1 files changed, 105 insertions, 0 deletions
diff --git a/eigen/test/geo_homogeneous.cpp b/eigen/test/geo_homogeneous.cpp
new file mode 100644
index 0000000..0133030
--- /dev/null
+++ b/eigen/test/geo_homogeneous.cpp
@@ -0,0 +1,105 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#include "main.h"
+#include <Eigen/Geometry>
+
+template<typename Scalar,int Size> void homogeneous(void)
+{
+  /* this test covers the following files:
+     Homogeneous.h
+  */
+
+  typedef Matrix<Scalar,Size,Size> MatrixType;
+  typedef Matrix<Scalar,Size,1, ColMajor> VectorType;
+
+  typedef Matrix<Scalar,Size+1,Size> HMatrixType;
+  typedef Matrix<Scalar,Size+1,1> HVectorType;
+
+  typedef Matrix<Scalar,Size,Size+1>   T1MatrixType;
+  typedef Matrix<Scalar,Size+1,Size+1> T2MatrixType;
+  typedef Matrix<Scalar,Size+1,Size> T3MatrixType;
+
+  VectorType v0 = VectorType::Random(),
+             ones = VectorType::Ones();
+
+  HVectorType hv0 = HVectorType::Random();
+
+  MatrixType m0 = MatrixType::Random();
+
+  HMatrixType hm0 = HMatrixType::Random();
+
+  hv0 << v0, 1;
+  VERIFY_IS_APPROX(v0.homogeneous(), hv0);
+  VERIFY_IS_APPROX(v0, hv0.hnormalized());
+
+  hm0 << m0, ones.transpose();
+  VERIFY_IS_APPROX(m0.colwise().homogeneous(), hm0);
+  VERIFY_IS_APPROX(m0, hm0.colwise().hnormalized());
+  hm0.row(Size-1).setRandom();
+  for(int j=0; j<Size; ++j)
+    m0.col(j) = hm0.col(j).head(Size) / hm0(Size,j);
+  VERIFY_IS_APPROX(m0, hm0.colwise().hnormalized());
+
+  T1MatrixType t1 = T1MatrixType::Random();
+  VERIFY_IS_APPROX(t1 * (v0.homogeneous().eval()), t1 * v0.homogeneous());
+  VERIFY_IS_APPROX(t1 * (m0.colwise().homogeneous().eval()), t1 * m0.colwise().homogeneous());
+
+  T2MatrixType t2 = T2MatrixType::Random();
+  VERIFY_IS_APPROX(t2 * (v0.homogeneous().eval()), t2 * v0.homogeneous());
+  VERIFY_IS_APPROX(t2 * (m0.colwise().homogeneous().eval()), t2 * m0.colwise().homogeneous());
+  VERIFY_IS_APPROX(t2 * (v0.homogeneous().asDiagonal()), t2 * hv0.asDiagonal());
+  VERIFY_IS_APPROX((v0.homogeneous().asDiagonal()) * t2, hv0.asDiagonal() * t2);
+
+  VERIFY_IS_APPROX((v0.transpose().rowwise().homogeneous().eval()) * t2,
+                    v0.transpose().rowwise().homogeneous() * t2);
+                    m0.transpose().rowwise().homogeneous().eval();
+  VERIFY_IS_APPROX((m0.transpose().rowwise().homogeneous().eval()) * t2,
+                    m0.transpose().rowwise().homogeneous() * t2);
+
+  T3MatrixType t3 = T3MatrixType::Random();
+  VERIFY_IS_APPROX((v0.transpose().rowwise().homogeneous().eval()) * t3,
+                    v0.transpose().rowwise().homogeneous() * t3);
+  VERIFY_IS_APPROX((m0.transpose().rowwise().homogeneous().eval()) * t3,
+                    m0.transpose().rowwise().homogeneous() * t3);
+
+  // test product with a Transform object
+  Transform<Scalar, Size, Affine> aff;
+  Transform<Scalar, Size, AffineCompact> caff;
+  Transform<Scalar, Size, Projective> proj;
+  Matrix<Scalar, Size, Dynamic>   pts;
+  Matrix<Scalar, Size+1, Dynamic> pts1, pts2;
+
+  aff.affine().setRandom();
+  proj = caff = aff;
+  pts.setRandom(Size,internal::random<int>(1,20));
+  
+  pts1 = pts.colwise().homogeneous();
+  VERIFY_IS_APPROX(aff  * pts.colwise().homogeneous(), (aff  * pts1).colwise().hnormalized());
+  VERIFY_IS_APPROX(caff * pts.colwise().homogeneous(), (caff * pts1).colwise().hnormalized());
+  VERIFY_IS_APPROX(proj * pts.colwise().homogeneous(), (proj * pts1));
+  
+  VERIFY_IS_APPROX((aff  * pts1).colwise().hnormalized(),  aff  * pts);
+  VERIFY_IS_APPROX((caff * pts1).colwise().hnormalized(), caff * pts);
+  
+  pts2 = pts1;
+  pts2.row(Size).setRandom();
+  VERIFY_IS_APPROX((aff  * pts2).colwise().hnormalized(), aff  * pts2.colwise().hnormalized());
+  VERIFY_IS_APPROX((caff * pts2).colwise().hnormalized(), caff * pts2.colwise().hnormalized());
+  VERIFY_IS_APPROX((proj * pts2).colwise().hnormalized(), (proj * pts2.colwise().hnormalized().colwise().homogeneous()).colwise().hnormalized());
+}
+
+void test_geo_homogeneous()
+{
+  for(int i = 0; i < g_repeat; i++) {
+    CALL_SUBTEST_1(( homogeneous<float,1>() ));
+    CALL_SUBTEST_2(( homogeneous<double,3>() ));
+    CALL_SUBTEST_3(( homogeneous<double,8>() ));
+  }
+}