Eigen::Vector3f PhotoCamera::unproject(const Eigen::Vector2f &pixel)
{
Eigen::Vector3f pixelH;
pixelH << pixel(0), pixel(1), 1;
Eigen::MatrixXf pseudoInverse = getPseudoInverse();
Eigen::Vector4f XH = pseudoInverse*pixelH;
Eigen::Vector3f p = XH.hnormalized();
Eigen::Vector3f ray = p - cameraCenter.hnormalized();
ray /= ray.norm();
return ray;
}
void CLinearRegression::calculateRegressionMatrix(CDataSet *dataSet, CDataSet1D *outputValues, DataSubset *subset)
{
if (subset)
{
assert((signed int) subset->size() == X->nrows());
DataSubset::iterator it = subset->begin();
for (int i = 0; it != subset->end(); it ++, i++)
{
yVector->element(i) = (*outputValues)[*it];
getXVector((*dataSet)[*it], xVector);
for (int j = 0; j < xVector->size(); j ++)
{
X->element(i, j) = xVector->element(j);
}
}
}
else
{
assert(dataSet->size() == (unsigned int) X->nrows());
for (unsigned int i = 0; i < dataSet->size(); i++)
{
yVector->element(i) = (*outputValues)[i];
getXVector((*dataSet)[i], xVector);
for (int j = 0; j < xVector->size(); j ++)
{
X->element(i, j) = xVector->element(j);
}
}
}
//printf("X: %d %d X_pinv: %d %d\n", X->nrows(), X->ncols(), X_pinv->nrows(), X_pinv->ncols());
getPseudoInverse(X, X_pinv, lambda);
*w = (*X_pinv) * (*yVector);
}