diff options
| -rw-r--r-- | Eigen/src/Geometry/Transform.h | 31 | ||||
| -rw-r--r-- | test/geo_transformations.cpp | 27 |
2 files changed, 57 insertions, 1 deletions
diff --git a/Eigen/src/Geometry/Transform.h b/Eigen/src/Geometry/Transform.h index a9e4e3c6d..f17a639ad 100644 --- a/Eigen/src/Geometry/Transform.h +++ b/Eigen/src/Geometry/Transform.h @@ -61,7 +61,7 @@ template< typename Lhs, typename Rhs, bool AnyProjective = transform_traits<Lhs>::IsProjective || - transform_traits<Lhs>::IsProjective> + transform_traits<Rhs>::IsProjective> struct transform_transform_product_impl; template< typename Other, @@ -1395,6 +1395,35 @@ struct transform_transform_product_impl<Transform<Scalar,Dim,LhsMode,LhsOptions> } }; +template<typename Scalar, int Dim, int LhsOptions, int RhsOptions> +struct transform_transform_product_impl<Transform<Scalar,Dim,AffineCompact,LhsOptions>,Transform<Scalar,Dim,Projective,RhsOptions>,true > +{ + typedef Transform<Scalar,Dim,AffineCompact,LhsOptions> Lhs; + typedef Transform<Scalar,Dim,Projective,RhsOptions> Rhs; + typedef Transform<Scalar,Dim,Projective> ResultType; + static ResultType run(const Lhs& lhs, const Rhs& rhs) + { + ResultType res; + res.matrix().template topRows<Dim>() = lhs.matrix() * rhs.matrix(); + res.matrix().row(Dim) = rhs.matrix().row(Dim); + return res; + } +}; + +template<typename Scalar, int Dim, int LhsOptions, int RhsOptions> +struct transform_transform_product_impl<Transform<Scalar,Dim,Projective,LhsOptions>,Transform<Scalar,Dim,AffineCompact,RhsOptions>,true > +{ + typedef Transform<Scalar,Dim,Projective,LhsOptions> Lhs; + typedef Transform<Scalar,Dim,AffineCompact,RhsOptions> Rhs; + typedef Transform<Scalar,Dim,Projective> ResultType; + static ResultType run(const Lhs& lhs, const Rhs& rhs) + { + ResultType res(lhs.matrix().template leftCols<Dim>() * rhs.matrix()); + res.matrix().col(Dim) += lhs.matrix().col(Dim); + return res; + } +}; + } // end namespace internal #endif // EIGEN_TRANSFORM_H diff --git a/test/geo_transformations.cpp b/test/geo_transformations.cpp index 9156954a2..e9f05cfb6 100644 --- a/test/geo_transformations.cpp +++ b/test/geo_transformations.cpp @@ -446,6 +446,29 @@ template<typename Scalar> void transform_alignment() #endif } +template<typename Scalar, int Dim, int Options> void transform_products() +{ + typedef Matrix<Scalar,Dim+1,Dim+1> Mat; + typedef Transform<Scalar,Dim,Projective,Options> Proj; + typedef Transform<Scalar,Dim,Affine,Options> Aff; + typedef Transform<Scalar,Dim,AffineCompact,Options> AffC; + + Proj p; p.matrix().setRandom(); + Aff a; a.linear().setRandom(); a.translation().setRandom(); + AffC ac = a; + + Mat p_m(p.matrix()), a_m(a.matrix()); + + VERIFY_IS_APPROX((p*p).matrix(), p_m*p_m); + VERIFY_IS_APPROX((a*a).matrix(), a_m*a_m); + VERIFY_IS_APPROX((p*a).matrix(), p_m*a_m); + VERIFY_IS_APPROX((a*p).matrix(), a_m*p_m); + VERIFY_IS_APPROX((ac*a).matrix(), a_m*a_m); + VERIFY_IS_APPROX((a*ac).matrix(), a_m*a_m); + VERIFY_IS_APPROX((p*ac).matrix(), p_m*a_m); + VERIFY_IS_APPROX((ac*p).matrix(), a_m*p_m); +} + void test_geo_transformations() { for(int i = 0; i < g_repeat; i++) { @@ -468,5 +491,9 @@ void test_geo_transformations() CALL_SUBTEST_6(( transformations<double,Projective,RowMajor|AutoAlign>() )); CALL_SUBTEST_6(( transformations<double,Projective,RowMajor|DontAlign>() )); + + + CALL_SUBTEST_7(( transform_products<double,3,RowMajor|AutoAlign>() )); + CALL_SUBTEST_7(( transform_products<float,2,AutoAlign>() )); } } |