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fixed compilation with eigen2

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This commit is contained in:
Maria Dimashova 2012-03-11 11:45:29 +00:00
parent 57c7604568
commit 90f6e319da
1 changed files with 14 additions and 14 deletions
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28
modules/contrib/src/rgbdodometry.cpp
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@ -47,9 +47,9 @@
#include <iostream>
#ifdef HAVE_EIGEN
#if defined(HAVE_EIGEN) && EIGEN_WORLD_VERSION == 3
#include <Eigen/Core>
//#include <unsupported/Eigen/MatrixFunctions>
#include <unsupported/Eigen/MatrixFunctions>
#include <Eigen/Dense>
#endif
@ -77,18 +77,18 @@ void computeProjectiveMatrix( const Mat& ksi, Mat& Rt )
{
CV_Assert( ksi.size() == Size(1,6) && ksi.type() == CV_64FC1 );
//#ifdef HAVE_EIGEN
// const double* ksi_ptr = reinterpret_cast<const double*>(ksi.ptr(0));
// Eigen::Matrix<double,4,4> twist, g;
// twist << 0., -ksi_ptr[2], ksi_ptr[1], ksi_ptr[3],
// ksi_ptr[2], 0., -ksi_ptr[0], ksi_ptr[4],
// -ksi_ptr[1], ksi_ptr[0], 0, ksi_ptr[5],
// 0., 0., 0., 0.;
// g = twist.exp();
#if defined(HAVE_EIGEN) && EIGEN_WORLD_VERSION == 3
const double* ksi_ptr = reinterpret_cast<const double*>(ksi.ptr(0));
Eigen::Matrix<double,4,4> twist, g;
twist << 0., -ksi_ptr[2], ksi_ptr[1], ksi_ptr[3],
ksi_ptr[2], 0., -ksi_ptr[0], ksi_ptr[4],
-ksi_ptr[1], ksi_ptr[0], 0, ksi_ptr[5],
0., 0., 0., 0.;
g = twist.exp();
// eigen2cv(g, Rt);
//#else
eigen2cv(g, Rt);
#else
// for infinitesimal transformation
Rt = Mat::eye(4, 4, CV_64FC1);
@ -100,7 +100,7 @@ void computeProjectiveMatrix( const Mat& ksi, Mat& Rt )
Rt.at<double>(0,3) = ksi.at<double>(3);
Rt.at<double>(1,3) = ksi.at<double>(4);
Rt.at<double>(2,3) = ksi.at<double>(5);
//#endif
#endif
}
static
@ -286,7 +286,7 @@ static
bool solveSystem( const Mat& C, const Mat& dI_dt, double detThreshold, Mat& Rt )
{
Mat ksi;
#ifdef HAVE_EIGEN
#if defined(HAVE_EIGEN) && EIGEN_WORLD_VERSION == 3
Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic> eC, eCt, edI_dt;
cv2eigen(C, eC);
cv2eigen(dI_dt, edI_dt);