commit 189376f1eb10ecaca8a0b1ea00eba0e6f995da27
author Austin Schuh <austin.linux@gmail.com> Thu Dec 20 22:11:15 2018 +1100
committer Austin Schuh <austin.linux@gmail.com> Thu Dec 20 22:11:15 2018 +1100
tree 045c51ab5f9a7afc6464708c28ad73a5f121b6c3
parent 72890c2da170577883e6431bd92d612716a31b85

Squashed 'third_party/eigen/' changes from 61d72f6..cf794d3


Change-Id: I9b814151b01f49af6337a8605d0c42a3a1ed4c72
git-subtree-dir: third_party/eigen
git-subtree-split: cf794d3b741a6278df169e58461f8529f43bce5d

test/geo_homogeneous.cpp

diff --git a/test/geo_homogeneous.cpp b/test/geo_homogeneous.cpp
index c91bde8..2187c7b 100644
--- a/test/geo_homogeneous.cpp
+++ b/test/geo_homogeneous.cpp
@@ -38,6 +38,10 @@
   hv0 << v0, 1;
   VERIFY_IS_APPROX(v0.homogeneous(), hv0);
   VERIFY_IS_APPROX(v0, hv0.hnormalized());
+  
+  VERIFY_IS_APPROX(v0.homogeneous().sum(), hv0.sum());
+  VERIFY_IS_APPROX(v0.homogeneous().minCoeff(), hv0.minCoeff());
+  VERIFY_IS_APPROX(v0.homogeneous().maxCoeff(), hv0.maxCoeff());
 
   hm0 << m0, ones.transpose();
   VERIFY_IS_APPROX(m0.colwise().homogeneous(), hm0);
@@ -54,10 +58,11 @@
   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);
 
@@ -82,7 +87,7 @@
   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);
   
@@ -91,6 +96,23 @@
   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());
+  
+  // Test combination of homogeneous
+  
+  VERIFY_IS_APPROX( (t2 * v0.homogeneous()).hnormalized(),
+                       (t2.template topLeftCorner<Size,Size>() * v0 + t2.template topRightCorner<Size,1>())
+                     / ((t2.template bottomLeftCorner<1,Size>()*v0).value() + t2(Size,Size)) );
+  
+  VERIFY_IS_APPROX( (t2 * pts.colwise().homogeneous()).colwise().hnormalized(),
+                    (Matrix<Scalar, Size+1, Dynamic>(t2 * pts1).colwise().hnormalized()) );
+  
+  VERIFY_IS_APPROX( (t2 .lazyProduct( v0.homogeneous() )).hnormalized(), (t2 * v0.homogeneous()).hnormalized() );
+  VERIFY_IS_APPROX( (t2 .lazyProduct  ( pts.colwise().homogeneous() )).colwise().hnormalized(), (t2 * pts1).colwise().hnormalized() );
+  
+  VERIFY_IS_APPROX( (v0.transpose().homogeneous() .lazyProduct( t2 )).hnormalized(), (v0.transpose().homogeneous()*t2).hnormalized() );
+  VERIFY_IS_APPROX( (pts.transpose().rowwise().homogeneous() .lazyProduct( t2 )).rowwise().hnormalized(), (pts1.transpose()*t2).rowwise().hnormalized() );
+
+  VERIFY_IS_APPROX( (t2.template triangularView<Lower>() * v0.homogeneous()).eval(), (t2.template triangularView<Lower>()*hv0) );
 }
 
 void test_geo_homogeneous()