void qr(cv::Mat input, cv::Mat &q, cv::Mat &r){
Eigen::Matrix3Xd* A = toMatrix3Xd(input);
Eigen::HouseholderQR<Eigen::MatrixXd> qr(*A);
Eigen::MatrixXd R = qr.matrixQR().triangularView<Eigen::Upper>();
Eigen::MatrixXd Q = qr.householderQ();
q = toMat(Q);
r = toMat(R);
}
cv::Mat RVec::toMat(const vector<double>& content){
vector<string> strContent;
for(const double &value : content){
strContent.push_back( toString<double>( value ) );
}
return toMat(strContent);
}
void Vertex::rotateInPlace(const Matrix3d& rotmat)
{
auto vecmat = toMat();
auto res = rotmat * vecmat;
x(res.get(0, 0));
y(res.get(1, 0));
z(res.get(2, 0));
}
void Chair::draw(glm::vec3 Scale, glm::vec3 Rotate, float RotAngle, glm::vec3 Translate)
{
//Start with identity matrix
modelMatrix = toMat(Scale, Rotate, RotAngle, Translate);
modelMatrix = localMatrix * modelMatrix;
for(int i=0; i<subGeometry->children.size(); ++i)
{
subGeometry->children.at(i)->visitChildren(modelMatrix);
}
}
std::vector<cv::Rect> MxArray::toVector() const
{
if (isNumeric()) {
std::vector<cv::Rect> vr;
if (numel() == 4)
vr.push_back(toRect());
else
toMat(CV_32S).reshape(4, 0).copyTo(vr);
return vr;
}
else {
return toVector(
std::const_mem_fun_ref_t<cv::Rect, MxArray>(&MxArray::toRect));
}
}
ofMatrix4x4 estimateAffine3D(vector<ofVec3f>& from, vector<ofVec3f>& to, vector<unsigned char>& outliers, float accuracy) {
Mat fromMat(1, from.size(), CV_32FC3, &from[0]);
Mat toMat(1, to.size(), CV_32FC3, &to[0]);
Mat affine;
estimateAffine3D(fromMat, toMat, affine, outliers, 3, accuracy);
ofMatrix4x4 affine4x4;
affine4x4.set(affine.ptr<double>());
affine4x4(3, 0) = 0;
affine4x4(3, 1) = 0;
affine4x4(3, 2) = 0;
affine4x4(3, 3) = 1;
Mat affine4x4Mat(4, 4, CV_32F, affine4x4.getPtr());
affine4x4Mat = affine4x4Mat.t();
affine4x4.set(affine4x4Mat.ptr<float>());
return affine4x4;
}
std::vector<cv::Vec4f> MxArray::toVector() const
{
if (isNumeric()) {
std::vector<cv::Vec4f> vv;
if (numel() == 4)
vv.push_back(toVec<float,4>());
else
toMat(CV_32F).reshape(4, 0).copyTo(vv);
return vv;
}
else {
return toVector(
std::const_mem_fun_ref_t<cv::Vec4f, MxArray>(
&MxArray::toVec<float,4>));
}
}
std::vector<cv::Vec3i> MxArray::toVector() const
{
if (isNumeric()) {
std::vector<cv::Vec3i> vv;
if (numel() == 3)
vv.push_back(toVec<int,3>());
else
toMat(CV_32S).reshape(3, 0).copyTo(vv);
return vv;
}
else {
return toVector(
std::const_mem_fun_ref_t<cv::Vec3i, MxArray>(
&MxArray::toVec<int,3>));
}
}
std::vector<cv::Point3d> MxArray::toVector() const
{
if (isNumeric()) {
std::vector<cv::Point3d> vp;
if (numel() == 3)
vp.push_back(toPoint3_<double>());
else
toMat(CV_64F).reshape(3, 0).copyTo(vp);
return vp;
}
else {
return toVector(
std::const_mem_fun_ref_t<cv::Point3d, MxArray>(
&MxArray::toPoint3_<double>));
}
}
std::vector<cv::Point2f> MxArray::toVector() const
{
if (isNumeric()) {
std::vector<cv::Point2f> vp;
if (numel() == 2)
vp.push_back(toPoint2f());
else
toMat(CV_32F).reshape(2, 0).copyTo(vp);
return vp;
}
else {
return toVector(
std::const_mem_fun_ref_t<cv::Point2f, MxArray>(
&MxArray::toPoint_<float>));
}
}
Chair::Chair(glm::vec3 Scale, glm::vec3 Rotate, float RotAngle, glm::vec3 Translate)
{
localMatrix = toMat(Scale, Rotate, RotAngle, Translate);
setCube(new HECube(vec3(1, 1, 1), vec3(0, 1, 0), 0.0f, vec3(0, 0, 0)));
glm::mat4 xform;
xform = toMat(Scale, glm::vec3(0,1,0), RotAngle, Translate);
Node* chair = new Node(xform, NULL);
xform = toMat(glm::vec3(1, 0.1, 1), glm::vec3(0,1,0), 0.0f, glm::vec3(0, 1, 0));//Top
chair->children.push_back(new Node(xform, cube));
xform = toMat(glm::vec3(0.1, 1, 0.1), glm::vec3(0,1,0), 0.0f, glm::vec3(0.45, 0, 0.45));//Legs
chair->children.push_back(new Node(xform, cube));
xform = toMat(glm::vec3(0.1, 1, 0.1), glm::vec3(0,1,0), 0.0f, glm::vec3(-0.45, 0, 0.45));
chair->children.push_back(new Node(xform, cube));
xform = toMat(glm::vec3(0.1, 1, 0.1), glm::vec3(0,1,0), 0.0f, glm::vec3(0.45, 0, -0.45));
chair->children.push_back(new Node(xform, cube));
xform = toMat(glm::vec3(0.1, 1, 0.1), glm::vec3(0,1,0), 0.0f, glm::vec3(-0.45, 0, -0.45));
chair->children.push_back(new Node(xform, cube));
xform = toMat(glm::vec3(1, 1, 0.1), glm::vec3(0,1,0), 0.0f, glm::vec3(0, 1, -0.45));//Back
chair->children.push_back(new Node(xform, cube));
subGeometry = chair;
}
RVec::RVec(const vector<double>& content) : mat_(toMat(content)){
if(!isValid()) throw invalid_argument( getErrorMessage() );
}
fileToMat::fileToMat()
{
Logger::getLogger()->write(3, "Inside fileToMat constructor");
checkFileExists();
toMat();
}
