Functions
geo_homogeneous.cpp File Reference
#include "main.h"
#include <Eigen/Geometry>

Functions

template<typename Scalar , int Size>
void homogeneous (void)
 
 EIGEN_DECLARE_TEST (geo_homogeneous)
 

Function Documentation

◆ EIGEN_DECLARE_TEST()

EIGEN_DECLARE_TEST ( geo_homogeneous  )
117  {
118  for (int i = 0; i < g_repeat; i++) {
119  CALL_SUBTEST_1((homogeneous<float, 1>()));
120  CALL_SUBTEST_2((homogeneous<double, 3>()));
121  CALL_SUBTEST_3((homogeneous<double, 8>()));
122  }
123 }
i
int i
Definition: BiCGSTAB_step_by_step.cpp:9
Eigen::g_repeat
static int g_repeat
Definition: main.h:191
CALL_SUBTEST_3
#define CALL_SUBTEST_3(FUNC)
Definition: split_test_helper.h:16
CALL_SUBTEST_1
#define CALL_SUBTEST_1(FUNC)
Definition: split_test_helper.h:4
CALL_SUBTEST_2
#define CALL_SUBTEST_2(FUNC)
Definition: split_test_helper.h:10

References CALL_SUBTEST_1, CALL_SUBTEST_2, CALL_SUBTEST_3, Eigen::g_repeat, and i.

◆ homogeneous()

template<typename Scalar , int Size>
void homogeneous ( void  )
14  {
15  /* this test covers the following files:
16  Homogeneous.h
17  */
18 
19  typedef Matrix<Scalar, Size, Size> MatrixType;
20  typedef Matrix<Scalar, Size, 1, ColMajor> VectorType;
21 
22  typedef Matrix<Scalar, Size + 1, Size> HMatrixType;
23  typedef Matrix<Scalar, Size + 1, 1> HVectorType;
24 
25  typedef Matrix<Scalar, Size, Size + 1> T1MatrixType;
26  typedef Matrix<Scalar, Size + 1, Size + 1> T2MatrixType;
27  typedef Matrix<Scalar, Size + 1, Size> T3MatrixType;
28 
29  VectorType v0 = VectorType::Random(), ones = VectorType::Ones();
30 
31  HVectorType hv0 = HVectorType::Random();
32 
33  MatrixType m0 = MatrixType::Random();
34 
35  HMatrixType hm0 = HMatrixType::Random();
36 
37  hv0 << v0, 1;
38  VERIFY_IS_APPROX(v0.homogeneous(), hv0);
39  VERIFY_IS_APPROX(v0, hv0.hnormalized());
40 
41  VERIFY_IS_APPROX(v0.homogeneous().sum(), hv0.sum());
42  VERIFY_IS_APPROX(v0.homogeneous().minCoeff(), hv0.minCoeff());
43  VERIFY_IS_APPROX(v0.homogeneous().maxCoeff(), hv0.maxCoeff());
44 
45  hm0 << m0, ones.transpose();
46  VERIFY_IS_APPROX(m0.colwise().homogeneous(), hm0);
47  VERIFY_IS_APPROX(m0, hm0.colwise().hnormalized());
48  hm0.row(Size - 1).setRandom();
49  for (int j = 0; j < Size; ++j) m0.col(j) = hm0.col(j).head(Size) / hm0(Size, j);
50  VERIFY_IS_APPROX(m0, hm0.colwise().hnormalized());
51 
52  T1MatrixType t1 = T1MatrixType::Random();
53  VERIFY_IS_APPROX(t1 * (v0.homogeneous().eval()), t1 * v0.homogeneous());
54  VERIFY_IS_APPROX(t1 * (m0.colwise().homogeneous().eval()), t1 * m0.colwise().homogeneous());
55 
56  T2MatrixType t2 = T2MatrixType::Random();
57  VERIFY_IS_APPROX(t2 * (v0.homogeneous().eval()), t2 * v0.homogeneous());
58  VERIFY_IS_APPROX(t2 * (m0.colwise().homogeneous().eval()), t2 * m0.colwise().homogeneous());
59  VERIFY_IS_APPROX(t2 * (v0.homogeneous().asDiagonal()), t2 * hv0.asDiagonal());
60  VERIFY_IS_APPROX((v0.homogeneous().asDiagonal()) * t2, hv0.asDiagonal() * t2);
61 
62  VERIFY_IS_APPROX((v0.transpose().rowwise().homogeneous().eval()) * t2, v0.transpose().rowwise().homogeneous() * t2);
63  VERIFY_IS_APPROX((m0.transpose().rowwise().homogeneous().eval()) * t2, m0.transpose().rowwise().homogeneous() * t2);
64 
65  T3MatrixType t3 = T3MatrixType::Random();
66  VERIFY_IS_APPROX((v0.transpose().rowwise().homogeneous().eval()) * t3, v0.transpose().rowwise().homogeneous() * t3);
67  VERIFY_IS_APPROX((m0.transpose().rowwise().homogeneous().eval()) * t3, m0.transpose().rowwise().homogeneous() * t3);
68 
69  // test product with a Transform object
70  Transform<Scalar, Size, Affine> aff;
71  Transform<Scalar, Size, AffineCompact> caff;
72  Transform<Scalar, Size, Projective> proj;
73  Matrix<Scalar, Size, Dynamic> pts;
74  Matrix<Scalar, Size + 1, Dynamic> pts1, pts2;
75 
76  aff.affine().setRandom();
77  proj = caff = aff;
78  pts.setRandom(Size, internal::random<int>(1, 20));
79 
80  pts1 = pts.colwise().homogeneous();
81  VERIFY_IS_APPROX(aff * pts.colwise().homogeneous(), (aff * pts1).colwise().hnormalized());
82  VERIFY_IS_APPROX(caff * pts.colwise().homogeneous(), (caff * pts1).colwise().hnormalized());
83  VERIFY_IS_APPROX(proj * pts.colwise().homogeneous(), (proj * pts1));
84 
85  VERIFY_IS_APPROX((aff * pts1).colwise().hnormalized(), aff * pts);
86  VERIFY_IS_APPROX((caff * pts1).colwise().hnormalized(), caff * pts);
87 
88  pts2 = pts1;
89  pts2.row(Size).setRandom();
90  VERIFY_IS_APPROX((aff * pts2).colwise().hnormalized(), aff * pts2.colwise().hnormalized());
91  VERIFY_IS_APPROX((caff * pts2).colwise().hnormalized(), caff * pts2.colwise().hnormalized());
92  VERIFY_IS_APPROX((proj * pts2).colwise().hnormalized(),
93  (proj * pts2.colwise().hnormalized().colwise().homogeneous()).colwise().hnormalized());
94 
95  // Test combination of homogeneous
96 
97  VERIFY_IS_APPROX((t2 * v0.homogeneous()).hnormalized(),
98  (t2.template topLeftCorner<Size, Size>() * v0 + t2.template topRightCorner<Size, 1>()) /
99  ((t2.template bottomLeftCorner<1, Size>() * v0).value() + t2(Size, Size)));
100 
101  VERIFY_IS_APPROX((t2 * pts.colwise().homogeneous()).colwise().hnormalized(),
102  (Matrix<Scalar, Size + 1, Dynamic>(t2 * pts1).colwise().hnormalized()));
103 
104  VERIFY_IS_APPROX((t2.lazyProduct(v0.homogeneous())).hnormalized(), (t2 * v0.homogeneous()).hnormalized());
105  VERIFY_IS_APPROX((t2.lazyProduct(pts.colwise().homogeneous())).colwise().hnormalized(),
106  (t2 * pts1).colwise().hnormalized());
107 
108  VERIFY_IS_APPROX((v0.transpose().homogeneous().lazyProduct(t2)).hnormalized(),
109  (v0.transpose().homogeneous() * t2).hnormalized());
110  VERIFY_IS_APPROX((pts.transpose().rowwise().homogeneous().lazyProduct(t2)).rowwise().hnormalized(),
111  (pts1.transpose() * t2).rowwise().hnormalized());
112 
113  VERIFY_IS_APPROX((t2.template triangularView<Lower>() * v0.homogeneous()).eval(),
114  (t2.template triangularView<Lower>() * hv0));
115 }
ones
MatrixXcf ones
Definition: ComplexEigenSolver_eigenvalues.cpp:1
MatrixType
MatrixXf MatrixType
Definition: benchmark-blocking-sizes.cpp:52
Eigen::Matrix
The matrix class, also used for vectors and row-vectors.
Definition: Eigen/Eigen/src/Core/Matrix.h:186
Eigen::PlainObjectBase::setRandom
Derived & setRandom(Index size)
Definition: Random.h:147
Eigen::Transform
Represents an homogeneous transformation in a N dimensional space.
Definition: Transform.h:192
Eigen::Transform::affine
EIGEN_DEVICE_FUNC ConstAffinePart affine() const
Definition: Transform.h:379
VERIFY_IS_APPROX
#define VERIFY_IS_APPROX(a, b)
Definition: integer_types.cpp:13
VectorType
Definition: fft_test_shared.h:66
j
std::ptrdiff_t j
Definition: tut_arithmetic_redux_minmax.cpp:2

References Eigen::Transform< Scalar_, Dim_, Mode_, Options_ >::affine(), j, ones, Eigen::PlainObjectBase< Derived >::setRandom(), and VERIFY_IS_APPROX.

Referenced by transform_associativity2().