diff options
Diffstat (limited to 'extern/Eigen3/Eigen/src/Geometry/Transform.h')
-rw-r--r-- | extern/Eigen3/Eigen/src/Geometry/Transform.h | 31 |
1 files changed, 30 insertions, 1 deletions
diff --git a/extern/Eigen3/Eigen/src/Geometry/Transform.h b/extern/Eigen3/Eigen/src/Geometry/Transform.h index 19d012572d4..a694673ebed 100644 --- a/extern/Eigen3/Eigen/src/Geometry/Transform.h +++ b/extern/Eigen3/Eigen/src/Geometry/Transform.h @@ -61,7 +61,7 @@ template< typename Lhs, typename Rhs, bool AnyProjective = transform_traits<Lhs>::IsProjective || - transform_traits<Lhs>::IsProjective> + transform_traits<Rhs>::IsProjective> struct transform_transform_product_impl; template< typename Other, @@ -1391,6 +1391,35 @@ struct transform_transform_product_impl<Transform<Scalar,Dim,LhsMode,LhsOptions> } }; +template<typename Scalar, int Dim, int LhsOptions, int RhsOptions> +struct transform_transform_product_impl<Transform<Scalar,Dim,AffineCompact,LhsOptions>,Transform<Scalar,Dim,Projective,RhsOptions>,true > +{ + typedef Transform<Scalar,Dim,AffineCompact,LhsOptions> Lhs; + typedef Transform<Scalar,Dim,Projective,RhsOptions> Rhs; + typedef Transform<Scalar,Dim,Projective> ResultType; + static ResultType run(const Lhs& lhs, const Rhs& rhs) + { + ResultType res; + res.matrix().template topRows<Dim>() = lhs.matrix() * rhs.matrix(); + res.matrix().row(Dim) = rhs.matrix().row(Dim); + return res; + } +}; + +template<typename Scalar, int Dim, int LhsOptions, int RhsOptions> +struct transform_transform_product_impl<Transform<Scalar,Dim,Projective,LhsOptions>,Transform<Scalar,Dim,AffineCompact,RhsOptions>,true > +{ + typedef Transform<Scalar,Dim,Projective,LhsOptions> Lhs; + typedef Transform<Scalar,Dim,AffineCompact,RhsOptions> Rhs; + typedef Transform<Scalar,Dim,Projective> ResultType; + static ResultType run(const Lhs& lhs, const Rhs& rhs) + { + ResultType res(lhs.matrix().template leftCols<Dim>() * rhs.matrix()); + res.matrix().col(Dim) += lhs.matrix().col(Dim); + return res; + } +}; + } // end namespace internal #endif // EIGEN_TRANSFORM_H |