diff options
author | Martin Pecka <peci1@seznam.cz> | 2020-09-28 18:06:23 +0000 |
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committer | Rasmus Munk Larsen <rmlarsen@google.com> | 2020-09-28 18:06:23 +0000 |
commit | 6425e875a1158e1e2a0afcf703105e8ddbfee7bd (patch) | |
tree | 941357ce78437db2c19d239dd157fafd3de41ccd /test/geo_alignedbox.cpp | |
parent | a967fadb21c17622c6cdec13ad9c827054624eb4 (diff) |
Added AlignedBox::transform(AffineTransform).
Diffstat (limited to 'test/geo_alignedbox.cpp')
-rw-r--r-- | test/geo_alignedbox.cpp | 400 |
1 files changed, 389 insertions, 11 deletions
diff --git a/test/geo_alignedbox.cpp b/test/geo_alignedbox.cpp index c6c051ce4..0a866a961 100644 --- a/test/geo_alignedbox.cpp +++ b/test/geo_alignedbox.cpp @@ -9,14 +9,12 @@ #include "main.h" #include <Eigen/Geometry> -#include <Eigen/LU> -#include <Eigen/QR> #include<iostream> using namespace std; // NOTE the following workaround was needed on some 32 bits builds to kill extra precision of x87 registers. -// It seems that it os not needed anymore, but let's keep it here, just in case... +// It seems that it is not needed anymore, but let's keep it here, just in case... template<typename T> EIGEN_DONT_INLINE void kill_extra_precision(T& /* x */) { @@ -34,7 +32,8 @@ template<typename BoxType> void alignedbox(const BoxType& _box) AlignedBox.h */ typedef typename BoxType::Scalar Scalar; - typedef typename NumTraits<Scalar>::Real RealScalar; + typedef NumTraits<Scalar> ScalarTraits; + typedef typename ScalarTraits::Real RealScalar; typedef Matrix<Scalar, BoxType::AmbientDimAtCompileTime, 1> VectorType; const Index dim = _box.dim(); @@ -88,7 +87,386 @@ template<typename BoxType> void alignedbox(const BoxType& _box) } +template<typename BoxType> void alignedboxTranslatable(const BoxType& _box) +{ + typedef typename BoxType::Scalar Scalar; + typedef Matrix<Scalar, BoxType::AmbientDimAtCompileTime, 1> VectorType; + typedef Transform<Scalar, BoxType::AmbientDimAtCompileTime, Isometry> IsometryTransform; + typedef Transform<Scalar, BoxType::AmbientDimAtCompileTime, Affine> AffineTransform; + + alignedbox(_box); + + const VectorType Ones = VectorType::Ones(); + const VectorType UnitX = VectorType::UnitX(); + const Index dim = _box.dim(); + + // box((-1, -1, -1), (1, 1, 1)) + BoxType a(-Ones, Ones); + + VERIFY_IS_APPROX(a.sizes(), Ones * Scalar(2)); + + BoxType b = a; + VectorType translate = Ones; + translate[0] = Scalar(2); + b.translate(translate); + // translate by (2, 1, 1) -> box((1, 0, 0), (3, 2, 2)) + + VERIFY_IS_APPROX(b.sizes(), Ones * Scalar(2)); + VERIFY_IS_APPROX((b.min)(), UnitX); + VERIFY_IS_APPROX((b.max)(), Ones * Scalar(2) + UnitX); + + // Test transform + + IsometryTransform tf = IsometryTransform::Identity(); + tf.translation() = -translate; + + BoxType c = b.transformed(tf); + // translate by (-2, -1, -1) -> box((-1, -1, -1), (1, 1, 1)) + VERIFY_IS_APPROX(c.sizes(), a.sizes()); + VERIFY_IS_APPROX((c.min)(), (a.min)()); + VERIFY_IS_APPROX((c.max)(), (a.max)()); + + c.transform(tf); + // translate by (-2, -1, -1) -> box((-3, -2, -2), (-1, 0, 0)) + VERIFY_IS_APPROX(c.sizes(), a.sizes()); + VERIFY_IS_APPROX((c.min)(), Ones * Scalar(-2) - UnitX); + VERIFY_IS_APPROX((c.max)(), -UnitX); + + // Scaling + + AffineTransform atf = AffineTransform::Identity(); + atf.scale(Scalar(3)); + c.transform(atf); + // scale by 3 -> box((-9, -6, -6), (-3, 0, 0)) + VERIFY_IS_APPROX(c.sizes(), Scalar(3) * a.sizes()); + VERIFY_IS_APPROX((c.min)(), Ones * Scalar(-6) - UnitX * Scalar(3)); + VERIFY_IS_APPROX((c.max)(), UnitX * Scalar(-3)); + + atf = AffineTransform::Identity(); + atf.scale(Scalar(-3)); + c.transform(atf); + // scale by -3 -> box((27, 18, 18), (9, 0, 0)) + VERIFY_IS_APPROX(c.sizes(), Scalar(9) * a.sizes()); + VERIFY_IS_APPROX((c.min)(), UnitX * Scalar(9)); + VERIFY_IS_APPROX((c.max)(), Ones * Scalar(18) + UnitX * Scalar(9)); + + // test for roundoff errors + IsometryTransform identity = IsometryTransform::Identity(); + BoxType transformedC; + transformedC.extend(c.transformed(identity)); + VERIFY(transformedC.contains(c)); + + for (size_t i = 0; i < 10; ++i) + { + VectorType minCorner; + VectorType maxCorner; + for (Index d = 0; d < dim; ++d) + { + minCorner[d] = internal::random<Scalar>(-10,10); + maxCorner[d] = minCorner[d] + internal::random<Scalar>(0, 10); + } + + c = BoxType(minCorner, maxCorner); + + translate = VectorType::Random(); + c.translate(translate); + + VERIFY_IS_APPROX((c.min)(), minCorner + translate); + VERIFY_IS_APPROX((c.max)(), maxCorner + translate); + } +} + +template<typename Scalar, typename Rotation> +Rotation rotate2D(Scalar _angle) { + return Rotation2D<Scalar>(_angle); +} + +template<typename Scalar, typename Rotation> +Rotation rotate2DIntegral(typename NumTraits<Scalar>::NonInteger _angle) { + typedef typename NumTraits<Scalar>::NonInteger NonInteger; + return Rotation2D<NonInteger>(_angle).toRotationMatrix(). + template cast<Scalar>(); +} + +template<typename Scalar, typename Rotation> +Rotation rotate3DZAxis(Scalar _angle) { + return AngleAxis<Scalar>(_angle, Matrix<Scalar, 3, 1>(0, 0, 1)); +} + +template<typename Scalar, typename Rotation> +Rotation rotate3DZAxisIntegral(typename NumTraits<Scalar>::NonInteger _angle) { + typedef typename NumTraits<Scalar>::NonInteger NonInteger; + return AngleAxis<NonInteger>(_angle, Matrix<NonInteger, 3, 1>(0, 0, 1)). + toRotationMatrix().template cast<Scalar>(); +} + +template<typename Scalar, typename Rotation> +Rotation rotate4DZWAxis(Scalar _angle) { + Rotation result = Matrix<Scalar, 4, 4>::Identity(); + result.block(0, 0, 3, 3) = rotate3DZAxis<Scalar, AngleAxisd>(_angle).toRotationMatrix(); + return result; +} + +template <typename MatrixType> +MatrixType randomRotationMatrix() +{ + // algorithm from + // https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/III-7/103/2016/isprs-annals-III-7-103-2016.pdf + const MatrixType rand = MatrixType::Random(); + const MatrixType q = rand.householderQr().householderQ(); + const JacobiSVD<MatrixType> svd = q.jacobiSvd(ComputeFullU | ComputeFullV); + const typename MatrixType::Scalar det = (svd.matrixU() * svd.matrixV().transpose()).determinant(); + MatrixType diag = rand.Identity(); + diag(MatrixType::RowsAtCompileTime - 1, MatrixType::ColsAtCompileTime - 1) = det; + const MatrixType rotation = svd.matrixU() * diag * svd.matrixV().transpose(); + return rotation; +} +template <typename Scalar, int Dim> +std::vector<Matrix<Scalar, Dim, 1> > boxGetCorners(const Matrix<Scalar, Dim, 1>& _min, const Matrix<Scalar, Dim, 1>& _max, int dim = Dim) +{ + std::vector<Matrix<Scalar, Dim, 1> > result; + if (dim == 1) + { + result.push_back(_min); + result.push_back(_max); + } + else + { + std::vector<Matrix<Scalar, Dim, 1> > shorter = boxGetCorners(_min, _max, dim - 1); + for (size_t i = 0; i < shorter.size(); ++i) + { + Matrix<Scalar, Dim , 1> vec = shorter[i]; + + Matrix<Scalar, Dim, 1> vec1 = _min; + vec1.block(Dim - dim, 0, dim - 1, 1) = vec.block(Dim - dim, 0, dim - 1, 1); + result.push_back(vec1); + + Matrix<Scalar, Dim, 1> vec2 = _max; + vec2.block(Dim - dim, 0, dim - 1, 1) = vec.block(Dim - dim, 0, dim - 1, 1); + result.push_back(vec2); + } + } + return result; +} + +template<typename BoxType, typename Rotation> void alignedboxRotatable( + const BoxType& _box, + Rotation (*_rotate)(typename NumTraits<typename BoxType::Scalar>::NonInteger /*_angle*/)) +{ + alignedboxTranslatable(_box); + + typedef typename BoxType::Scalar Scalar; + typedef typename NumTraits<Scalar>::NonInteger NonInteger; + typedef Matrix<Scalar, BoxType::AmbientDimAtCompileTime, 1> VectorType; + typedef Transform<Scalar, BoxType::AmbientDimAtCompileTime, Isometry> IsometryTransform; + typedef Transform<Scalar, BoxType::AmbientDimAtCompileTime, Affine> AffineTransform; + + const VectorType Zero = VectorType::Zero(); + const VectorType Ones = VectorType::Ones(); + const VectorType UnitX = VectorType::UnitX(); + const VectorType UnitY = VectorType::UnitY(); + // this is vector (0, 0, -1, -1, -1, ...), i.e. with zeros at first and second dimensions + const VectorType UnitZ = Ones - UnitX - UnitY; + + // in this kind of comments the 3D case values will be illustrated + // box((-1, -1, -1), (1, 1, 1)) + BoxType a(-Ones, Ones); + + // to allow templating this test for both 2D and 3D cases, we always set all + // but the first coordinate to the same value; so basically 3D case works as + // if you were looking at the scene from top + + VectorType minPoint = -2 * Ones; + minPoint[0] = -3; + VectorType maxPoint = Zero; + maxPoint[0] = -1; + BoxType c(minPoint, maxPoint); + // box((-3, -2, -2), (-1, 0, 0)) + + IsometryTransform tf2 = IsometryTransform::Identity(); + // for some weird reason the following statement has to be put separate from + // the following rotate call, otherwise precision problems arise... + Rotation rot = _rotate(NonInteger(EIGEN_PI)); + tf2.rotate(rot); + + c.transform(tf2); + // rotate by 180 deg around origin -> box((1, 0, -2), (3, 2, 0)) + + VERIFY_IS_APPROX(c.sizes(), a.sizes()); + VERIFY_IS_APPROX((c.min)(), UnitX - UnitZ * Scalar(2)); + VERIFY_IS_APPROX((c.max)(), UnitX * Scalar(3) + UnitY * Scalar(2)); + + rot = _rotate(NonInteger(EIGEN_PI / 2)); + tf2.setIdentity(); + tf2.rotate(rot); + + c.transform(tf2); + // rotate by 90 deg around origin -> box((-2, 1, -2), (0, 3, 0)) + + VERIFY_IS_APPROX(c.sizes(), a.sizes()); + VERIFY_IS_APPROX((c.min)(), Ones * Scalar(-2) + UnitY * Scalar(3)); + VERIFY_IS_APPROX((c.max)(), UnitY * Scalar(3)); + + // box((-1, -1, -1), (1, 1, 1)) + AffineTransform atf = AffineTransform::Identity(); + atf.linearExt()(0, 1) = Scalar(1); + c = BoxType(-Ones, Ones); + c.transform(atf); + // 45 deg shear in x direction -> box((-2, -1, -1), (2, 1, 1)) + + VERIFY_IS_APPROX(c.sizes(), Ones * Scalar(2) + UnitX * Scalar(2)); + VERIFY_IS_APPROX((c.min)(), -Ones - UnitX); + VERIFY_IS_APPROX((c.max)(), Ones + UnitX); +} + +template<typename BoxType, typename Rotation> void alignedboxNonIntegralRotatable( + const BoxType& _box, + Rotation (*_rotate)(typename NumTraits<typename BoxType::Scalar>::NonInteger /*_angle*/)) +{ + alignedboxRotatable(_box, _rotate); + + typedef typename BoxType::Scalar Scalar; + typedef typename NumTraits<Scalar>::NonInteger NonInteger; + typedef Matrix<Scalar, BoxType::AmbientDimAtCompileTime, 1> VectorType; + typedef Transform<Scalar, BoxType::AmbientDimAtCompileTime, Isometry> IsometryTransform; + typedef Transform<Scalar, BoxType::AmbientDimAtCompileTime, Affine> AffineTransform; + + const Index dim = _box.dim(); + const VectorType Zero = VectorType::Zero(); + const VectorType Ones = VectorType::Ones(); + const VectorType UnitX = VectorType::UnitX(); + const VectorType UnitY = VectorType::UnitY(); + // this is vector (0, 0, -1, -1, -1, ...), i.e. with zeros at first and second dimensions + const VectorType UnitZ = Ones - UnitX - UnitY; + + VectorType minPoint = -2 * Ones; + minPoint[1] = 1; + VectorType maxPoint = Zero; + maxPoint[1] = 3; + BoxType c(minPoint, maxPoint); + // ((-2, 1, -2), (0, 3, 0)) + + VectorType cornerBL = (c.min)(); + VectorType cornerTR = (c.max)(); + VectorType cornerBR = (c.min)(); cornerBR[0] = cornerTR[0]; + VectorType cornerTL = (c.max)(); cornerTL[0] = cornerBL[0]; + + NonInteger angle = NonInteger(EIGEN_PI/3); + Rotation rot = _rotate(angle); + IsometryTransform tf2; + tf2.setIdentity(); + tf2.rotate(rot); + + c.transform(tf2); + // rotate by 60 deg -> box((-3.59, -1.23, -2), (-0.86, 1.5, 0)) + + cornerBL = tf2 * cornerBL; + cornerBR = tf2 * cornerBR; + cornerTL = tf2 * cornerTL; + cornerTR = tf2 * cornerTR; + + VectorType minCorner = Ones * Scalar(-2); + VectorType maxCorner = Zero; + minCorner[0] = (min)((min)(cornerBL[0], cornerBR[0]), (min)(cornerTL[0], cornerTR[0])); + maxCorner[0] = (max)((max)(cornerBL[0], cornerBR[0]), (max)(cornerTL[0], cornerTR[0])); + minCorner[1] = (min)((min)(cornerBL[1], cornerBR[1]), (min)(cornerTL[1], cornerTR[1])); + maxCorner[1] = (max)((max)(cornerBL[1], cornerBR[1]), (max)(cornerTL[1], cornerTR[1])); + + for (Index d = 2; d < dim; ++d) + VERIFY_IS_APPROX(c.sizes()[d], Scalar(2)); + + VERIFY_IS_APPROX((c.min)(), minCorner); + VERIFY_IS_APPROX((c.max)(), maxCorner); + + VectorType minCornerValue = Ones * Scalar(-2); + VectorType maxCornerValue = Zero; + minCornerValue[0] = Scalar(Scalar(-sqrt(2*2 + 3*3)) * Scalar(cos(Scalar(atan(2.0/3.0)) - angle/2))); + minCornerValue[1] = Scalar(Scalar(-sqrt(1*1 + 2*2)) * Scalar(sin(Scalar(atan(2.0/1.0)) - angle/2))); + maxCornerValue[0] = Scalar(-sin(angle)); + maxCornerValue[1] = Scalar(3 * cos(angle)); + VERIFY_IS_APPROX((c.min)(), minCornerValue); + VERIFY_IS_APPROX((c.max)(), maxCornerValue); + + // randomized test - translate and rotate the box and compare to a box made of transformed vertices + for (size_t i = 0; i < 10; ++i) + { + for (Index d = 0; d < dim; ++d) + { + minCorner[d] = internal::random<Scalar>(-10,10); + maxCorner[d] = minCorner[d] + internal::random<Scalar>(0, 10); + } + + c = BoxType(minCorner, maxCorner); + + std::vector<VectorType> corners = boxGetCorners(minCorner, maxCorner); + const size_t numCorners = corners.size(); + + typename AffineTransform::LinearMatrixType rotation = + randomRotationMatrix<typename AffineTransform::LinearMatrixType>(); + + tf2.setIdentity(); + tf2.rotate(rotation); + tf2.translate(VectorType::Random()); + + c.transform(tf2); + for (size_t corner = 0; corner < numCorners; ++corner) + corners[corner] = tf2 * corners[corner]; + + for (Index d = 0; d < dim; ++d) + { + minCorner[d] = corners[0][d]; + maxCorner[d] = corners[0][d]; + + for (size_t corner = 0; corner < numCorners; ++corner) + { + minCorner[d] = (min)(minCorner[d], corners[corner][d]); + maxCorner[d] = (max)(maxCorner[d], corners[corner][d]); + } + } + + VERIFY_IS_APPROX((c.min)(), minCorner); + VERIFY_IS_APPROX((c.max)(), maxCorner); + } + + // randomized test - transform the box with a random affine matrix and compare to a box made of transformed vertices + for (size_t i = 0; i < 10; ++i) + { + for (Index d = 0; d < dim; ++d) + { + minCorner[d] = internal::random<Scalar>(-10,10); + maxCorner[d] = minCorner[d] + internal::random<Scalar>(0, 10); + } + + c = BoxType(minCorner, maxCorner); + + std::vector<VectorType> corners = boxGetCorners(minCorner, maxCorner); + const size_t numCorners = corners.size(); + + AffineTransform atf = AffineTransform::Identity(); + atf.linearExt() = AffineTransform::LinearPart::Random(); + atf.translate(VectorType::Random()); + + c.transform(atf); + for (size_t corner = 0; corner < numCorners; ++corner) + corners[corner] = atf * corners[corner]; + + for (Index d = 0; d < dim; ++d) + { + minCorner[d] = corners[0][d]; + maxCorner[d] = corners[0][d]; + + for (size_t corner = 0; corner < numCorners; ++corner) + { + minCorner[d] = (min)(minCorner[d], corners[corner][d]); + maxCorner[d] = (max)(maxCorner[d], corners[corner][d]); + } + } + + VERIFY_IS_APPROX((c.min)(), minCorner); + VERIFY_IS_APPROX((c.max)(), maxCorner); + } +} template<typename BoxType> void alignedboxCastTests(const BoxType& _box) @@ -173,21 +551,21 @@ EIGEN_DECLARE_TEST(geo_alignedbox) { for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( alignedbox(AlignedBox2f()) ); + CALL_SUBTEST_1( (alignedboxNonIntegralRotatable<AlignedBox2f, Rotation2Df>(AlignedBox2f(), &rotate2D)) ); CALL_SUBTEST_2( alignedboxCastTests(AlignedBox2f()) ); - CALL_SUBTEST_3( alignedbox(AlignedBox3f()) ); + CALL_SUBTEST_3( (alignedboxNonIntegralRotatable<AlignedBox3f, AngleAxisf>(AlignedBox3f(), &rotate3DZAxis)) ); CALL_SUBTEST_4( alignedboxCastTests(AlignedBox3f()) ); - CALL_SUBTEST_5( alignedbox(AlignedBox4d()) ); + CALL_SUBTEST_5( (alignedboxNonIntegralRotatable<AlignedBox4d, Matrix4d>(AlignedBox4d(), &rotate4DZWAxis)) ); CALL_SUBTEST_6( alignedboxCastTests(AlignedBox4d()) ); - CALL_SUBTEST_7( alignedbox(AlignedBox1d()) ); + CALL_SUBTEST_7( alignedboxTranslatable(AlignedBox1d()) ); CALL_SUBTEST_8( alignedboxCastTests(AlignedBox1d()) ); - CALL_SUBTEST_9( alignedbox(AlignedBox1i()) ); - CALL_SUBTEST_10( alignedbox(AlignedBox2i()) ); - CALL_SUBTEST_11( alignedbox(AlignedBox3i()) ); + CALL_SUBTEST_9( alignedboxTranslatable(AlignedBox1i()) ); + CALL_SUBTEST_10( (alignedboxRotatable<AlignedBox2i, Matrix2i>(AlignedBox2i(), &rotate2DIntegral<int, Matrix2i>)) ); + CALL_SUBTEST_11( (alignedboxRotatable<AlignedBox3i, Matrix3i>(AlignedBox3i(), &rotate3DZAxisIntegral<int, Matrix3i>)) ); CALL_SUBTEST_14( alignedbox(AlignedBox<double,Dynamic>(4)) ); } |