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author | Gael Guennebaud <g.gael@free.fr> | 2009-02-17 09:53:05 +0000 |
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committer | Gael Guennebaud <g.gael@free.fr> | 2009-02-17 09:53:05 +0000 |
commit | e6f1104b57f19dff773b4f22d26d6aacabd1bdb2 (patch) | |
tree | 5de1c7a6d6eb47d894f119b5bda0107bd531000d /test/geo_transformations.cpp | |
parent | 67b4fab4e30a59d9a7e001ef25938d1767371569 (diff) |
* fix Quaternion::setFromTwoVectors (thanks to "benv" from the forum)
* extend PartialRedux::cross() to any matrix sizes with automatic
vectorization when possible
* unit tests: add "geo_" prefix to all unit tests related to the
geometry module and start splitting the big "geometry.cpp" tests to
multiple smaller ones (also include new tests)
Diffstat (limited to 'test/geo_transformations.cpp')
-rw-r--r-- | test/geo_transformations.cpp | 354 |
1 files changed, 354 insertions, 0 deletions
diff --git a/test/geo_transformations.cpp b/test/geo_transformations.cpp new file mode 100644 index 000000000..35ecdb47b --- /dev/null +++ b/test/geo_transformations.cpp @@ -0,0 +1,354 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. Eigen itself is part of the KDE project. +// +// Copyright (C) 2008-2009 Gael Guennebaud <g.gael@free.fr> +// +// Eigen is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 3 of the License, or (at your option) any later version. +// +// Alternatively, you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of +// the License, or (at your option) any later version. +// +// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License and a copy of the GNU General Public License along with +// Eigen. If not, see <http://www.gnu.org/licenses/>. + +#include "main.h" +#include <Eigen/Geometry> +#include <Eigen/LU> +#include <Eigen/SVD> + +template<typename Scalar> void transformations(void) +{ + /* this test covers the following files: + Cross.h Quaternion.h, Transform.cpp + */ + + typedef Matrix<Scalar,2,2> Matrix2; + typedef Matrix<Scalar,3,3> Matrix3; + typedef Matrix<Scalar,4,4> Matrix4; + typedef Matrix<Scalar,2,1> Vector2; + typedef Matrix<Scalar,3,1> Vector3; + typedef Matrix<Scalar,4,1> Vector4; + typedef Quaternion<Scalar> Quaternionx; + typedef AngleAxis<Scalar> AngleAxisx; + typedef Transform<Scalar,2> Transform2; + typedef Transform<Scalar,3> Transform3; + typedef DiagonalMatrix<Scalar,2> AlignedScaling2; + typedef DiagonalMatrix<Scalar,3> AlignedScaling3; + typedef Translation<Scalar,2> Translation2; + typedef Translation<Scalar,3> Translation3; + + Scalar largeEps = test_precision<Scalar>(); + if (ei_is_same_type<Scalar,float>::ret) + largeEps = 1e-2f; + + Vector3 v0 = Vector3::Random(), + v1 = Vector3::Random(), + v2 = Vector3::Random(); + Vector2 u0 = Vector2::Random(); + Matrix3 matrot1, m; + + Scalar a = ei_random<Scalar>(-Scalar(M_PI), Scalar(M_PI)); + + VERIFY_IS_APPROX(v0, AngleAxisx(a, v0.normalized()) * v0); + VERIFY_IS_APPROX(-v0, AngleAxisx(Scalar(M_PI), v0.unitOrthogonal()) * v0); + VERIFY_IS_APPROX(ei_cos(a)*v0.squaredNorm(), v0.dot(AngleAxisx(a, v0.unitOrthogonal()) * v0)); + m = AngleAxisx(a, v0.normalized()).toRotationMatrix().adjoint(); + VERIFY_IS_APPROX(Matrix3::Identity(), m * AngleAxisx(a, v0.normalized())); + VERIFY_IS_APPROX(Matrix3::Identity(), AngleAxisx(a, v0.normalized()) * m); + + Quaternionx q1, q2; + q1 = AngleAxisx(a, v0.normalized()); + q2 = AngleAxisx(a, v1.normalized()); + + // rotation matrix conversion + matrot1 = AngleAxisx(Scalar(0.1), Vector3::UnitX()) + * AngleAxisx(Scalar(0.2), Vector3::UnitY()) + * AngleAxisx(Scalar(0.3), Vector3::UnitZ()); + VERIFY_IS_APPROX(matrot1 * v1, + AngleAxisx(Scalar(0.1), Vector3(1,0,0)).toRotationMatrix() + * (AngleAxisx(Scalar(0.2), Vector3(0,1,0)).toRotationMatrix() + * (AngleAxisx(Scalar(0.3), Vector3(0,0,1)).toRotationMatrix() * v1))); + + // angle-axis conversion + AngleAxisx aa = q1; + VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1); + VERIFY_IS_NOT_APPROX(q1 * v1, Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1); + + // AngleAxis + VERIFY_IS_APPROX(AngleAxisx(a,v1.normalized()).toRotationMatrix(), + Quaternionx(AngleAxisx(a,v1.normalized())).toRotationMatrix()); + + AngleAxisx aa1; + m = q1.toRotationMatrix(); + aa1 = m; + VERIFY_IS_APPROX(AngleAxisx(m).toRotationMatrix(), + Quaternionx(m).toRotationMatrix()); + + // Transform + // TODO complete the tests ! + a = 0; + while (ei_abs(a)<Scalar(0.1)) + a = ei_random<Scalar>(-Scalar(0.4)*Scalar(M_PI), Scalar(0.4)*Scalar(M_PI)); + q1 = AngleAxisx(a, v0.normalized()); + Transform3 t0, t1, t2; + t0.setIdentity(); + t0.linear() = q1.toRotationMatrix(); + t1.setIdentity(); + t1.linear() = q1.toRotationMatrix(); + + v0 << 50, 2, 1;//= ei_random_matrix<Vector3>().cwiseProduct(Vector3(10,2,0.5)); + t0.scale(v0); + t1.prescale(v0); + + VERIFY_IS_APPROX( (t0 * Vector3(1,0,0)).norm(), v0.x()); + //VERIFY(!ei_isApprox((t1 * Vector3(1,0,0)).norm(), v0.x())); + + t0.setIdentity(); + t1.setIdentity(); + v1 << 1, 2, 3; + t0.linear() = q1.toRotationMatrix(); + t0.pretranslate(v0); + t0.scale(v1); + t1.linear() = q1.conjugate().toRotationMatrix(); + t1.prescale(v1.cwise().inverse()); + t1.translate(-v0); + + VERIFY((t0.matrix() * 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); + + t0.setIdentity(); t0.scale(v0).rotate(q1.toRotationMatrix()); + t1.setIdentity(); t1.scale(v0).rotate(q1); + VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); + + t0.setIdentity(); t0.scale(v0).rotate(AngleAxisx(q1)); + VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); + + VERIFY_IS_APPROX(t0.scale(a).matrix(), t1.scale(Vector3::Constant(a)).matrix()); + VERIFY_IS_APPROX(t0.prescale(a).matrix(), t1.prescale(Vector3::Constant(a)).matrix()); + + // More transform constructors, operator=, operator*= + + Matrix3 mat3 = Matrix3::Random(); + Matrix4 mat4; + mat4 << mat3 , Vector3::Zero() , Vector4::Zero().transpose(); + Transform3 tmat3(mat3), tmat4(mat4); + tmat4.matrix()(3,3) = Scalar(1); + VERIFY_IS_APPROX(tmat3.matrix(), tmat4.matrix()); + + Scalar a3 = ei_random<Scalar>(-Scalar(M_PI), Scalar(M_PI)); + Vector3 v3 = Vector3::Random().normalized(); + AngleAxisx aa3(a3, v3); + Transform3 t3(aa3); + Transform3 t4; + t4 = aa3; + VERIFY_IS_APPROX(t3.matrix(), t4.matrix()); + t4.rotate(AngleAxisx(-a3,v3)); + VERIFY_IS_APPROX(t4.matrix(), Matrix4::Identity()); + t4 *= aa3; + VERIFY_IS_APPROX(t3.matrix(), t4.matrix()); + + v3 = Vector3::Random(); + Translation3 tv3(v3); + Transform3 t5(tv3); + t4 = tv3; + VERIFY_IS_APPROX(t5.matrix(), t4.matrix()); + t4.translate(-v3); + VERIFY_IS_APPROX(t4.matrix(), Matrix4::Identity()); + t4 *= tv3; + VERIFY_IS_APPROX(t5.matrix(), t4.matrix()); + + AlignedScaling3 sv3(v3); + Transform3 t6(sv3); + t4 = sv3; + VERIFY_IS_APPROX(t6.matrix(), t4.matrix()); + t4.scale(v3.cwise().inverse()); + VERIFY_IS_APPROX(t4.matrix(), Matrix4::Identity()); + t4 *= sv3; + VERIFY_IS_APPROX(t6.matrix(), t4.matrix()); + + // matrix * transform + VERIFY_IS_APPROX(Transform3(t3.matrix()*t4).matrix(), Transform3(t3*t4).matrix()); + + // chained Transform product + VERIFY_IS_APPROX(((t3*t4)*t5).matrix(), (t3*(t4*t5)).matrix()); + + // check that Transform product doesn't have aliasing problems + t5 = t4; + t5 = t5*t5; + VERIFY_IS_APPROX(t5, t4*t4); + + // 2D transformation + Transform2 t20, t21; + Vector2 v20 = Vector2::Random(); + Vector2 v21 = Vector2::Random(); + for (int k=0; k<2; ++k) + if (ei_abs(v21[k])<Scalar(1e-3)) v21[k] = Scalar(1e-3); + t21.setIdentity(); + t21.linear() = Rotation2D<Scalar>(a).toRotationMatrix(); + VERIFY_IS_APPROX(t20.fromPositionOrientationScale(v20,a,v21).matrix(), + t21.pretranslate(v20).scale(v21).matrix()); + + t21.setIdentity(); + t21.linear() = Rotation2D<Scalar>(-a).toRotationMatrix(); + VERIFY( (t20.fromPositionOrientationScale(v20,a,v21) + * (t21.prescale(v21.cwise().inverse()).translate(-v20))).matrix().isIdentity(test_precision<Scalar>()) ); + + // Transform - new API + // 3D + t0.setIdentity(); + t0.rotate(q1).scale(v0).translate(v0); + // mat * aligned scaling and mat * translation + t1 = (Matrix3(q1) * AlignedScaling3(v0)) * Translation3(v0); + VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); + t1 = (Matrix3(q1) * Scaling(v0)) * Translation3(v0); + VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); + t1 = (q1 * Scaling(v0)) * Translation3(v0); + VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); + // mat * transformation and aligned scaling * translation + t1 = Matrix3(q1) * (AlignedScaling3(v0) * Translation3(v0)); + VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); + + t0.setIdentity(); + t0.prerotate(q1).prescale(v0).pretranslate(v0); + // translation * aligned scaling and transformation * mat + t1 = (Translation3(v0) * AlignedScaling3(v0)) * Matrix3(q1); + VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); + // scaling * mat and translation * mat + t1 = Translation3(v0) * (AlignedScaling3(v0) * Matrix3(q1)); + VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); + + t0.setIdentity(); + t0.scale(v0).translate(v0).rotate(q1); + // translation * mat and aligned scaling * transformation + t1 = AlignedScaling3(v0) * (Translation3(v0) * Matrix3(q1)); + VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); + // transformation * aligned scaling + t0.scale(v0); + t1 = t1 * AlignedScaling3(v0); + VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); + // transformation * translation + t0.translate(v0); + t1 = t1 * Translation3(v0); + VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); + // translation * transformation + t0.pretranslate(v0); + t1 = Translation3(v0) * t1; + VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); + + // transform * quaternion + t0.rotate(q1); + t1 = t1 * q1; + VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); + + // translation * quaternion + t0.translate(v1).rotate(q1); + t1 = t1 * (Translation3(v1) * q1); + VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); + + // aligned scaling * quaternion + t0.scale(v1).rotate(q1); + t1 = t1 * (AlignedScaling3(v1) * q1); + VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); + + // quaternion * transform + t0.prerotate(q1); + t1 = q1 * t1; + VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); + + // quaternion * translation + t0.rotate(q1).translate(v1); + t1 = t1 * (q1 * Translation3(v1)); + VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); + + // quaternion * aligned scaling + t0.rotate(q1).scale(v1); + t1 = t1 * (q1 * AlignedScaling3(v1)); + VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); + + // translation * vector + t0.setIdentity(); + t0.translate(v0); + VERIFY_IS_APPROX(t0 * v1, Translation3(v0) * v1); + + // AlignedScaling * vector + t0.setIdentity(); + t0.scale(v0); + VERIFY_IS_APPROX(t0 * v1, AlignedScaling3(v0) * v1); + + // test transform inversion + t0.setIdentity(); + t0.translate(v0); + t0.linear().setRandom(); + VERIFY_IS_APPROX(t0.inverse(Affine), t0.matrix().inverse()); + t0.setIdentity(); + t0.translate(v0).rotate(q1); + VERIFY_IS_APPROX(t0.inverse(Isometry), t0.matrix().inverse()); + + // test extract rotation and aligned scaling +// t0.setIdentity(); +// t0.translate(v0).rotate(q1).scale(v1); +// VERIFY_IS_APPROX(t0.rotation() * v1, Matrix3(q1) * v1); + + Matrix3 mat_rotation, mat_scaling; + t0.setIdentity(); + t0.translate(v0).rotate(q1).scale(v1); + t0.computeRotationScaling(&mat_rotation, &mat_scaling); + VERIFY_IS_APPROX(t0.linear(), mat_rotation * mat_scaling); + VERIFY_IS_APPROX(mat_rotation*mat_rotation.adjoint(), Matrix3::Identity()); + VERIFY_IS_APPROX(mat_rotation.determinant(), Scalar(1)); + t0.computeScalingRotation(&mat_scaling, &mat_rotation); + VERIFY_IS_APPROX(t0.linear(), mat_scaling * mat_rotation); + VERIFY_IS_APPROX(mat_rotation*mat_rotation.adjoint(), Matrix3::Identity()); + VERIFY_IS_APPROX(mat_rotation.determinant(), Scalar(1)); + + // test casting + Transform<float,3> t1f = t1.template cast<float>(); + VERIFY_IS_APPROX(t1f.template cast<Scalar>(),t1); + Transform<double,3> t1d = t1.template cast<double>(); + 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); + + AlignedScaling3 sc1(v0); + DiagonalMatrix<float,3> sc1f; sc1f = sc1.template cast<float>(); + VERIFY_IS_APPROX(sc1f.template cast<Scalar>(),sc1); + DiagonalMatrix<double,3> sc1d; sc1d = (sc1.template cast<double>()); + VERIFY_IS_APPROX(sc1d.template cast<Scalar>(),sc1); + + 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(ei_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); +} + +void test_geo_transformations() +{ + for(int i = 0; i < g_repeat; i++) { + CALL_SUBTEST( transformations<float>() ); + CALL_SUBTEST( transformations<double>() ); + } +} |