Add adapters for column/row-major matrices to rotation.h
This patch introduces a matrix wrapper (MatrixAdapter) that allows to
transparently pass pointers to row-major or column-major matrices
to the conversion functions.
Change-Id: I7f1683a8722088cffcc542f593ce7eb46fca109b
diff --git a/internal/ceres/rotation_test.cc b/internal/ceres/rotation_test.cc
index 8e40507..e18a14b 100644
--- a/internal/ceres/rotation_test.cc
+++ b/internal/ceres/rotation_test.cc
@@ -55,7 +55,7 @@
// A tolerance value for floating-point comparisons.
static double const kTolerance = numeric_limits<double>::epsilon() * 10;
-// Looser tolerance used for for numerically unstable conversions.
+// Looser tolerance used for numerically unstable conversions.
static double const kLooseTolerance = 1e-9;
// Use as:
@@ -965,6 +965,59 @@
}
}
+TEST(MatrixAdapter, RowMajor3x3ReturnTypeAndAccessIsCorrect) {
+ double array[9] = { 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0 };
+ const float const_array[9] = { 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f };
+ MatrixAdapter<double, 3, 1> A = RowMajorAdapter3x3(array);
+ MatrixAdapter<const float, 3, 1> B = RowMajorAdapter3x3(const_array);
+
+ for (int i = 0; i < 3; ++i) {
+ for (int j = 0; j < 3; ++j) {
+ // The values are integers from 1 to 9, so equality tests are appropriate
+ // even for float and double values.
+ EXPECT_EQ(A(i,j), array[3*i+j]);
+ EXPECT_EQ(B(i,j), const_array[3*i+j]);
+ }
+ }
+}
+
+TEST(MatrixAdapter, ColumnMajor3x3ReturnTypeAndAccessIsCorrect) {
+ double array[9] = { 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0 };
+ const float const_array[9] = { 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f };
+ MatrixAdapter<double, 1, 3> A = ColumnMajorAdapter3x3(array);
+ MatrixAdapter<const float, 1, 3> B = ColumnMajorAdapter3x3(const_array);
+
+ for (int i = 0; i < 3; ++i) {
+ for (int j = 0; j < 3; ++j) {
+ // The values are integers from 1 to 9, so equality tests are appropriate
+ // even for float and double values.
+ EXPECT_EQ(A(i,j), array[3*j+i]);
+ EXPECT_EQ(B(i,j), const_array[3*j+i]);
+ }
+ }
+}
+
+TEST(MatrixAdapter, RowMajor2x4IsCorrect) {
+ const int expected[8] = { 1, 2, 3, 4, 5, 6, 7, 8 };
+ int array[8];
+ MatrixAdapter<int, 4, 1> M(array);
+ M(0, 0) = 1; M(0, 1) = 2; M(0, 2) = 3; M(0, 3) = 4;
+ M(1, 0) = 5; M(1, 1) = 6; M(1, 2) = 7; M(1, 3) = 8;
+ for (int k = 0; k < 8; ++k) {
+ EXPECT_EQ(array[k], expected[k]);
+ }
+}
+
+TEST(MatrixAdapter, ColumnMajor2x4IsCorrect) {
+ const int expected[8] = { 1, 5, 2, 6, 3, 7, 4, 8 };
+ int array[8];
+ MatrixAdapter<int, 1, 2> M(array);
+ M(0, 0) = 1; M(0, 1) = 2; M(0, 2) = 3; M(0, 3) = 4;
+ M(1, 0) = 5; M(1, 1) = 6; M(1, 2) = 7; M(1, 3) = 8;
+ for (int k = 0; k < 8; ++k) {
+ EXPECT_EQ(array[k], expected[k]);
+ }
+}
} // namespace internal
} // namespace ceres
