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MACRO for EIGEN libraries

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This commit is contained in:
edgarriba 2014-07-30 11:22:25 +02:00
parent 4ddc6a4a77
commit b6b0c2aa8e
2 changed files with 17 additions and 17 deletions
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19
modules/calib3d/src/dls.cpp
View File

@ -2,30 +2,30 @@
#include "dls.h"
#include <iostream>
#include <fstream>
/*
#ifdef HAVE_EIGEN
# if defined __GNUC__ && defined __APPLE__
# pragma GCC diagnostic ignored "-Wshadow"
# endif
# include <Eigen/Core>
# include <Eigen/Eigenvalues>
# include "opencv2/core/eigen.hpp"
#endif
*/
#include <Eigen/Eigenvalues>
#include <Eigen/Core>
//#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);
cost__ = std::numeric_limits<double>::infinity();
cost__ = 9999;
f1coeff.resize(21);
f2coeff.resize(21);
@ -117,7 +117,6 @@ bool dls::compute_pose(cv::Mat& R, cv::Mat& t)
void dls::run_kernel(const cv::Mat& pp)
{
cv::Mat Mtilde(27, 27, CV_64F);
cv::Mat D = cv::Mat::zeros(9, 9, CV_64F);
build_coeff_matrix(pp, Mtilde, D);
@ -125,7 +124,6 @@ void dls::run_kernel(const cv::Mat& pp)
cv::Mat eigenval_r, eigenval_i, eigenvec_r, eigenvec_i;
compute_eigenvec(Mtilde, eigenval_r, eigenval_i, eigenvec_r, eigenvec_i);
/*
* Now check the solutions
*/
@ -146,8 +144,6 @@ void dls::run_kernel(const cv::Mat& pp)
cv::Mat V_k; cv::solve(V_kB.t(), V_kA.t(), V_k); // A/B = B'\A'
cv::Mat( V_k.t()).copyTo( eigenvec_r.col(k) );
// TODO: check imaginari part to filter solutions
//if (imag(V(2,k)) == 0)
const double epsilon = 1e-4;
if( eigenval_i.at<double>(k,0) >= -epsilon && eigenval_i.at<double>(k,0) <= epsilon )
@ -230,6 +226,7 @@ void dls::run_kernel(const cv::Mat& pp)
cost_.push_back(cost_valid);
}
}
}
void dls::build_coeff_matrix(const cv::Mat& pp, cv::Mat& Mtilde, cv::Mat& D)
@ -287,6 +284,7 @@ void dls::compute_eigenvec(const cv::Mat& Mtilde, cv::Mat& eigenval_real, cv::Ma
{
// EIGENVALUES AND EIGENVECTORS
#ifdef HAVE_EIGEN
Eigen::MatrixXd Mtilde_eig, zeros_eig;
cv::cv2eigen(Mtilde, Mtilde_eig);
cv::cv2eigen(cv::Mat::zeros(27, 27, CV_64F), zeros_eig);
@ -307,6 +305,7 @@ 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);
#endif
}

15
modules/calib3d/src/solvepnp.cpp
View File

@ -49,11 +49,6 @@
#include <iostream>
using namespace cv;
void MatrixSize(const cv::Mat& mat)
{
cout << mat.rows << "x" << mat.cols << endl;
}
bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
InputArray _cameraMatrix, InputArray _distCoeffs,
OutputArray _rvec, OutputArray _tvec, bool useExtrinsicGuess, int flags )
@ -101,19 +96,25 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
}
else if (flags == DLS)
{
bool result = false;
#ifdef HAVE_EIGEN
cv::Mat undistortedPoints;
cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
dls PnP(opoints, undistortedPoints);
cv::Mat R, rvec = _rvec.getMat(), tvec = _tvec.getMat();
bool result = PnP.compute_pose(R, tvec);
result = PnP.compute_pose(R, tvec);
if (result)
cv::Rodrigues(R, rvec);
#else
std::cout << "EIGEN library needed for DLS" << std::endl;
#endif
return result;
}
else
CV_Error(CV_StsBadArg, "The flags argument must be one of CV_ITERATIVE, CV_P3P or CV_EPNP");
CV_Error(CV_StsBadArg, "The flags argument must be one of CV_ITERATIVE, CV_P3P, CV_EPNP or CV_DLS");
return false;
}