From 18f6d5ed3011fc3061536fabeae42f6a54219838 Mon Sep 17 00:00:00 2001
From: Christoph Siedentop <christophsiedentop@gmail.com>
Date: Fri, 12 Aug 2011 16:46:39 +0200
Subject: [PATCH] operator* (Matx<...>, Point2<...>) fixed with a test

---
 .../core/include/opencv2/core/operations.hpp       |    3 +-
 opencv/modules/core/test/test_operations.cpp       |   23 ++++++++++++++++++++
 2 files changed, 25 insertions(+), 1 deletions(-)

diff --git a/opencv/modules/core/include/opencv2/core/operations.hpp b/opencv/modules/core/include/opencv2/core/operations.hpp
index ee37b70..97e5a48 100644
--- a/opencv/modules/core/include/opencv2/core/operations.hpp
+++ b/opencv/modules/core/include/opencv2/core/operations.hpp
@@ -639,7 +639,8 @@ Point3_<_Tp> operator * (const Matx<_Tp, 3, 3>& a, const Point3_<_Tp>& b)
 template<typename _Tp> static inline
 Point3_<_Tp> operator * (const Matx<_Tp, 3, 3>& a, const Point_<_Tp>& b)
 {
-    return Point3_<_Tp>(a*Vec<_Tp,3>(b.x, b.y, 1));
+    const Matx<_Tp, 3, 1> mat = a * Vec<_Tp,3>(b.x, b.y, 1);
+    return Point3_<_Tp>(mat(0,0), mat(1,0), mat(2,0));
 }    
 
     
diff --git a/opencv/modules/core/test/test_operations.cpp b/opencv/modules/core/test/test_operations.cpp
index 1abaf14..d0039d2 100644
--- a/opencv/modules/core/test/test_operations.cpp
+++ b/opencv/modules/core/test/test_operations.cpp
@@ -73,6 +73,7 @@ protected:
     bool TestMatND();
     bool TestSparseMat();
     bool operations1();
+    bool TestMatxMultiplication();
 
     void checkDiff(const Mat& m1, const Mat& m2, const string& s) { if (norm(m1, m2, NORM_INF) != 0) throw test_excep(s); }
     void checkDiffF(const Mat& m1, const Mat& m2, const string& s) { if (norm(m1, m2, NORM_INF) > 1e-5) throw test_excep(s); }
@@ -803,6 +804,25 @@ bool CV_OperationsTest::operations1()
     return true;
 }
 
+bool CV_OperationsTest::TestMatxMultiplication()
+{
+    try
+    {
+        Matx33f mat(1, 0, 0, 0, 1, 0, 0, 0, 1); // Identity matrix
+        Point2f pt(3, 4);
+        Point3f res = mat * pt; // Correctly assumes homogeneous coordinates
+        if(res.x != 3.0) throw test_excep();
+        if(res.y != 4.0) throw test_excep();
+        if(res.z != 1.0) throw test_excep();
+    }
+    catch(const test_excep&)
+    {
+        ts->set_failed_test_info(cvtest::TS::FAIL_INVALID_OUTPUT);
+        return false;
+    }
+    return true;
+}
+
 void CV_OperationsTest::run( int /* start_from */)
 {
     if (!TestMat())
@@ -823,6 +843,9 @@ void CV_OperationsTest::run( int /* start_from */)
     if (!operations1())
         return;
 
+    if(!TestMatxMultiplication())
+        return;
+
     ts->set_failed_test_info(cvtest::TS::OK);
 }
 
-- 
1.7.4.1