diff options
| -rw-r--r-- | Eigen/src/Geometry/Transform.h | 8 | ||||
| -rw-r--r-- | test/geo_transformations.cpp | 28 |
2 files changed, 32 insertions, 4 deletions
diff --git a/Eigen/src/Geometry/Transform.h b/Eigen/src/Geometry/Transform.h index 2bb78ab7b..547b3661f 100644 --- a/Eigen/src/Geometry/Transform.h +++ b/Eigen/src/Geometry/Transform.h @@ -1101,12 +1101,12 @@ EIGEN_DEVICE_FUNC void Transform<Scalar,Dim,Mode,Options>::computeRotationScalin Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant(); // so x has absolute value 1 VectorType sv(svd.singularValues()); - sv.coeffRef(0) *= x; + sv.coeffRef(Dim-1) *= x; if(scaling) *scaling = svd.matrixV() * sv.asDiagonal() * svd.matrixV().adjoint(); if(rotation) { LinearMatrixType m(svd.matrixU()); - m.col(0) /= x; + m.col(Dim-1) /= x; *rotation = m * svd.matrixV().adjoint(); } } @@ -1130,12 +1130,12 @@ EIGEN_DEVICE_FUNC void Transform<Scalar,Dim,Mode,Options>::computeScalingRotatio Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant(); // so x has absolute value 1 VectorType sv(svd.singularValues()); - sv.coeffRef(0) *= x; + sv.coeffRef(Dim-1) *= x; if(scaling) *scaling = svd.matrixU() * sv.asDiagonal() * svd.matrixU().adjoint(); if(rotation) { LinearMatrixType m(svd.matrixU()); - m.col(0) /= x; + m.col(Dim-1) /= x; *rotation = m * svd.matrixV().adjoint(); } } diff --git a/test/geo_transformations.cpp b/test/geo_transformations.cpp index c72267955..d433561cb 100644 --- a/test/geo_transformations.cpp +++ b/test/geo_transformations.cpp @@ -672,11 +672,39 @@ template<typename Scalar, int Mode, int Options> void transformations_no_scale() VERIFY(t3.rotation().data()==t3.linear().data()); } +template<typename Scalar, int Mode, int Options> void transformations_computed_scaling_continuity() +{ + typedef Matrix<Scalar, 3, 1> Vector3; + typedef Transform<Scalar, 3, Mode, Options> Transform3; + typedef Matrix<Scalar, 3, 3> Matrix3; + + // Given: two transforms that differ by '2*eps'. + Scalar eps(1e-3); + Vector3 v0 = Vector3::Random().normalized(), + v1 = Vector3::Random().normalized(), + v3 = Vector3::Random().normalized(); + Transform3 t0, t1; + // The interesting case is when their determinants have different signs. + Matrix3 rank2 = 50 * v0 * v0.adjoint() + 20 * v1 * v1.adjoint(); + t0.linear() = rank2 + eps * v3 * v3.adjoint(); + t1.linear() = rank2 - eps * v3 * v3.adjoint(); + + // When: computing the rotation-scaling parts + Matrix3 r0, s0, r1, s1; + t0.computeRotationScaling(&r0, &s0); + t1.computeRotationScaling(&r1, &s1); + + // Then: the scaling parts should differ by no more than '2*eps'. + const Scalar c(2.1); // 2 + room for rounding errors + VERIFY((s0 - s1).norm() < c * eps); +} + EIGEN_DECLARE_TEST(geo_transformations) { for(int i = 0; i < g_repeat; i++) { CALL_SUBTEST_1(( transformations<double,Affine,AutoAlign>() )); CALL_SUBTEST_1(( non_projective_only<double,Affine,AutoAlign>() )); + CALL_SUBTEST_1(( transformations_computed_scaling_continuity<double,Affine,AutoAlign>() )); CALL_SUBTEST_2(( transformations<float,AffineCompact,AutoAlign>() )); CALL_SUBTEST_2(( non_projective_only<float,AffineCompact,AutoAlign>() )); |