int main(int argc, char** argv) {
int nrows = 6;
if (argc >= 2)
sscanf(argv[1], "%d", &nrows);
int ncols = 6;
if (argc >= 3)
sscanf(argv[2], "%d", &ncols);
Cmatrix Md = Cmatrix::Random(nrows, ncols);
MatrixXv Mv(Md);
MatrixXl Ml(Md);
MatrixXh Mh(Md);
cout << Md.str(Dense()) << endl;
cout << Mv.str(Dense()) << endl;
cout << Ml.str(Dense()) << endl;
cout << Mh.str(Dense()) << endl;
cout << Mh.nnz() << endl;
}
/**
* Computes the parameters of an ellipse from contours
*/
bool Circular::getEllipseParameters(void){
// Transform from pixel coordinate to image frame coordinate
int numel = this->contours_.size();
cv::Mat M(3, numel, CV_64F, 1.0);
double ax = - this->cx_ / this->fx_ ;
double ay = - this->cy_ / this->fy_ ;
for (int j=0; j<numel; j++){
M.at<double>(0, j) = this->contours_.at(j).x / this->fx_ + ax ;
M.at<double>(1, j) = this->contours_.at(j).y / this->fy_ + ay ;
}
// Find center of the oblique circular cone;
this->xc_c_(0) = sum(M.row(0))[0]/numel;
this->xc_c_(1) = sum(M.row(1))[0]/numel;
this->xc_c_(2) = 1;
// Computing ellipse parameters
double alpha = -atan2(xc_c_(1), -xc_c_(2));
double beta = -atan2(xc_c_(0), -xc_c_(1)*sin(alpha)-xc_c_(2)*cos(alpha) );
cv::Mat R = (cv::Mat_<double>(3,3) << cos(beta), 0, -sin(beta),0, 1, 0, sin(beta), 0, cos(beta) ) *
(cv::Mat_<double>(3,3) << 1, 0, 0, 0, cos(alpha), -sin(alpha), 0, sin(alpha), cos(alpha) );
cv::Mat Mh(R*M);
std::vector<cv::Point2f> contours;
for (int j=0; j<Mh.cols; j++){
contours.push_back(cv::Point2f( Mh.at<double>(0, j) / Mh.at<double>(2, j),
Mh.at<double>(1, j) / Mh.at<double>(2, j)
) );
}
this->ellipse_ = cv::fitEllipse(contours);
return true;
}
