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MACRO for EIGEN libraries

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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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15
modules/calib3d/src/solvepnp.cpp
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@@ -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;
}