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Extracting Eigenvalues and Eigenvectors

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This commit is contained in:
edgarriba 2014-07-21 17:45:54 +02:00
parent 40f6d320c2
commit b1b9a29e48
1 changed files with 34 additions and 5 deletions
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39
modules/calib3d/src/dls.cpp
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@ -2,6 +2,10 @@
#include "dls.h"
#include <iostream>
#include <Eigen/Eigenvalues>
#include <Eigen/Core>
using namespace std;
void printSize(const cv::Mat& mat)
@ -201,13 +205,36 @@ void dls::build_coeff_matrix()
// construct the multiplication matrix via schur compliment of the Macaulay
// matrix
cv::Mat Mtilde = M2_1 - M2_5.t()*M2_4; // OK
cv::Mat Mtilde = M2_1 - M2_5.t()*M2_4; // 27x27 non-symmetric // OK
cv::Mat eigenvalues, eigenvectors;
cv::eigen(Mtilde, eigenvalues, eigenvectors);
cv::Mat V = eigenvectors;
// EIGENVALUES AND EIGENVECTORS
Eigen::MatrixXd Mtilde_eig, zeros_eig;
cv::cv2eigen(Mtilde, Mtilde_eig);
cv::cv2eigen(cv::Mat::zeros(27, 27, CV_64F), zeros_eig);
Eigen::MatrixXcd Mtilde_eig_cmplx(27, 27);
Mtilde_eig_cmplx.real() = Mtilde_eig;
Mtilde_eig_cmplx.imag() = zeros_eig;
Eigen::ComplexEigenSolver<Eigen::MatrixXcd> ces(Mtilde_eig_cmplx);
Eigen::MatrixXd eigval_real = ces.eigenvalues().real();
Eigen::MatrixXd eigval_cmplx = ces.eigenvalues().imag();
Eigen::MatrixXd eigvec_real = ces.eigenvectors().real();
Eigen::MatrixXd eigvec_cmplx = ces.eigenvectors().imag();
cv::Mat eigenvalues_real, eigenvalues_complex;
cv::Mat eigenvectors_real, eigenvectors_complex;
cv::eigen2cv(eigval_real, eigenvalues_real);
cv::eigen2cv(eigval_cmplx, eigenvalues_complex);
cv::eigen2cv(eigvec_real, eigenvectors_real);
cv::eigen2cv(eigvec_cmplx, eigenvectors_complex);
cv::Mat V = eigenvectors_real;
cv::Mat v = eigenvalues_real;
/*
* Now check the solutions
@ -227,10 +254,12 @@ void dls::build_coeff_matrix()
cv::Mat V_k; cv::solve(V_kB.t(), V_kA.t(), V_k); // A/B = B'\A'
cv::Mat(V_k.t()).col(0).copyTo( V.col(0) );
cout << eigenvectors_complex.at<double>(1,k) << endl;
if(1) //if (imag(V(2,k)) == 0)
if(eigenvectors_complex.at<double>(1,k) == 0) //if (imag(V(2,k)) == 0)
{
//TODO: check for pure real part
cout << eigenvectors_complex.at<double>(1,k) << endl;
}
}