diff options
Diffstat (limited to 'test/geo_alignedbox.cpp')
| -rw-r--r-- | test/geo_alignedbox.cpp | 386 |
1 files changed, 364 insertions, 22 deletions
diff --git a/test/geo_alignedbox.cpp b/test/geo_alignedbox.cpp index d2339a651..7b1684f29 100644 --- a/test/geo_alignedbox.cpp +++ b/test/geo_alignedbox.cpp @@ -9,27 +9,33 @@ #include "main.h" #include <Eigen/Geometry> -#include <Eigen/LU> -#include <Eigen/QR> -#include<iostream> using namespace std; +// NOTE the following workaround was needed on some 32 bits builds to kill extra precision of x87 registers. +// It seems that it is not needed anymore, but let's keep it here, just in case... + template<typename T> EIGEN_DONT_INLINE -void kill_extra_precision(T& x) { eigen_assert((void*)(&x) != (void*)0); } +void kill_extra_precision(T& /* x */) { + // This one worked but triggered a warning: + /* eigen_assert((void*)(&x) != (void*)0); */ + // An alternative could be: + /* volatile T tmp = x; */ + /* x = tmp; */ +} -template<typename BoxType> void alignedbox(const BoxType& _box) +template<typename BoxType> void alignedbox(const BoxType& box) { /* this test covers the following files: AlignedBox.h */ - typedef typename BoxType::Index Index; typedef typename BoxType::Scalar Scalar; - typedef typename NumTraits<Scalar>::Real RealScalar; + typedef NumTraits<Scalar> ScalarTraits; + typedef typename ScalarTraits::Real RealScalar; typedef Matrix<Scalar, BoxType::AmbientDimAtCompileTime, 1> VectorType; - const Index dim = _box.dim(); + const Index dim = box.dim(); VectorType p0 = VectorType::Random(dim); VectorType p1 = VectorType::Random(dim); @@ -40,7 +46,7 @@ template<typename BoxType> void alignedbox(const BoxType& _box) BoxType b0(dim); BoxType b1(VectorType::Random(dim),VectorType::Random(dim)); BoxType b2; - + kill_extra_precision(b1); kill_extra_precision(p0); kill_extra_precision(p1); @@ -62,7 +68,7 @@ template<typename BoxType> void alignedbox(const BoxType& _box) BoxType box2(VectorType::Random(dim)); box2.extend(VectorType::Random(dim)); - VERIFY(box1.intersects(box2) == !box1.intersection(box2).isEmpty()); + VERIFY(box1.intersects(box2) == !box1.intersection(box2).isEmpty()); // alignment -- make sure there is no memory alignment assertion BoxType *bp0 = new BoxType(dim); @@ -80,17 +86,353 @@ template<typename BoxType> void alignedbox(const BoxType& _box) } +template<typename BoxType> void alignedboxTranslatable(const BoxType& box) +{ + typedef typename BoxType::Scalar Scalar; + typedef Matrix<Scalar, BoxType::AmbientDimAtCompileTime, 1> VectorType; + typedef Transform<Scalar, BoxType::AmbientDimAtCompileTime, Isometry> IsometryTransform; + typedef Transform<Scalar, BoxType::AmbientDimAtCompileTime, Affine> AffineTransform; + + alignedbox(box); + + const VectorType Ones = VectorType::Ones(); + const VectorType UnitX = VectorType::UnitX(); + const Index dim = box.dim(); + + // box((-1, -1, -1), (1, 1, 1)) + BoxType a(-Ones, Ones); + + VERIFY_IS_APPROX(a.sizes(), Ones * Scalar(2)); + + BoxType b = a; + VectorType translate = Ones; + translate[0] = Scalar(2); + b.translate(translate); + // translate by (2, 1, 1) -> box((1, 0, 0), (3, 2, 2)) + + VERIFY_IS_APPROX(b.sizes(), Ones * Scalar(2)); + VERIFY_IS_APPROX((b.min)(), UnitX); + VERIFY_IS_APPROX((b.max)(), Ones * Scalar(2) + UnitX); + + // Test transform + + IsometryTransform tf = IsometryTransform::Identity(); + tf.translation() = -translate; + + BoxType c = b.transformed(tf); + // translate by (-2, -1, -1) -> box((-1, -1, -1), (1, 1, 1)) + VERIFY_IS_APPROX(c.sizes(), a.sizes()); + VERIFY_IS_APPROX((c.min)(), (a.min)()); + VERIFY_IS_APPROX((c.max)(), (a.max)()); + + c.transform(tf); + // translate by (-2, -1, -1) -> box((-3, -2, -2), (-1, 0, 0)) + VERIFY_IS_APPROX(c.sizes(), a.sizes()); + VERIFY_IS_APPROX((c.min)(), Ones * Scalar(-2) - UnitX); + VERIFY_IS_APPROX((c.max)(), -UnitX); + + // Scaling + + AffineTransform atf = AffineTransform::Identity(); + atf.scale(Scalar(3)); + c.transform(atf); + // scale by 3 -> box((-9, -6, -6), (-3, 0, 0)) + VERIFY_IS_APPROX(c.sizes(), Scalar(3) * a.sizes()); + VERIFY_IS_APPROX((c.min)(), Ones * Scalar(-6) - UnitX * Scalar(3)); + VERIFY_IS_APPROX((c.max)(), UnitX * Scalar(-3)); + + atf = AffineTransform::Identity(); + atf.scale(Scalar(-3)); + c.transform(atf); + // scale by -3 -> box((27, 18, 18), (9, 0, 0)) + VERIFY_IS_APPROX(c.sizes(), Scalar(9) * a.sizes()); + VERIFY_IS_APPROX((c.min)(), UnitX * Scalar(9)); + VERIFY_IS_APPROX((c.max)(), Ones * Scalar(18) + UnitX * Scalar(9)); + + // Check identity transform within numerical precision. + BoxType transformedC = c.transformed(IsometryTransform::Identity()); + VERIFY_IS_APPROX(transformedC, c); + + for (size_t i = 0; i < 10; ++i) + { + VectorType minCorner; + VectorType maxCorner; + for (Index d = 0; d < dim; ++d) + { + minCorner[d] = internal::random<Scalar>(-10,10); + maxCorner[d] = minCorner[d] + internal::random<Scalar>(0, 10); + } + + c = BoxType(minCorner, maxCorner); + + translate = VectorType::Random(); + c.translate(translate); + + VERIFY_IS_APPROX((c.min)(), minCorner + translate); + VERIFY_IS_APPROX((c.max)(), maxCorner + translate); + } +} + +template<typename Scalar, typename Rotation> +Rotation rotate2D(Scalar angle) { + return Rotation2D<Scalar>(angle); +} + +template<typename Scalar, typename Rotation> +Rotation rotate2DIntegral(typename NumTraits<Scalar>::NonInteger angle) { + typedef typename NumTraits<Scalar>::NonInteger NonInteger; + return Rotation2D<NonInteger>(angle).toRotationMatrix(). + template cast<Scalar>(); +} + +template<typename Scalar, typename Rotation> +Rotation rotate3DZAxis(Scalar angle) { + return AngleAxis<Scalar>(angle, Matrix<Scalar, 3, 1>(0, 0, 1)); +} + +template<typename Scalar, typename Rotation> +Rotation rotate3DZAxisIntegral(typename NumTraits<Scalar>::NonInteger angle) { + typedef typename NumTraits<Scalar>::NonInteger NonInteger; + return AngleAxis<NonInteger>(angle, Matrix<NonInteger, 3, 1>(0, 0, 1)). + toRotationMatrix().template cast<Scalar>(); +} + +template<typename Scalar, typename Rotation> +Rotation rotate4DZWAxis(Scalar angle) { + Rotation result = Matrix<Scalar, 4, 4>::Identity(); + result.block(0, 0, 3, 3) = rotate3DZAxis<Scalar, AngleAxisd>(angle).toRotationMatrix(); + return result; +} + +template <typename MatrixType> +MatrixType randomRotationMatrix() +{ + // algorithm from + // https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/III-7/103/2016/isprs-annals-III-7-103-2016.pdf + const MatrixType rand = MatrixType::Random(); + const MatrixType q = rand.householderQr().householderQ(); + const JacobiSVD<MatrixType> svd = q.jacobiSvd(ComputeFullU | ComputeFullV); + const typename MatrixType::Scalar det = (svd.matrixU() * svd.matrixV().transpose()).determinant(); + MatrixType diag = rand.Identity(); + diag(MatrixType::RowsAtCompileTime - 1, MatrixType::ColsAtCompileTime - 1) = det; + const MatrixType rotation = svd.matrixU() * diag * svd.matrixV().transpose(); + return rotation; +} + +template <typename Scalar, int Dim> +Matrix<Scalar, Dim, (1<<Dim)> boxGetCorners(const Matrix<Scalar, Dim, 1>& min_, const Matrix<Scalar, Dim, 1>& max_) +{ + Matrix<Scalar, Dim, (1<<Dim) > result; + for(Index i=0; i<(1<<Dim); ++i) + { + for(Index j=0; j<Dim; ++j) + result(j,i) = (i & (1<<j)) ? min_(j) : max_(j); + } + return result; +} + +template<typename BoxType, typename Rotation> void alignedboxRotatable( + const BoxType& box, + Rotation (*rotate)(typename NumTraits<typename BoxType::Scalar>::NonInteger /*_angle*/)) +{ + alignedboxTranslatable(box); + + typedef typename BoxType::Scalar Scalar; + typedef typename NumTraits<Scalar>::NonInteger NonInteger; + typedef Matrix<Scalar, BoxType::AmbientDimAtCompileTime, 1> VectorType; + typedef Transform<Scalar, BoxType::AmbientDimAtCompileTime, Isometry> IsometryTransform; + typedef Transform<Scalar, BoxType::AmbientDimAtCompileTime, Affine> AffineTransform; + + const VectorType Zero = VectorType::Zero(); + const VectorType Ones = VectorType::Ones(); + const VectorType UnitX = VectorType::UnitX(); + const VectorType UnitY = VectorType::UnitY(); + // this is vector (0, 0, -1, -1, -1, ...), i.e. with zeros at first and second dimensions + const VectorType UnitZ = Ones - UnitX - UnitY; + + // in this kind of comments the 3D case values will be illustrated + // box((-1, -1, -1), (1, 1, 1)) + BoxType a(-Ones, Ones); + + // to allow templating this test for both 2D and 3D cases, we always set all + // but the first coordinate to the same value; so basically 3D case works as + // if you were looking at the scene from top + + VectorType minPoint = -2 * Ones; + minPoint[0] = -3; + VectorType maxPoint = Zero; + maxPoint[0] = -1; + BoxType c(minPoint, maxPoint); + // box((-3, -2, -2), (-1, 0, 0)) + + IsometryTransform tf2 = IsometryTransform::Identity(); + // for some weird reason the following statement has to be put separate from + // the following rotate call, otherwise precision problems arise... + Rotation rot = rotate(NonInteger(EIGEN_PI)); + tf2.rotate(rot); + + c.transform(tf2); + // rotate by 180 deg around origin -> box((1, 0, -2), (3, 2, 0)) + + VERIFY_IS_APPROX(c.sizes(), a.sizes()); + VERIFY_IS_APPROX((c.min)(), UnitX - UnitZ * Scalar(2)); + VERIFY_IS_APPROX((c.max)(), UnitX * Scalar(3) + UnitY * Scalar(2)); + + rot = rotate(NonInteger(EIGEN_PI / 2)); + tf2.setIdentity(); + tf2.rotate(rot); + + c.transform(tf2); + // rotate by 90 deg around origin -> box((-2, 1, -2), (0, 3, 0)) + + VERIFY_IS_APPROX(c.sizes(), a.sizes()); + VERIFY_IS_APPROX((c.min)(), Ones * Scalar(-2) + UnitY * Scalar(3)); + VERIFY_IS_APPROX((c.max)(), UnitY * Scalar(3)); + + // box((-1, -1, -1), (1, 1, 1)) + AffineTransform atf = AffineTransform::Identity(); + atf.linearExt()(0, 1) = Scalar(1); + c = BoxType(-Ones, Ones); + c.transform(atf); + // 45 deg shear in x direction -> box((-2, -1, -1), (2, 1, 1)) + + VERIFY_IS_APPROX(c.sizes(), Ones * Scalar(2) + UnitX * Scalar(2)); + VERIFY_IS_APPROX((c.min)(), -Ones - UnitX); + VERIFY_IS_APPROX((c.max)(), Ones + UnitX); +} + +template<typename BoxType, typename Rotation> void alignedboxNonIntegralRotatable( + const BoxType& box, + Rotation (*rotate)(typename NumTraits<typename BoxType::Scalar>::NonInteger /*_angle*/)) +{ + alignedboxRotatable(box, rotate); + + typedef typename BoxType::Scalar Scalar; + typedef typename NumTraits<Scalar>::NonInteger NonInteger; + enum { Dim = BoxType::AmbientDimAtCompileTime }; + typedef Matrix<Scalar, Dim, 1> VectorType; + typedef Matrix<Scalar, Dim, (1 << Dim)> CornersType; + typedef Transform<Scalar, Dim, Isometry> IsometryTransform; + typedef Transform<Scalar, Dim, Affine> AffineTransform; + + const Index dim = box.dim(); + const VectorType Zero = VectorType::Zero(); + const VectorType Ones = VectorType::Ones(); + + VectorType minPoint = -2 * Ones; + minPoint[1] = 1; + VectorType maxPoint = Zero; + maxPoint[1] = 3; + BoxType c(minPoint, maxPoint); + // ((-2, 1, -2), (0, 3, 0)) + + VectorType cornerBL = (c.min)(); + VectorType cornerTR = (c.max)(); + VectorType cornerBR = (c.min)(); cornerBR[0] = cornerTR[0]; + VectorType cornerTL = (c.max)(); cornerTL[0] = cornerBL[0]; + + NonInteger angle = NonInteger(EIGEN_PI/3); + Rotation rot = rotate(angle); + IsometryTransform tf2; + tf2.setIdentity(); + tf2.rotate(rot); + + c.transform(tf2); + // rotate by 60 deg -> box((-3.59, -1.23, -2), (-0.86, 1.5, 0)) + + cornerBL = tf2 * cornerBL; + cornerBR = tf2 * cornerBR; + cornerTL = tf2 * cornerTL; + cornerTR = tf2 * cornerTR; + + VectorType minCorner = Ones * Scalar(-2); + VectorType maxCorner = Zero; + minCorner[0] = (min)((min)(cornerBL[0], cornerBR[0]), (min)(cornerTL[0], cornerTR[0])); + maxCorner[0] = (max)((max)(cornerBL[0], cornerBR[0]), (max)(cornerTL[0], cornerTR[0])); + minCorner[1] = (min)((min)(cornerBL[1], cornerBR[1]), (min)(cornerTL[1], cornerTR[1])); + maxCorner[1] = (max)((max)(cornerBL[1], cornerBR[1]), (max)(cornerTL[1], cornerTR[1])); + + for (Index d = 2; d < dim; ++d) + VERIFY_IS_APPROX(c.sizes()[d], Scalar(2)); + + VERIFY_IS_APPROX((c.min)(), minCorner); + VERIFY_IS_APPROX((c.max)(), maxCorner); + + VectorType minCornerValue = Ones * Scalar(-2); + VectorType maxCornerValue = Zero; + minCornerValue[0] = Scalar(Scalar(-sqrt(2*2 + 3*3)) * Scalar(cos(Scalar(atan(2.0/3.0)) - angle/2))); + minCornerValue[1] = Scalar(Scalar(-sqrt(1*1 + 2*2)) * Scalar(sin(Scalar(atan(2.0/1.0)) - angle/2))); + maxCornerValue[0] = Scalar(-sin(angle)); + maxCornerValue[1] = Scalar(3 * cos(angle)); + VERIFY_IS_APPROX((c.min)(), minCornerValue); + VERIFY_IS_APPROX((c.max)(), maxCornerValue); + + // randomized test - translate and rotate the box and compare to a box made of transformed vertices + for (size_t i = 0; i < 10; ++i) + { + for (Index d = 0; d < dim; ++d) + { + minCorner[d] = internal::random<Scalar>(-10,10); + maxCorner[d] = minCorner[d] + internal::random<Scalar>(0, 10); + } + + c = BoxType(minCorner, maxCorner); + + CornersType corners = boxGetCorners(minCorner, maxCorner); + + typename AffineTransform::LinearMatrixType rotation = + randomRotationMatrix<typename AffineTransform::LinearMatrixType>(); + tf2.setIdentity(); + tf2.rotate(rotation); + tf2.translate(VectorType::Random()); + + c.transform(tf2); + corners = tf2 * corners; + + minCorner = corners.rowwise().minCoeff(); + maxCorner = corners.rowwise().maxCoeff(); + + VERIFY_IS_APPROX((c.min)(), minCorner); + VERIFY_IS_APPROX((c.max)(), maxCorner); + } + + // randomized test - transform the box with a random affine matrix and compare to a box made of transformed vertices + for (size_t i = 0; i < 10; ++i) + { + for (Index d = 0; d < dim; ++d) + { + minCorner[d] = internal::random<Scalar>(-10,10); + maxCorner[d] = minCorner[d] + internal::random<Scalar>(0, 10); + } + + c = BoxType(minCorner, maxCorner); + + CornersType corners = boxGetCorners(minCorner, maxCorner); + + AffineTransform atf = AffineTransform::Identity(); + atf.linearExt() = AffineTransform::LinearPart::Random(); + atf.translate(VectorType::Random()); + + c.transform(atf); + corners = atf * corners; + + minCorner = corners.rowwise().minCoeff(); + maxCorner = corners.rowwise().maxCoeff(); + + VERIFY_IS_APPROX((c.min)(), minCorner); + VERIFY_IS_APPROX((c.max)(), maxCorner); + } +} template<typename BoxType> -void alignedboxCastTests(const BoxType& _box) +void alignedboxCastTests(const BoxType& box) { - // casting - typedef typename BoxType::Index Index; + // casting typedef typename BoxType::Scalar Scalar; typedef Matrix<Scalar, BoxType::AmbientDimAtCompileTime, 1> VectorType; - const Index dim = _box.dim(); + const Index dim = box.dim(); VectorType p0 = VectorType::Random(dim); VectorType p1 = VectorType::Random(dim); @@ -162,25 +504,25 @@ void specificTest2() } -void test_geo_alignedbox() +EIGEN_DECLARE_TEST(geo_alignedbox) { for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( alignedbox(AlignedBox2f()) ); + CALL_SUBTEST_1( (alignedboxNonIntegralRotatable<AlignedBox2f, Rotation2Df>(AlignedBox2f(), &rotate2D)) ); CALL_SUBTEST_2( alignedboxCastTests(AlignedBox2f()) ); - CALL_SUBTEST_3( alignedbox(AlignedBox3f()) ); + CALL_SUBTEST_3( (alignedboxNonIntegralRotatable<AlignedBox3f, AngleAxisf>(AlignedBox3f(), &rotate3DZAxis)) ); CALL_SUBTEST_4( alignedboxCastTests(AlignedBox3f()) ); - CALL_SUBTEST_5( alignedbox(AlignedBox4d()) ); + CALL_SUBTEST_5( (alignedboxNonIntegralRotatable<AlignedBox4d, Matrix4d>(AlignedBox4d(), &rotate4DZWAxis)) ); CALL_SUBTEST_6( alignedboxCastTests(AlignedBox4d()) ); - CALL_SUBTEST_7( alignedbox(AlignedBox1d()) ); + CALL_SUBTEST_7( alignedboxTranslatable(AlignedBox1d()) ); CALL_SUBTEST_8( alignedboxCastTests(AlignedBox1d()) ); - CALL_SUBTEST_9( alignedbox(AlignedBox1i()) ); - CALL_SUBTEST_10( alignedbox(AlignedBox2i()) ); - CALL_SUBTEST_11( alignedbox(AlignedBox3i()) ); + CALL_SUBTEST_9( alignedboxTranslatable(AlignedBox1i()) ); + CALL_SUBTEST_10( (alignedboxRotatable<AlignedBox2i, Matrix2i>(AlignedBox2i(), &rotate2DIntegral<int, Matrix2i>)) ); + CALL_SUBTEST_11( (alignedboxRotatable<AlignedBox3i, Matrix3i>(AlignedBox3i(), &rotate3DZAxisIntegral<int, Matrix3i>)) ); CALL_SUBTEST_14( alignedbox(AlignedBox<double,Dynamic>(4)) ); } |