1// This file is part of Eigen, a lightweight C++ template library 2// for linear algebra. 3// 4// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr> 5// 6// This Source Code Form is subject to the terms of the Mozilla 7// Public License v. 2.0. If a copy of the MPL was not distributed 8// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 9 10#include "main.h" 11#include <Eigen/Geometry> 12#include <Eigen/LU> 13#include <Eigen/SVD> 14 15template<typename Scalar, int Mode, int Options> void non_projective_only() 16{ 17 /* this test covers the following files: 18 Cross.h Quaternion.h, Transform.cpp 19 */ 20 typedef Matrix<Scalar,3,1> Vector3; 21 typedef Quaternion<Scalar> Quaternionx; 22 typedef AngleAxis<Scalar> AngleAxisx; 23 typedef Transform<Scalar,3,Mode,Options> Transform3; 24 typedef DiagonalMatrix<Scalar,3> AlignedScaling3; 25 typedef Translation<Scalar,3> Translation3; 26 27 Vector3 v0 = Vector3::Random(), 28 v1 = Vector3::Random(); 29 30 Transform3 t0, t1, t2; 31 32 Scalar a = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI)); 33 34 Quaternionx q1, q2; 35 36 q1 = AngleAxisx(a, v0.normalized()); 37 38 t0 = Transform3::Identity(); 39 VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity()); 40 41 t0.linear() = q1.toRotationMatrix(); 42 43 v0 << 50, 2, 1; 44 t0.scale(v0); 45 46 VERIFY_IS_APPROX( (t0 * Vector3(1,0,0)).template head<3>().norm(), v0.x()); 47 48 t0.setIdentity(); 49 t1.setIdentity(); 50 v1 << 1, 2, 3; 51 t0.linear() = q1.toRotationMatrix(); 52 t0.pretranslate(v0); 53 t0.scale(v1); 54 t1.linear() = q1.conjugate().toRotationMatrix(); 55 t1.prescale(v1.cwiseInverse()); 56 t1.translate(-v0); 57 58 VERIFY((t0 * t1).matrix().isIdentity(test_precision<Scalar>())); 59 60 t1.fromPositionOrientationScale(v0, q1, v1); 61 VERIFY_IS_APPROX(t1.matrix(), t0.matrix()); 62 VERIFY_IS_APPROX(t1*v1, t0*v1); 63 64 // translation * vector 65 t0.setIdentity(); 66 t0.translate(v0); 67 VERIFY_IS_APPROX((t0 * v1).template head<3>(), Translation3(v0) * v1); 68 69 // AlignedScaling * vector 70 t0.setIdentity(); 71 t0.scale(v0); 72 VERIFY_IS_APPROX((t0 * v1).template head<3>(), AlignedScaling3(v0) * v1); 73} 74 75template<typename Scalar, int Mode, int Options> void transformations() 76{ 77 /* this test covers the following files: 78 Cross.h Quaternion.h, Transform.cpp 79 */ 80 using std::cos; 81 using std::abs; 82 typedef Matrix<Scalar,3,3> Matrix3; 83 typedef Matrix<Scalar,4,4> Matrix4; 84 typedef Matrix<Scalar,2,1> Vector2; 85 typedef Matrix<Scalar,3,1> Vector3; 86 typedef Matrix<Scalar,4,1> Vector4; 87 typedef Quaternion<Scalar> Quaternionx; 88 typedef AngleAxis<Scalar> AngleAxisx; 89 typedef Transform<Scalar,2,Mode,Options> Transform2; 90 typedef Transform<Scalar,3,Mode,Options> Transform3; 91 typedef typename Transform3::MatrixType MatrixType; 92 typedef DiagonalMatrix<Scalar,3> AlignedScaling3; 93 typedef Translation<Scalar,2> Translation2; 94 typedef Translation<Scalar,3> Translation3; 95 96 Vector3 v0 = Vector3::Random(), 97 v1 = Vector3::Random(); 98 Matrix3 matrot1, m; 99 100 Scalar a = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI)); 101 Scalar s0 = internal::random<Scalar>(); 102 103 VERIFY_IS_APPROX(v0, AngleAxisx(a, v0.normalized()) * v0); 104 VERIFY_IS_APPROX(-v0, AngleAxisx(Scalar(M_PI), v0.unitOrthogonal()) * v0); 105 VERIFY_IS_APPROX(cos(a)*v0.squaredNorm(), v0.dot(AngleAxisx(a, v0.unitOrthogonal()) * v0)); 106 m = AngleAxisx(a, v0.normalized()).toRotationMatrix().adjoint(); 107 VERIFY_IS_APPROX(Matrix3::Identity(), m * AngleAxisx(a, v0.normalized())); 108 VERIFY_IS_APPROX(Matrix3::Identity(), AngleAxisx(a, v0.normalized()) * m); 109 110 Quaternionx q1, q2; 111 q1 = AngleAxisx(a, v0.normalized()); 112 q2 = AngleAxisx(a, v1.normalized()); 113 114 // rotation matrix conversion 115 matrot1 = AngleAxisx(Scalar(0.1), Vector3::UnitX()) 116 * AngleAxisx(Scalar(0.2), Vector3::UnitY()) 117 * AngleAxisx(Scalar(0.3), Vector3::UnitZ()); 118 VERIFY_IS_APPROX(matrot1 * v1, 119 AngleAxisx(Scalar(0.1), Vector3(1,0,0)).toRotationMatrix() 120 * (AngleAxisx(Scalar(0.2), Vector3(0,1,0)).toRotationMatrix() 121 * (AngleAxisx(Scalar(0.3), Vector3(0,0,1)).toRotationMatrix() * v1))); 122 123 // angle-axis conversion 124 AngleAxisx aa = AngleAxisx(q1); 125 VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1); 126 VERIFY_IS_NOT_APPROX(q1 * v1, Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1); 127 128 aa.fromRotationMatrix(aa.toRotationMatrix()); 129 VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1); 130 VERIFY_IS_NOT_APPROX(q1 * v1, Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1); 131 132 // AngleAxis 133 VERIFY_IS_APPROX(AngleAxisx(a,v1.normalized()).toRotationMatrix(), 134 Quaternionx(AngleAxisx(a,v1.normalized())).toRotationMatrix()); 135 136 AngleAxisx aa1; 137 m = q1.toRotationMatrix(); 138 aa1 = m; 139 VERIFY_IS_APPROX(AngleAxisx(m).toRotationMatrix(), 140 Quaternionx(m).toRotationMatrix()); 141 142 // Transform 143 // TODO complete the tests ! 144 a = 0; 145 while (abs(a)<Scalar(0.1)) 146 a = internal::random<Scalar>(-Scalar(0.4)*Scalar(M_PI), Scalar(0.4)*Scalar(M_PI)); 147 q1 = AngleAxisx(a, v0.normalized()); 148 Transform3 t0, t1, t2; 149 150 // first test setIdentity() and Identity() 151 t0.setIdentity(); 152 VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity()); 153 t0.matrix().setZero(); 154 t0 = Transform3::Identity(); 155 VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity()); 156 157 t0.setIdentity(); 158 t1.setIdentity(); 159 v1 << 1, 2, 3; 160 t0.linear() = q1.toRotationMatrix(); 161 t0.pretranslate(v0); 162 t0.scale(v1); 163 t1.linear() = q1.conjugate().toRotationMatrix(); 164 t1.prescale(v1.cwiseInverse()); 165 t1.translate(-v0); 166 167 VERIFY((t0 * t1).matrix().isIdentity(test_precision<Scalar>())); 168 169 t1.fromPositionOrientationScale(v0, q1, v1); 170 VERIFY_IS_APPROX(t1.matrix(), t0.matrix()); 171 172 t0.setIdentity(); t0.scale(v0).rotate(q1.toRotationMatrix()); 173 t1.setIdentity(); t1.scale(v0).rotate(q1); 174 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 175 176 t0.setIdentity(); t0.scale(v0).rotate(AngleAxisx(q1)); 177 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 178 179 VERIFY_IS_APPROX(t0.scale(a).matrix(), t1.scale(Vector3::Constant(a)).matrix()); 180 VERIFY_IS_APPROX(t0.prescale(a).matrix(), t1.prescale(Vector3::Constant(a)).matrix()); 181 182 // More transform constructors, operator=, operator*= 183 184 Matrix3 mat3 = Matrix3::Random(); 185 Matrix4 mat4; 186 mat4 << mat3 , Vector3::Zero() , Vector4::Zero().transpose(); 187 Transform3 tmat3(mat3), tmat4(mat4); 188 if(Mode!=int(AffineCompact)) 189 tmat4.matrix()(3,3) = Scalar(1); 190 VERIFY_IS_APPROX(tmat3.matrix(), tmat4.matrix()); 191 192 Scalar a3 = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI)); 193 Vector3 v3 = Vector3::Random().normalized(); 194 AngleAxisx aa3(a3, v3); 195 Transform3 t3(aa3); 196 Transform3 t4; 197 t4 = aa3; 198 VERIFY_IS_APPROX(t3.matrix(), t4.matrix()); 199 t4.rotate(AngleAxisx(-a3,v3)); 200 VERIFY_IS_APPROX(t4.matrix(), MatrixType::Identity()); 201 t4 *= aa3; 202 VERIFY_IS_APPROX(t3.matrix(), t4.matrix()); 203 204 v3 = Vector3::Random(); 205 Translation3 tv3(v3); 206 Transform3 t5(tv3); 207 t4 = tv3; 208 VERIFY_IS_APPROX(t5.matrix(), t4.matrix()); 209 t4.translate(-v3); 210 VERIFY_IS_APPROX(t4.matrix(), MatrixType::Identity()); 211 t4 *= tv3; 212 VERIFY_IS_APPROX(t5.matrix(), t4.matrix()); 213 214 AlignedScaling3 sv3(v3); 215 Transform3 t6(sv3); 216 t4 = sv3; 217 VERIFY_IS_APPROX(t6.matrix(), t4.matrix()); 218 t4.scale(v3.cwiseInverse()); 219 VERIFY_IS_APPROX(t4.matrix(), MatrixType::Identity()); 220 t4 *= sv3; 221 VERIFY_IS_APPROX(t6.matrix(), t4.matrix()); 222 223 // matrix * transform 224 VERIFY_IS_APPROX((t3.matrix()*t4).matrix(), (t3*t4).matrix()); 225 226 // chained Transform product 227 VERIFY_IS_APPROX(((t3*t4)*t5).matrix(), (t3*(t4*t5)).matrix()); 228 229 // check that Transform product doesn't have aliasing problems 230 t5 = t4; 231 t5 = t5*t5; 232 VERIFY_IS_APPROX(t5, t4*t4); 233 234 // 2D transformation 235 Transform2 t20, t21; 236 Vector2 v20 = Vector2::Random(); 237 Vector2 v21 = Vector2::Random(); 238 for (int k=0; k<2; ++k) 239 if (abs(v21[k])<Scalar(1e-3)) v21[k] = Scalar(1e-3); 240 t21.setIdentity(); 241 t21.linear() = Rotation2D<Scalar>(a).toRotationMatrix(); 242 VERIFY_IS_APPROX(t20.fromPositionOrientationScale(v20,a,v21).matrix(), 243 t21.pretranslate(v20).scale(v21).matrix()); 244 245 t21.setIdentity(); 246 t21.linear() = Rotation2D<Scalar>(-a).toRotationMatrix(); 247 VERIFY( (t20.fromPositionOrientationScale(v20,a,v21) 248 * (t21.prescale(v21.cwiseInverse()).translate(-v20))).matrix().isIdentity(test_precision<Scalar>()) ); 249 250 // Transform - new API 251 // 3D 252 t0.setIdentity(); 253 t0.rotate(q1).scale(v0).translate(v0); 254 // mat * aligned scaling and mat * translation 255 t1 = (Matrix3(q1) * AlignedScaling3(v0)) * Translation3(v0); 256 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 257 t1 = (Matrix3(q1) * Eigen::Scaling(v0)) * Translation3(v0); 258 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 259 t1 = (q1 * Eigen::Scaling(v0)) * Translation3(v0); 260 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 261 // mat * transformation and aligned scaling * translation 262 t1 = Matrix3(q1) * (AlignedScaling3(v0) * Translation3(v0)); 263 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 264 265 266 t0.setIdentity(); 267 t0.scale(s0).translate(v0); 268 t1 = Eigen::Scaling(s0) * Translation3(v0); 269 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 270 t0.prescale(s0); 271 t1 = Eigen::Scaling(s0) * t1; 272 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 273 274 t0 = t3; 275 t0.scale(s0); 276 t1 = t3 * Eigen::Scaling(s0,s0,s0); 277 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 278 t0.prescale(s0); 279 t1 = Eigen::Scaling(s0,s0,s0) * t1; 280 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 281 282 t0 = t3; 283 t0.scale(s0); 284 t1 = t3 * Eigen::Scaling(s0); 285 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 286 t0.prescale(s0); 287 t1 = Eigen::Scaling(s0) * t1; 288 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 289 290 t0.setIdentity(); 291 t0.prerotate(q1).prescale(v0).pretranslate(v0); 292 // translation * aligned scaling and transformation * mat 293 t1 = (Translation3(v0) * AlignedScaling3(v0)) * Transform3(q1); 294 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 295 // scaling * mat and translation * mat 296 t1 = Translation3(v0) * (AlignedScaling3(v0) * Transform3(q1)); 297 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 298 299 t0.setIdentity(); 300 t0.scale(v0).translate(v0).rotate(q1); 301 // translation * mat and aligned scaling * transformation 302 t1 = AlignedScaling3(v0) * (Translation3(v0) * Transform3(q1)); 303 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 304 // transformation * aligned scaling 305 t0.scale(v0); 306 t1 *= AlignedScaling3(v0); 307 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 308 // transformation * translation 309 t0.translate(v0); 310 t1 = t1 * Translation3(v0); 311 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 312 // translation * transformation 313 t0.pretranslate(v0); 314 t1 = Translation3(v0) * t1; 315 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 316 317 // transform * quaternion 318 t0.rotate(q1); 319 t1 = t1 * q1; 320 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 321 322 // translation * quaternion 323 t0.translate(v1).rotate(q1); 324 t1 = t1 * (Translation3(v1) * q1); 325 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 326 327 // aligned scaling * quaternion 328 t0.scale(v1).rotate(q1); 329 t1 = t1 * (AlignedScaling3(v1) * q1); 330 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 331 332 // quaternion * transform 333 t0.prerotate(q1); 334 t1 = q1 * t1; 335 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 336 337 // quaternion * translation 338 t0.rotate(q1).translate(v1); 339 t1 = t1 * (q1 * Translation3(v1)); 340 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 341 342 // quaternion * aligned scaling 343 t0.rotate(q1).scale(v1); 344 t1 = t1 * (q1 * AlignedScaling3(v1)); 345 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 346 347 // test transform inversion 348 t0.setIdentity(); 349 t0.translate(v0); 350 t0.linear().setRandom(); 351 Matrix4 t044 = Matrix4::Zero(); 352 t044(3,3) = 1; 353 t044.block(0,0,t0.matrix().rows(),4) = t0.matrix(); 354 VERIFY_IS_APPROX(t0.inverse(Affine).matrix(), t044.inverse().block(0,0,t0.matrix().rows(),4)); 355 t0.setIdentity(); 356 t0.translate(v0).rotate(q1); 357 t044 = Matrix4::Zero(); 358 t044(3,3) = 1; 359 t044.block(0,0,t0.matrix().rows(),4) = t0.matrix(); 360 VERIFY_IS_APPROX(t0.inverse(Isometry).matrix(), t044.inverse().block(0,0,t0.matrix().rows(),4)); 361 362 Matrix3 mat_rotation, mat_scaling; 363 t0.setIdentity(); 364 t0.translate(v0).rotate(q1).scale(v1); 365 t0.computeRotationScaling(&mat_rotation, &mat_scaling); 366 VERIFY_IS_APPROX(t0.linear(), mat_rotation * mat_scaling); 367 VERIFY_IS_APPROX(mat_rotation*mat_rotation.adjoint(), Matrix3::Identity()); 368 VERIFY_IS_APPROX(mat_rotation.determinant(), Scalar(1)); 369 t0.computeScalingRotation(&mat_scaling, &mat_rotation); 370 VERIFY_IS_APPROX(t0.linear(), mat_scaling * mat_rotation); 371 VERIFY_IS_APPROX(mat_rotation*mat_rotation.adjoint(), Matrix3::Identity()); 372 VERIFY_IS_APPROX(mat_rotation.determinant(), Scalar(1)); 373 374 // test casting 375 Transform<float,3,Mode> t1f = t1.template cast<float>(); 376 VERIFY_IS_APPROX(t1f.template cast<Scalar>(),t1); 377 Transform<double,3,Mode> t1d = t1.template cast<double>(); 378 VERIFY_IS_APPROX(t1d.template cast<Scalar>(),t1); 379 380 Translation3 tr1(v0); 381 Translation<float,3> tr1f = tr1.template cast<float>(); 382 VERIFY_IS_APPROX(tr1f.template cast<Scalar>(),tr1); 383 Translation<double,3> tr1d = tr1.template cast<double>(); 384 VERIFY_IS_APPROX(tr1d.template cast<Scalar>(),tr1); 385 386 AngleAxis<float> aa1f = aa1.template cast<float>(); 387 VERIFY_IS_APPROX(aa1f.template cast<Scalar>(),aa1); 388 AngleAxis<double> aa1d = aa1.template cast<double>(); 389 VERIFY_IS_APPROX(aa1d.template cast<Scalar>(),aa1); 390 391 Rotation2D<Scalar> r2d1(internal::random<Scalar>()); 392 Rotation2D<float> r2d1f = r2d1.template cast<float>(); 393 VERIFY_IS_APPROX(r2d1f.template cast<Scalar>(),r2d1); 394 Rotation2D<double> r2d1d = r2d1.template cast<double>(); 395 VERIFY_IS_APPROX(r2d1d.template cast<Scalar>(),r2d1); 396 397 t20 = Translation2(v20) * (Rotation2D<Scalar>(s0) * Eigen::Scaling(s0)); 398 t21 = Translation2(v20) * Rotation2D<Scalar>(s0) * Eigen::Scaling(s0); 399 VERIFY_IS_APPROX(t20,t21); 400} 401 402template<typename Scalar> void transform_alignment() 403{ 404 typedef Transform<Scalar,3,Projective,AutoAlign> Projective3a; 405 typedef Transform<Scalar,3,Projective,DontAlign> Projective3u; 406 407 EIGEN_ALIGN16 Scalar array1[16]; 408 EIGEN_ALIGN16 Scalar array2[16]; 409 EIGEN_ALIGN16 Scalar array3[16+1]; 410 Scalar* array3u = array3+1; 411 412 Projective3a *p1 = ::new(reinterpret_cast<void*>(array1)) Projective3a; 413 Projective3u *p2 = ::new(reinterpret_cast<void*>(array2)) Projective3u; 414 Projective3u *p3 = ::new(reinterpret_cast<void*>(array3u)) Projective3u; 415 416 p1->matrix().setRandom(); 417 *p2 = *p1; 418 *p3 = *p1; 419 420 VERIFY_IS_APPROX(p1->matrix(), p2->matrix()); 421 VERIFY_IS_APPROX(p1->matrix(), p3->matrix()); 422 423 VERIFY_IS_APPROX( (*p1) * (*p1), (*p2)*(*p3)); 424 425 #if defined(EIGEN_VECTORIZE) && EIGEN_ALIGN_STATICALLY 426 if(internal::packet_traits<Scalar>::Vectorizable) 427 VERIFY_RAISES_ASSERT((::new(reinterpret_cast<void*>(array3u)) Projective3a)); 428 #endif 429} 430 431template<typename Scalar, int Dim, int Options> void transform_products() 432{ 433 typedef Matrix<Scalar,Dim+1,Dim+1> Mat; 434 typedef Transform<Scalar,Dim,Projective,Options> Proj; 435 typedef Transform<Scalar,Dim,Affine,Options> Aff; 436 typedef Transform<Scalar,Dim,AffineCompact,Options> AffC; 437 438 Proj p; p.matrix().setRandom(); 439 Aff a; a.linear().setRandom(); a.translation().setRandom(); 440 AffC ac = a; 441 442 Mat p_m(p.matrix()), a_m(a.matrix()); 443 444 VERIFY_IS_APPROX((p*p).matrix(), p_m*p_m); 445 VERIFY_IS_APPROX((a*a).matrix(), a_m*a_m); 446 VERIFY_IS_APPROX((p*a).matrix(), p_m*a_m); 447 VERIFY_IS_APPROX((a*p).matrix(), a_m*p_m); 448 VERIFY_IS_APPROX((ac*a).matrix(), a_m*a_m); 449 VERIFY_IS_APPROX((a*ac).matrix(), a_m*a_m); 450 VERIFY_IS_APPROX((p*ac).matrix(), p_m*a_m); 451 VERIFY_IS_APPROX((ac*p).matrix(), a_m*p_m); 452} 453 454void test_geo_transformations() 455{ 456 for(int i = 0; i < g_repeat; i++) { 457 CALL_SUBTEST_1(( transformations<double,Affine,AutoAlign>() )); 458 CALL_SUBTEST_1(( non_projective_only<double,Affine,AutoAlign>() )); 459 460 CALL_SUBTEST_2(( transformations<float,AffineCompact,AutoAlign>() )); 461 CALL_SUBTEST_2(( non_projective_only<float,AffineCompact,AutoAlign>() )); 462 CALL_SUBTEST_2(( transform_alignment<float>() )); 463 464 CALL_SUBTEST_3(( transformations<double,Projective,AutoAlign>() )); 465 CALL_SUBTEST_3(( transformations<double,Projective,DontAlign>() )); 466 CALL_SUBTEST_3(( transform_alignment<double>() )); 467 468 CALL_SUBTEST_4(( transformations<float,Affine,RowMajor|AutoAlign>() )); 469 CALL_SUBTEST_4(( non_projective_only<float,Affine,RowMajor>() )); 470 471 CALL_SUBTEST_5(( transformations<double,AffineCompact,RowMajor|AutoAlign>() )); 472 CALL_SUBTEST_5(( non_projective_only<double,AffineCompact,RowMajor>() )); 473 474 CALL_SUBTEST_6(( transformations<double,Projective,RowMajor|AutoAlign>() )); 475 CALL_SUBTEST_6(( transformations<double,Projective,RowMajor|DontAlign>() )); 476 477 478 CALL_SUBTEST_7(( transform_products<double,3,RowMajor|AutoAlign>() )); 479 CALL_SUBTEST_7(( transform_products<float,2,AutoAlign>() )); 480 } 481} 482