation3(v0) * (AlignedScaling3(v0) * Transform3(q1));
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VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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t0.setIdentity();
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t0.scale(v0).translate(v0).rotate(q1);
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// translation * mat and aligned scaling * transformation
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t1 = AlignedScaling3(v0) * (Translation3(v0) * Transform3(q1));
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VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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// transformation * aligned scaling
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t0.scale(v0);
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t1 *= AlignedScaling3(v0);
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VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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t1 = AlignedScaling3(v0) * (Translation3(v0) * Transform3(q1));
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t1 = t1 * v0.asDiagonal();
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VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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// transformation * translation
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t0.translate(v0);
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t1 = t1 * Translation3(v0);
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VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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// translation * transformation
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t0.pretranslate(v0);
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t1 = Translation3(v0) * t1;
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VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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// transform * quaternion
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t0.rotate(q1);
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t1 = t1 * q1;
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VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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// translation * quaternion
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t0.translate(v1).rotate(q1);
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t1 = t1 * (Translation3(v1) * q1);
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VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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// aligned scaling * quaternion
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t0.scale(v1).rotate(q1);
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t1 = t1 * (AlignedScaling3(v1) * q1);
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VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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// quaternion * transform
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t0.prerotate(q1);
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t1 = q1 * t1;
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VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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// quaternion * translation
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t0.rotate(q1).translate(v1);
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t1 = t1 * (q1 * Translation3(v1));
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VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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// quaternion * aligned scaling
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t0.rotate(q1).scale(v1);
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t1 = t1 * (q1 * AlignedScaling3(v1));
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VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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// test transform inversion
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t0.setIdentity();
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t0.translate(v0);
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do {
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t0.linear().setRandom();
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} while(t0.linear().jacobiSvd().singularValues()(2)<test_precision<Scalar>());
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Matrix4 t044 = Matrix4::Zero();
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t044(3,3) = 1;
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t044.block(0,0,t0.matrix().rows(),4) = t0.matrix();
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VERIFY_IS_APPROX(t0.inverse(Affine).matrix(), t044.inverse().block(0,0,t0.matrix().rows(),4));
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t0.setIdentity();
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t0.translate(v0).rotate(q1);
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t044 = Matrix4::Zero();
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t044(3,3) = 1;
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t044.block(0,0,t0.matrix().rows(),4) = t0.matrix();
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VERIFY_IS_APPROX(t0.inverse(Isometry).matrix(), t044.inverse().block(0,0,t0.matrix().rows(),4));
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Matrix3 mat_rotation, mat_scaling;
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t0.setIdentity();
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t0.translate(v0).rotate(q1).scale(v1);
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t0.computeRotationScaling(&mat_rotation, &mat_scaling);
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VERIFY_IS_APPROX(t0.linear(), mat_rotation * mat_scaling);
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VERIFY_IS_APPROX(mat_rotation*mat_rotation.adjoint(), Matrix3::Identity());
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VERIFY_IS_APPROX(mat_rotation.determinant(), Scalar(1));
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t0.computeScalingRotation(&mat_scaling, &mat_rotation);
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VERIFY_IS_APPROX(t0.linear(), mat_scaling * mat_rotation);
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VERIFY_IS_APPROX(mat_rotation*mat_rotation.adjoint(), Matrix3::Identity());
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VERIFY_IS_APPROX(mat_rotation.determinant(), Scalar(1));
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// test casting
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Transform<float,3,Mode> t1f = t1.template cast<float>();
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VERIFY_IS_APPROX(t1f.template cast<Scalar>(),t1);
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Transform<double,3,Mode> t1d = t1.template cast<double>();
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VERIFY_IS_APPROX(t1d.template cast<Scalar>(),t1);
|
|
|
|
Translation3 tr1(v0);
|
|
Translation<float,3> tr1f = tr1.template cast<float>();
|
|
VERIFY_IS_APPROX(tr1f.template cast<Scalar>(),tr1);
|
|
Translation<double,3> tr1d = tr1.template cast<double>();
|
|
VERIFY_IS_APPROX(tr1d.template cast<Scalar>(),tr1);
|
|
|
|
AngleAxis<float> aa1f = aa1.template cast<float>();
|
|
VERIFY_IS_APPROX(aa1f.template cast<Scalar>(),aa1);
|
|
AngleAxis<double> aa1d = aa1.template cast<double>();
|
|
VERIFY_IS_APPROX(aa1d.template cast<Scalar>(),aa1);
|
|
|
|
Rotation2D<Scalar> r2d1(internal::random<Scalar>());
|
|
Rotation2D<float> r2d1f = r2d1.template cast<float>();
|
|
VERIFY_IS_APPROX(r2d1f.template cast<Scalar>(),r2d1);
|
|
Rotation2D<double> r2d1d = r2d1.template cast<double>();
|
|
VERIFY_IS_APPROX(r2d1d.template cast<Scalar>(),r2d1);
|
|
|
|
for(int k=0; k<100; ++k)
|
|
{
|
|
Scalar angle = internal::random<Scalar>(-100,100);
|
|
Rotation2D<Scalar> rot2(angle);
|
|
VERIFY( rot2.smallestPositiveAngle() >= 0 );
|
|
VERIFY( rot2.smallestPositiveAngle() <= Scalar(2)*Scalar(EIGEN_PI) );
|
|
VERIFY_IS_APPROX( angleToVec(rot2.smallestPositiveAngle()), angleToVec(rot2.angle()) );
|
|
|
|
VERIFY( rot2.smallestAngle() >= -Scalar(EIGEN_PI) );
|
|
VERIFY( rot2.smallestAngle() <= Scalar(EIGEN_PI) );
|
|
VERIFY_IS_APPROX( angleToVec(rot2.smallestAngle()), angleToVec(rot2.angle()) );
|
|
|
|
Matrix<Scalar,2,2> rot2_as_mat(rot2);
|
|
Rotation2D<Scalar> rot3(rot2_as_mat);
|
|
VERIFY_IS_APPROX( angleToVec(rot2.smallestAngle()), angleToVec(rot3.angle()) );
|
|
}
|
|
|
|
s0 = internal::random<Scalar>(-100,100);
|
|
s1 = internal::random<Scalar>(-100,100);
|
|
Rotation2D<Scalar> R0(s0), R1(s1);
|
|
|
|
t20 = Translation2(v20) * (R0 * Eigen::Scaling(s0));
|
|
t21 = Translation2(v20) * R0 * Eigen::Scaling(s0);
|
|
VERIFY_IS_APPROX(t20,t21);
|
|
|
|
t20 = Translation2(v20) * (R0 * R0.inverse() * Eigen::Scaling(s0));
|
|
t21 = Translation2(v20) * Eigen::Scaling(s0);
|
|
VERIFY_IS_APPROX(t20,t21);
|
|
|
|
VERIFY_IS_APPROX(s0, (R0.slerp(0, R1)).angle());
|
|
VERIFY_IS_APPROX( angleToVec(R1.smallestPositiveAngle()), angleToVec((R0.slerp(1, R1)).smallestPositiveAngle()) );
|
|
VERIFY_IS_APPROX(R0.smallestPositiveAngle(), (R0.slerp(0.5, R0)).smallestPositiveAngle());
|
|
|
|
if(std::cos(s0)>0)
|
|
VERIFY_IS_MUCH_SMALLER_THAN((R0.slerp(0.5, R0.inverse())).smallestAngle(), Scalar(1));
|
|
else
|
|
VERIFY_IS_APPROX(Scalar(EIGEN_PI), (R0.slerp(0.5, R0.inverse())).smallestPositiveAngle());
|
|
|
|
// Check path length
|
|
Scalar l = 0;
|
|
int path_steps = 100;
|
|
for(int k=0; k<path_steps; ++k)
|
|
{
|
|
Scalar a1 = R0.slerp(Scalar(k)/Scalar(path_steps), R1).angle();
|
|
Scalar a2 = R0.slerp(Scalar(k+1)/Scalar(path_steps), R1).angle();
|
|
l += std::abs(a2-a1);
|
|
}
|
|
VERIFY(l<=Scalar(EIGEN_PI)*(Scalar(1)+NumTraits<Scalar>::epsilon()*Scalar(path_steps/2)));
|
|
|
|
// check basic features
|
|
{
|
|
Rotation2D<Scalar> r1; // default ctor
|
|
r1 = Rotation2D<Scalar>(s0); // copy assignment
|
|
VERIFY_IS_APPROX(r1.angle(),s0);
|
|
Rotation2D<Scalar> r2(r1); // copy ctor
|
|
VERIFY_IS_APPROX(r2.angle(),s0);
|
|
}
|
|
|
|
{
|
|
Transform3 t32(Matrix4::Random()), t33, t34;
|
|
t34 = t33 = t32;
|
|
t32.scale(v0);
|
|
t33*=AlignedScaling3(v0);
|
|
VERIFY_IS_APPROX(t32.matrix(), t33.matrix());
|
|
t33 = t34 * AlignedScaling3(v0);
|
|
VERIFY_IS_APPROX(t32.matrix(), t33.matrix());
|
|
}
|
|
|
|
}
|
|
|
|
template<typename A1, typename A2, typename P, typename Q, typename V, typename H>
|
|
void transform_associativity_left(const A1& a1, const A2& a2, const P& p, const Q& q, const V& v, const H& h)
|
|
{
|
|
VERIFY_IS_APPROX( q*(a1*v), (q*a1)*v );
|
|
VERIFY_IS_APPROX( q*(a2*v), (q*a2)*v );
|
|
VERIFY_IS_APPROX( q*(p*h).hnormalized(), ((q*p)*h).hnormalized() );
|
|
}
|
|
|
|
template<typename A1, typename A2, typename P, typename Q, typename V, typename H>
|
|
void transform_associativity2(const A1& a1, const A2& a2, const P& p, const Q& q, const V& v, const H& h)
|
|
{
|
|
VERIFY_IS_APPROX( a1*(q*v), (a1*q)*v );
|
|
VERIFY_IS_APPROX( a2*(q*v), (a2*q)*v );
|
|
VERIFY_IS_APPROX( p *(q*v).homogeneous(), (p *q)*v.homogeneous() );
|
|
|
|
transform_associativity_left(a1, a2,p, q, v, h);
|
|
}
|
|
|
|
template<typename Scalar, int Dim, int Options,typename RotationType>
|
|
void transform_associativity(const RotationType& R)
|
|
{
|
|
typedef Matrix<Scalar,Dim,1> VectorType;
|
|
typedef Matrix<Scalar,Dim+1,1> HVectorType;
|
|
typedef Matrix<Scalar,Dim,Dim> LinearType;
|
|
typedef Matrix<Scalar,Dim+1,Dim+1> MatrixType;
|
|
typedef Transform<Scalar,Dim,AffineCompact,Options> AffineCompactType;
|
|
typedef Transform<Scalar,Dim,Affine,Options> AffineType;
|
|
typedef Transform<Scalar,Dim,Projective,Options> ProjectiveType;
|
|
typedef DiagonalMatrix<Scalar,Dim> ScalingType;
|
|
typedef Translation<Scalar,Dim> TranslationType;
|
|
|
|
AffineCompactType A1c; A1c.matrix().setRandom();
|
|
AffineCompactType A2c; A2c.matrix().setRandom();
|
|
AffineType A1(A1c);
|
|
AffineType A2(A2c);
|
|
ProjectiveType P1; P1.matrix().setRandom();
|
|
VectorType v1 = VectorType::Random();
|
|
VectorType v2 = VectorType::Random();
|
|
HVectorType h1 = HVectorType::Random();
|
|
Scalar s1 = internal::random<Scalar>();
|
|
LinearType L = LinearType::Random();
|
|
MatrixType M = MatrixType::Random();
|
|
|
|
CALL_SUBTEST( transform_associativity2(A1c, A1, P1, A2, v2, h1) );
|
|
CALL_SUBTEST( transform_associativity2(A1c, A1, P1, A2c, v2, h1) );
|
|
CALL_SUBTEST( transform_associativity2(A1c, A1, P1, v1.asDiagonal(), v2, h1) );
|
|
CALL_SUBTEST( transform_associativity2(A1c, A1, P1, ScalingType(v1), v2, h1) );
|
|
CALL_SUBTEST( transform_associativity2(A1c, A1, P1, Scaling(v1), v2, h1) );
|
|
CALL_SUBTEST( transform_associativity2(A1c, A1, P1, Scaling(s1), v2, h1) );
|
|
CALL_SUBTEST( transform_associativity2(A1c, A1, P1, TranslationType(v1), v2, h1) );
|
|
CALL_SUBTEST( transform_associativity_left(A1c, A1, P1, L, v2, h1) );
|
|
CALL_SUBTEST( transform_associativity2(A1c, A1, P1, R, v2, h1) );
|
|
|
|
VERIFY_IS_APPROX( A1*(M*h1), (A1*M)*h1 );
|
|
VERIFY_IS_APPROX( A1c*(M*h1), (A1c*M)*h1 );
|
|
VERIFY_IS_APPROX( P1*(M*h1), (P1*M)*h1 );
|
|
|
|
VERIFY_IS_APPROX( M*(A1*h1), (M*A1)*h1 );
|
|
VERIFY_IS_APPROX( M*(A1c*h1), (M*A1c)*h1 );
|
|
VERIFY_IS_APPROX( M*(P1*h1), ((M*P1)*h1) );
|
|
}
|
|
|
|
template<typename Scalar> void transform_alignment()
|
|
{
|
|
typedef Transform<Scalar,3,Projective,AutoAlign> Projective3a;
|
|
typedef Transform<Scalar,3,Projective,DontAlign> Projective3u;
|
|
|
|
EIGEN_ALIGN_MAX Scalar array1[16];
|
|
EIGEN_ALIGN_MAX Scalar array2[16];
|
|
EIGEN_ALIGN_MAX Scalar array3[16+1];
|
|
Scalar* array3u = array3+1;
|
|
|
|
Projective3a *p1 = ::new(reinterpret_cast<void*>(array1)) Projective3a;
|
|
Projective3u *p2 = ::new(reinterpret_cast<void*>(array2)) Projective3u;
|
|
Projective3u *p3 = ::new(reinterpret_cast<void*>(array3u)) Projective3u;
|
|
|
|
p1->matrix().setRandom();
|
|
*p2 = *p1;
|
|
*p3 = *p1;
|
|
|
|
VERIFY_IS_APPROX(p1->matrix(), p2->matrix());
|
|
VERIFY_IS_APPROX(p1->matrix(), p3->matrix());
|
|
|
|
VERIFY_IS_APPROX( (*p1) * (*p1), (*p2)*(*p3));
|
|
}
|
|
|
|
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);
|
|
}
|
|
|
|
template<typename Scalar, int Mode, int Options> void transformations_no_scale()
|
|
{
|
|
/* this test covers the following files:
|
|
Cross.h Quaternion.h, Transform.h
|
|
*/
|
|
typedef Matrix<Scalar,3,1> Vector3;
|
|
typedef Matrix<Scalar,4,1> Vector4;
|
|
typedef Quaternion<Scalar> Quaternionx;
|
|
typedef AngleAxis<Scalar> AngleAxisx;
|
|
typedef Transform<Scalar,3,Mode,Options> Transform3;
|
|
typedef Translation<Scalar,3> Translation3;
|
|
typedef Matrix<Scalar,4,4> Matrix4;
|
|
|
|
Vector3 v0 = Vector3::Random(),
|
|
v1 = Vector3::Random();
|
|
|
|
Transform3 t0, t1, t2;
|
|
|
|
Scalar a = internal::random<Scalar>(-Scalar(EIGEN_PI), Scalar(EIGEN_PI));
|
|
|
|
Quaternionx q1, q2;
|
|
|
|
q1 = AngleAxisx(a, v0.normalized());
|
|
|
|
t0 = Transform3::Identity();
|
|
VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity());
|
|
|
|
t0.setIdentity();
|
|
t1.setIdentity();
|
|
v1 = Vector3::Ones();
|
|
t0.linear() = q1.toRotationMatrix();
|
|
t0.pretranslate(v0);
|
|
t1.linear() = q1.conjugate().toRotationMatrix();
|
|
t1.translate(-v0);
|
|
|
|
VERIFY((t0 * t1).matrix().isIdentity(test_precision<Scalar>()));
|
|
|
|
t1.fromPositionOrientationScale(v0, q1, v1);
|
|
VERIFY_IS_APPROX(t1.matrix(), t0.matrix());
|
|
VERIFY_IS_APPROX(t1*v1, t0*v1);
|
|
|
|
// translation * vector
|
|
t0.setIdentity();
|
|
t0.translate(v0);
|
|
VERIFY_IS_APPROX((t0 * v1).template head<3>(), Translation3(v0) * v1);
|
|
|
|
// Conversion to matrix.
|
|
Transform3 t3;
|
|
t3.linear() = q1.toRotationMatrix();
|
|
t3.translation() = v1;
|
|
Matrix4 m3 = t3.matrix();
|
|
VERIFY((m3 * m3.inverse()).isIdentity(test_precision<Scalar>()));
|
|
// Verify implicit last row is initialized.
|
|
VERIFY_IS_APPROX(Vector4(m3.row(3)), Vector4(0.0, 0.0, 0.0, 1.0));
|
|
|
|
VERIFY_IS_APPROX(t3.rotation(), t3.linear());
|
|
if(Mode==Isometry)
|
|
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)
|
|
{
|
|
for(int i = 0; i < g_repeat; i++) {
|
|
CALL_SUBTEST_1(( transformations<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(( non_projective_only<float,AffineCompact,AutoAlign>() ));
|
|
CALL_SUBTEST_2(( transform_alignment<float>() ));
|
|
|
|
CALL_SUBTEST_3(( transformations<double,Projective,AutoAlign>() ));
|
|
CALL_SUBTEST_3(( transformations<double,Projective,DontAlign>() ));
|
|
CALL_SUBTEST_3(( transform_alignment<double>() ));
|
|
|
|
CALL_SUBTEST_4(( transformations<float,Affine,RowMajor|AutoAlign>() ));
|
|
CALL_SUBTEST_4(( non_projective_only<float,Affine,RowMajor>() ));
|
|
|
|
CALL_SUBTEST_5(( transformations<double,AffineCompact,RowMajor|AutoAlign>() ));
|
|
CALL_SUBTEST_5(( non_projective_only<double,AffineCompact,RowMajor>() ));
|
|
|
|
CALL_SUBTEST_6(( transformations<double,Projective,RowMajor|AutoAlign>() ));
|
|
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>() ));
|
|
|
|
CALL_SUBTEST_8(( transform_associativity<double,2,ColMajor>(Rotation2D<double>(internal::random<double>()*double(EIGEN_PI))) ));
|
|
CALL_SUBTEST_8(( transform_associativity<double,3,ColMajor>(Quaterniond::UnitRandom()) ));
|
|
|
|
CALL_SUBTEST_9(( transformations_no_scale<double,Affine,AutoAlign>() ));
|
|
CALL_SUBTEST_9(( transformations_no_scale<double,Isometry,AutoAlign>() ));
|
|
}
|
|
}
|