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fixed compilation with eigen2

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This commit is contained in:
Maria Dimashova 2012-03-11 09:56:23 +00:00
parent 532781e8d2
commit abe2c2fb3f
1 changed files with 12 additions and 12 deletions
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24
modules/contrib/src/rgbdodometry.cpp
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@ -49,7 +49,7 @@
#ifdef HAVE_EIGEN #ifdef HAVE_EIGEN
#include <Eigen/Core> #include <Eigen/Core>
#include <unsupported/Eigen/MatrixFunctions> //#include <unsupported/Eigen/MatrixFunctions>
#include <Eigen/Dense> #include <Eigen/Dense>
#endif #endif
@ -77,18 +77,18 @@ void computeProjectiveMatrix( const Mat& ksi, Mat& Rt )
{ {
CV_Assert( ksi.size() == Size(1,6) && ksi.type() == CV_64FC1 ); CV_Assert( ksi.size() == Size(1,6) && ksi.type() == CV_64FC1 );
#ifdef HAVE_EIGEN //#ifdef HAVE_EIGEN
const double* ksi_ptr = reinterpret_cast<const double*>(ksi.ptr(0)); // const double* ksi_ptr = reinterpret_cast<const double*>(ksi.ptr(0));
Eigen::Matrix<double,4,4> twist, g; // Eigen::Matrix<double,4,4> twist, g;
twist << 0., -ksi_ptr[2], ksi_ptr[1], ksi_ptr[3], // twist << 0., -ksi_ptr[2], ksi_ptr[1], ksi_ptr[3],
ksi_ptr[2], 0., -ksi_ptr[0], ksi_ptr[4], // ksi_ptr[2], 0., -ksi_ptr[0], ksi_ptr[4],
-ksi_ptr[1], ksi_ptr[0], 0, ksi_ptr[5], // -ksi_ptr[1], ksi_ptr[0], 0, ksi_ptr[5],
0., 0., 0., 0.; // 0., 0., 0., 0.;
g = twist.exp(); // g = twist.exp();
eigen2cv(g, Rt); // eigen2cv(g, Rt);
#else //#else
// for infinitesimal transformation // for infinitesimal transformation
Rt = Mat::eye(4, 4, CV_64FC1); 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>(0,3) = ksi.at<double>(3);
Rt.at<double>(1,3) = ksi.at<double>(4); Rt.at<double>(1,3) = ksi.at<double>(4);
Rt.at<double>(2,3) = ksi.at<double>(5); Rt.at<double>(2,3) = ksi.at<double>(5);
#endif //#endif
} }
static static