1// This file is part of Eigen, a lightweight C++ template library
2// for linear algebra.
3//
4// Copyright (C) 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
13template<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(),
30             ones = VectorType::Ones();
31
32  HVectorType hv0 = HVectorType::Random();
33
34  MatrixType m0 = MatrixType::Random();
35
36  HMatrixType hm0 = HMatrixType::Random();
37
38  hv0 << v0, 1;
39  VERIFY_IS_APPROX(v0.homogeneous(), hv0);
40  VERIFY_IS_APPROX(v0, hv0.hnormalized());
41
42  hm0 << m0, ones.transpose();
43  VERIFY_IS_APPROX(m0.colwise().homogeneous(), hm0);
44  VERIFY_IS_APPROX(m0, hm0.colwise().hnormalized());
45  hm0.row(Size-1).setRandom();
46  for(int j=0; j<Size; ++j)
47    m0.col(j) = hm0.col(j).head(Size) / hm0(Size,j);
48  VERIFY_IS_APPROX(m0, hm0.colwise().hnormalized());
49
50  T1MatrixType t1 = T1MatrixType::Random();
51  VERIFY_IS_APPROX(t1 * (v0.homogeneous().eval()), t1 * v0.homogeneous());
52  VERIFY_IS_APPROX(t1 * (m0.colwise().homogeneous().eval()), t1 * m0.colwise().homogeneous());
53
54  T2MatrixType t2 = T2MatrixType::Random();
55  VERIFY_IS_APPROX(t2 * (v0.homogeneous().eval()), t2 * v0.homogeneous());
56  VERIFY_IS_APPROX(t2 * (m0.colwise().homogeneous().eval()), t2 * m0.colwise().homogeneous());
57
58  VERIFY_IS_APPROX((v0.transpose().rowwise().homogeneous().eval()) * t2,
59                    v0.transpose().rowwise().homogeneous() * t2);
60                    m0.transpose().rowwise().homogeneous().eval();
61  VERIFY_IS_APPROX((m0.transpose().rowwise().homogeneous().eval()) * t2,
62                    m0.transpose().rowwise().homogeneous() * t2);
63
64  T3MatrixType t3 = T3MatrixType::Random();
65  VERIFY_IS_APPROX((v0.transpose().rowwise().homogeneous().eval()) * t3,
66                    v0.transpose().rowwise().homogeneous() * t3);
67  VERIFY_IS_APPROX((m0.transpose().rowwise().homogeneous().eval()) * t3,
68                    m0.transpose().rowwise().homogeneous() * t3);
69
70  // test product with a Transform object
71  Transform<Scalar, Size, Affine> aff;
72  Transform<Scalar, Size, AffineCompact> caff;
73  Transform<Scalar, Size, Projective> proj;
74  Matrix<Scalar, Size, Dynamic>   pts;
75  Matrix<Scalar, Size+1, Dynamic> pts1, pts2;
76
77  aff.affine().setRandom();
78  proj = caff = aff;
79  pts.setRandom(Size,internal::random<int>(1,20));
80
81  pts1 = pts.colwise().homogeneous();
82  VERIFY_IS_APPROX(aff  * pts.colwise().homogeneous(), (aff  * pts1).colwise().hnormalized());
83  VERIFY_IS_APPROX(caff * pts.colwise().homogeneous(), (caff * pts1).colwise().hnormalized());
84  VERIFY_IS_APPROX(proj * pts.colwise().homogeneous(), (proj * pts1));
85
86  VERIFY_IS_APPROX((aff  * pts1).colwise().hnormalized(),  aff  * pts);
87  VERIFY_IS_APPROX((caff * pts1).colwise().hnormalized(), caff * pts);
88
89  pts2 = pts1;
90  pts2.row(Size).setRandom();
91  VERIFY_IS_APPROX((aff  * pts2).colwise().hnormalized(), aff  * pts2.colwise().hnormalized());
92  VERIFY_IS_APPROX((caff * pts2).colwise().hnormalized(), caff * pts2.colwise().hnormalized());
93  VERIFY_IS_APPROX((proj * pts2).colwise().hnormalized(), (proj * pts2.colwise().hnormalized().colwise().homogeneous()).colwise().hnormalized());
94}
95
96void test_geo_homogeneous()
97{
98  for(int i = 0; i < g_repeat; i++) {
99    CALL_SUBTEST_1(( homogeneous<float,1>() ));
100    CALL_SUBTEST_2(( homogeneous<double,3>() ));
101    CALL_SUBTEST_3(( homogeneous<double,8>() ));
102  }
103}
104