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Update for non Eigen users

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This commit is contained in:
edgarriba
2014-08-01 10:48:39 +02:00
parent 56704b5e95
commit 3e2a57ff35
3 changed files with 702 additions and 17 deletions
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17
modules/calib3d/src/dls.cpp
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@@ -12,15 +12,12 @@
# include "opencv2/core/eigen.hpp"
#endif
//#include <Eigen/Eigenvalues>
//#include <Eigen/Core>
using namespace std;
dls::dls(const cv::Mat& opoints, const cv::Mat& ipoints)
{
N = std::max(opoints.checkVector(3, CV_32F), opoints.checkVector(3, CV_64F));
p = cv::Mat(3, N, CV_64F);
z = cv::Mat(3, N, CV_64F);
@@ -136,8 +133,6 @@ void dls::run_kernel(const cv::Mat& pp)
int count = 0;
for (int k = 0; k < 27; ++k)
{
// TODO: solve implementation for complex numbers
// V(:,k) = V(:,k)/V(1,k);
cv::Mat V_kA = eigenvec_r.col(k); // 27x1
cv::Mat V_kB = cv::Mat(1, 1, z.depth(), V_kA.at<double>(0)); // 1x1
@@ -145,9 +140,11 @@ void dls::run_kernel(const cv::Mat& pp)
cv::Mat( V_k.t()).copyTo( eigenvec_r.col(k) );
//if (imag(V(2,k)) == 0)
#ifdef HAVE_EIGEN
const double epsilon = 1e-4;
if( eigenval_i.at<double>(k,0) >= -epsilon && eigenval_i.at<double>(k,0) <= epsilon )
{ // it should work without checking imaginari part
#endif
{
double stmp[3];
stmp[0] = eigenvec_r.at<double>(9, k);
@@ -282,8 +279,6 @@ void dls::build_coeff_matrix(const cv::Mat& pp, cv::Mat& Mtilde, cv::Mat& D)
void dls::compute_eigenvec(const cv::Mat& Mtilde, cv::Mat& eigenval_real, cv::Mat& eigenval_imag,
cv::Mat& eigenvec_real, cv::Mat& eigenvec_imag)
{
// EIGENVALUES AND EIGENVECTORS
#ifdef HAVE_EIGEN
Eigen::MatrixXd Mtilde_eig, zeros_eig;
cv::cv2eigen(Mtilde, Mtilde_eig);
@@ -305,6 +300,10 @@ void dls::compute_eigenvec(const cv::Mat& Mtilde, cv::Mat& eigenval_real, cv::Ma
cv::eigen2cv(eigval_imag, eigenval_imag);
cv::eigen2cv(eigvec_real, eigenvec_real);
cv::eigen2cv(eigvec_imag, eigenvec_imag);
#else
EigenvalueDecomposition es(Mtilde);
eigenval_real = es.eigenvalues();
eigenvec_real = es.eigenvectors();
#endif
}