├── MCVO ├── .vscode │ └── settings.json ├── CMakeLists.txt ├── cmake │ ├── FindEigen.cmake │ ├── FindGflags.cmake │ ├── FindGlog.cmake │ └── FindTBB.cmake ├── config │ ├── 05mask.jpg │ ├── 06mask.jpg │ ├── KITTI360 │ │ ├── KITTI360.yaml │ │ └── cameras │ │ │ ├── camera_00.yaml │ │ │ ├── camera_01.yaml │ │ │ ├── camera_02.yaml │ │ │ └── camera_03.yaml │ ├── M2DGR │ │ ├── M2DGR.yaml │ │ └── cameras │ │ │ ├── camera_00.yaml │ │ │ ├── camera_01.yaml │ │ │ ├── camera_02.yaml │ │ │ ├── camera_03.yaml │ │ │ ├── camera_04.yaml │ │ │ └── camera_05.yaml │ ├── MCVO │ │ ├── MCVO_estimator.yaml │ │ ├── MCVO_frontend.yaml │ │ ├── MCVO_frontend_lidar.yaml │ │ ├── cam360 │ │ │ ├── cam_0.yaml │ │ │ └── cam_1.yaml │ │ ├── fisheye_mask.jpg │ │ └── ugv │ │ │ ├── camera_1.yaml │ │ │ ├── cmu_rc2_cam1_debug.yaml │ │ │ └── fisheye_mask_640x480.png │ ├── MCdata │ │ ├── MCdata_NOV_Ground.yaml │ │ ├── MCdata_NOV_Lab.yaml │ │ ├── MCdata_NOV_Lab1.yaml │ │ ├── MCdata_copy.yaml │ │ └── cameras │ │ │ ├── camera_00.yaml │ │ │ ├── camera_01.yaml │ │ │ ├── camera_02.yaml │ │ │ ├── camera_03.yaml │ │ │ ├── camera_04.yaml │ │ │ ├── camera_05.yaml │ │ │ └── camera_06.yaml │ ├── NCLT │ │ ├── NCLT.yaml │ │ └── cameras │ │ │ ├── camera_00.yaml │ │ │ ├── camera_01.yaml │ │ │ ├── camera_02.yaml │ │ │ ├── camera_03.yaml │ │ │ ├── camera_04.yaml │ │ │ └── camera_05.yaml │ ├── camera_info.yaml │ ├── champ │ │ ├── NVIDIA_ISAAC_cam.yaml │ │ ├── champ_estimator.yaml │ │ └── champ_view.rviz │ ├── create_mask.py │ ├── fisheye_mask.jpg │ ├── fisheye_mask_02.png │ ├── fisheye_mask_03.png │ ├── fisheye_mask_640x480.png │ ├── fisheye_mask_752x480.jpg │ ├── fisheye_mask_cam0.png │ ├── fisheye_mask_cam1.png │ ├── fisheye_mask_cam1_half.png │ ├── hilti_challange │ │ ├── cameras │ │ │ ├── cam0.yaml │ │ │ ├── cam1.yaml │ │ │ ├── cam2.yaml │ │ │ ├── cam3.yaml │ │ │ └── cam4.yaml │ │ ├── hilti_challange.yaml │ │ └── hilti_view.rviz │ ├── initial.png │ ├── realsense │ │ ├── velodyne16_cmu_drone.yaml │ │ ├── velodyne16_cmu_drone_latest.yaml │ │ └── velodyne16_color.yaml │ ├── uav360 │ │ ├── cameras │ │ │ ├── camera_00.yaml │ │ │ ├── camera_01.yaml │ │ │ ├── camera_02.yaml │ │ │ └── camera_03.yaml │ │ └── uav360.yaml │ ├── ugv │ │ ├── .rc_car_cam1.yaml.swp │ │ ├── cmu_rc1_cam1.yaml │ │ ├── cmu_rc1_cam1_debug.yaml │ │ ├── cmu_rc1_cam1_half_imagesize.yaml │ │ ├── cmu_rc2_cam1_debug.yaml │ │ ├── cmu_rc2_cam1_half_imagesize.yaml │ │ ├── cmu_sp1_cam1.yaml │ │ ├── cmu_sp1_cam1_half_imagesize.yaml │ │ ├── mmpug_rc1_cam1_half_imagesize.yaml │ │ ├── mono1_config.yaml │ │ └── multiVIO.yaml │ └── violoam.rviz ├── launch │ ├── KITTI360.launch │ ├── KITTI360.rviz │ ├── M2DGR.launch │ ├── MCVO_VIEW.rviz │ ├── MCVO_estimator.launch │ ├── MCVO_frontend.launch │ ├── MCdata.launch │ ├── MCdata.rviz │ ├── NCLT.launch │ ├── champ │ │ └── champ_estimator.launch │ ├── hilti_challange │ │ └── hilti_challange.launch │ ├── hilti_view.rviz │ ├── vins_combined2.rviz │ └── vins_rviz.launch ├── package.xml ├── src │ ├── Estimator │ │ ├── MCVOestimator.cpp │ │ ├── MCVOestimator.h │ │ ├── MCVOfeature_manager.cpp │ │ ├── MCVOfeature_manager.h │ │ ├── factor │ │ │ ├── FrameParameterization.cpp │ │ │ ├── FrameParameterization.h │ │ │ ├── SE3AbsolutatePoseFactor.cpp │ │ │ ├── SE3AbsolutatePoseFactor.h │ │ │ ├── SE3RelativtePoseFactor.cpp │ │ │ ├── SE3RelativtePoseFactor.h │ │ │ ├── imu_factor.h │ │ │ ├── integration_base.h │ │ │ ├── marginalization_factor.cpp │ │ │ ├── marginalization_factor.h │ │ │ ├── pose_local_parameterization.cpp │ │ │ ├── pose_local_parameterization.h │ │ │ ├── projection_factor.cpp │ │ │ ├── projection_factor.h │ │ │ ├── projection_mc_factor.cpp │ │ │ ├── projection_mc_factor.h │ │ │ ├── projection_td_factor.cpp │ │ │ └── projection_td_factor.h │ │ ├── initial │ │ │ ├── alignment_factor.cpp │ │ │ ├── alignment_factor.h │ │ │ ├── initial_aligment.cpp │ │ │ ├── initial_alignment.h │ │ │ ├── initial_ex_rotation.cpp │ │ │ ├── initial_ex_rotation.h │ │ │ ├── initial_sfm.cpp │ │ │ ├── initial_sfm.h │ │ │ ├── solve_5pts.cpp │ │ │ └── solve_5pts.h │ │ ├── parameters.cpp │ │ └── parameters.h │ ├── Frontend │ │ ├── MCVOfrontend.cpp │ │ ├── MCVOfrontend.h │ │ ├── MCVOfrontend_data.h │ │ ├── feature_tracker │ │ │ ├── ORBextractor │ │ │ │ ├── ORBextractor.cc │ │ │ │ └── ORBextractor.h │ │ │ ├── ORBfeature_tracker.cpp │ │ │ ├── ORBfeature_tracker.h │ │ │ ├── SPHORB │ │ │ │ ├── Data │ │ │ │ │ ├── geoinfo102.pfm │ │ │ │ │ ├── geoinfo128.pfm │ │ │ │ │ ├── geoinfo162.pfm │ │ │ │ │ ├── geoinfo204.pfm │ │ │ │ │ ├── geoinfo256.pfm │ │ │ │ │ ├── geoinfo64.pfm │ │ │ │ │ ├── geoinfo80.pfm │ │ │ │ │ ├── imginfo102_0.pfm │ │ │ │ │ ├── imginfo102_1.pfm │ │ │ │ │ ├── imginfo102_2.pfm │ │ │ │ │ ├── imginfo102_3.pfm │ │ │ │ │ ├── imginfo102_4.pfm │ │ │ │ │ ├── imginfo128_0.pfm │ │ │ │ │ ├── imginfo128_1.pfm │ │ │ │ │ ├── imginfo128_2.pfm │ │ │ │ │ ├── imginfo128_3.pfm │ │ │ │ │ ├── imginfo128_4.pfm │ │ │ │ │ ├── imginfo162_0.pfm │ │ │ │ │ ├── imginfo162_1.pfm │ │ │ │ │ ├── imginfo162_2.pfm │ │ │ │ │ ├── imginfo162_3.pfm │ │ │ │ │ ├── imginfo162_4.pfm │ │ │ │ │ ├── imginfo204_0.pfm │ │ │ │ │ ├── imginfo204_1.pfm │ │ │ │ │ ├── imginfo204_2.pfm │ │ │ │ │ ├── imginfo204_3.pfm │ │ │ │ │ ├── imginfo204_4.pfm │ │ │ │ │ ├── imginfo256_0.pfm │ │ │ │ │ ├── imginfo256_1.pfm │ │ │ │ │ ├── imginfo256_2.pfm │ │ │ │ │ ├── imginfo256_3.pfm │ │ │ │ │ ├── imginfo256_4.pfm │ │ │ │ │ ├── imginfo64_0.pfm │ │ │ │ │ ├── imginfo64_1.pfm │ │ │ │ │ ├── imginfo64_2.pfm │ │ │ │ │ ├── imginfo64_3.pfm │ │ │ │ │ ├── imginfo64_4.pfm │ │ │ │ │ ├── imginfo80_0.pfm │ │ │ │ │ ├── imginfo80_1.pfm │ │ │ │ │ ├── imginfo80_2.pfm │ │ │ │ │ ├── imginfo80_3.pfm │ │ │ │ │ ├── imginfo80_4.pfm │ │ │ │ │ ├── mask102.bmp │ │ │ │ │ ├── mask128.bmp │ │ │ │ │ ├── mask162.bmp │ │ │ │ │ ├── mask204.bmp │ │ │ │ │ ├── mask256.bmp │ │ │ │ │ ├── mask64.bmp │ │ │ │ │ └── mask80.bmp │ │ │ │ ├── SPHORB.cpp │ │ │ │ ├── detector.cpp │ │ │ │ ├── include │ │ │ │ │ ├── SPHORB.h │ │ │ │ │ ├── detector.h │ │ │ │ │ ├── pfm.h │ │ │ │ │ └── utility.h │ │ │ │ ├── nonmax.cpp │ │ │ │ ├── pfm.cpp │ │ │ │ └── utility.cpp │ │ │ ├── SPHORBfeature_tracker.cpp │ │ │ ├── SPHORBfeature_tracker.h │ │ │ ├── Superpoint_tracker.cpp │ │ │ ├── Superpoint_tracker.h │ │ │ ├── feature_tracker.cpp │ │ │ ├── feature_tracker.h │ │ │ ├── super_include │ │ │ │ ├── SuperGlue.cpp │ │ │ │ ├── SuperGlue.hpp │ │ │ │ ├── SuperPoint.cpp │ │ │ │ ├── SuperPoint.hpp │ │ │ │ ├── Utility.hpp │ │ │ │ └── torch_cpp.hpp │ │ │ ├── trackerbase.cpp │ │ │ ├── trackerbase.h │ │ │ ├── vpi_feature_tracker.cpp │ │ │ └── vpi_feature_tracker.h │ │ ├── lidar.cpp │ │ ├── sensors.cpp │ │ └── sensors.h │ ├── MCVOestimator_node.cpp │ ├── Utils │ │ └── EigenTypes.h │ ├── test_main.cpp │ ├── types.h │ └── utility │ │ ├── CameraPoseVisualization.cpp │ │ ├── CameraPoseVisualization.h │ │ ├── MapRingBuffer.h │ │ ├── Twist.h │ │ ├── sophus_utils.hpp │ │ ├── tic_toc.h │ │ ├── utility.cpp │ │ ├── utility.h │ │ ├── visualization.cpp │ │ └── visualization.h └── thirdparty │ ├── Sophus │ ├── .clang-format │ ├── .gitignore │ ├── .travis.yml │ ├── CMakeLists.txt │ ├── LICENSE.txt │ ├── README.rst │ ├── SophusConfig.cmake.in │ ├── appveyor.yml │ ├── cmake_modules │ │ └── FindEigen3.cmake │ ├── py │ │ ├── cpp_gencode │ │ │ ├── Se2_Dx_exp_x.cpp │ │ │ ├── Se2_Dx_this_mul_exp_x_at_0.cpp │ │ │ ├── Se3_Dx_exp_x.cpp │ │ │ ├── Se3_Dx_this_mul_exp_x_at_0.cpp │ │ │ ├── So2_Dx_exp_x.cpp │ │ │ ├── So2_Dx_this_mul_exp_x_at_0.cpp │ │ │ ├── So3_Dx_exp_x.cpp │ │ │ └── So3_Dx_this_mul_exp_x_at_0.cpp │ │ ├── run_tests.sh │ │ └── sophus │ │ │ ├── __init__.py │ │ │ ├── complex.py │ │ │ ├── cse_codegen.py │ │ │ ├── dual_quaternion.py │ │ │ ├── matrix.py │ │ │ ├── quaternion.py │ │ │ ├── se2.py │ │ │ ├── se3.py │ │ │ ├── so2.py │ │ │ ├── so3.py │ │ │ └── so3_codegen.py │ ├── run_format.sh │ ├── scripts │ │ ├── install_linux_deps.sh │ │ ├── install_osx_deps.sh │ │ └── run_cpp_tests.sh │ └── sophus │ │ ├── average.hpp │ │ ├── common.hpp │ │ ├── example_ensure_handler.cpp │ │ ├── geometry.hpp │ │ ├── interpolate.hpp │ │ ├── interpolate_details.hpp │ │ ├── num_diff.hpp │ │ ├── rotation_matrix.hpp │ │ ├── rxso2.hpp │ │ ├── rxso3.hpp │ │ ├── se2.hpp │ │ ├── se3.hpp │ │ ├── sim2.hpp │ │ ├── sim3.hpp │ │ ├── sim_details.hpp │ │ ├── so2.hpp │ │ ├── so3.hpp │ │ ├── test_macros.hpp │ │ ├── types.hpp │ │ └── velocities.hpp │ └── eigen │ ├── .hgeol │ ├── .hgignore │ ├── .hgtags │ ├── CMakeLists.txt │ ├── COPYING.BSD │ ├── COPYING.GPL │ ├── COPYING.LGPL │ ├── COPYING.MINPACK │ ├── COPYING.MPL2 │ ├── COPYING.README │ ├── CTestConfig.cmake │ ├── CTestCustom.cmake.in │ ├── Eigen │ ├── CMakeLists.txt │ ├── Cholesky │ ├── CholmodSupport │ ├── Core │ ├── Dense │ ├── Eigen │ ├── Eigenvalues │ ├── Geometry │ ├── Householder │ ├── IterativeLinearSolvers │ ├── Jacobi │ ├── LU │ ├── MetisSupport │ ├── OrderingMethods │ ├── PaStiXSupport │ ├── PardisoSupport │ ├── QR │ ├── QtAlignedMalloc │ ├── SPQRSupport │ ├── SVD │ ├── Sparse │ ├── SparseCholesky │ ├── SparseCore │ ├── SparseLU │ ├── SparseQR │ ├── StdDeque │ ├── StdList │ ├── StdVector │ ├── SuperLUSupport │ ├── UmfPackSupport │ └── src │ │ ├── Cholesky │ │ ├── LDLT.h │ │ ├── LLT.h │ │ └── LLT_LAPACKE.h │ │ ├── CholmodSupport │ │ └── CholmodSupport.h │ │ ├── Core │ │ ├── Array.h │ │ ├── ArrayBase.h │ │ ├── ArrayWrapper.h │ │ ├── Assign.h │ │ ├── AssignEvaluator.h │ │ ├── Assign_MKL.h │ │ ├── BandMatrix.h │ │ ├── Block.h │ │ ├── BooleanRedux.h │ │ ├── CommaInitializer.h │ │ ├── ConditionEstimator.h │ │ ├── CoreEvaluators.h │ │ ├── CoreIterators.h │ │ ├── CwiseBinaryOp.h │ │ ├── CwiseNullaryOp.h │ │ ├── CwiseTernaryOp.h │ │ ├── CwiseUnaryOp.h │ │ ├── CwiseUnaryView.h │ │ ├── DenseBase.h │ │ ├── DenseCoeffsBase.h │ │ ├── DenseStorage.h │ │ ├── Diagonal.h │ │ ├── DiagonalMatrix.h │ │ ├── DiagonalProduct.h │ │ ├── Dot.h │ │ ├── EigenBase.h │ │ ├── ForceAlignedAccess.h │ │ ├── Fuzzy.h │ │ ├── GeneralProduct.h │ │ ├── GenericPacketMath.h │ │ ├── GlobalFunctions.h │ │ ├── IO.h │ │ ├── Inverse.h │ │ ├── Map.h │ │ ├── MapBase.h │ │ ├── MathFunctions.h │ │ ├── MathFunctionsImpl.h │ │ ├── Matrix.h │ │ ├── MatrixBase.h │ │ ├── NestByValue.h │ │ ├── NoAlias.h │ │ ├── NumTraits.h │ │ ├── PermutationMatrix.h │ │ ├── PlainObjectBase.h │ │ ├── Product.h │ │ ├── ProductEvaluators.h │ │ ├── Random.h │ │ ├── Redux.h │ │ ├── Ref.h │ │ ├── Replicate.h │ │ ├── ReturnByValue.h │ │ ├── Reverse.h │ │ ├── Select.h │ │ ├── SelfAdjointView.h │ │ ├── SelfCwiseBinaryOp.h │ │ ├── Solve.h │ │ ├── SolveTriangular.h │ │ ├── SolverBase.h │ │ ├── StableNorm.h │ │ ├── Stride.h │ │ ├── Swap.h │ │ ├── Transpose.h │ │ ├── Transpositions.h │ │ ├── TriangularMatrix.h │ │ ├── VectorBlock.h │ │ ├── VectorwiseOp.h │ │ ├── Visitor.h │ │ ├── arch │ │ │ ├── AVX │ │ │ │ ├── Complex.h │ │ │ │ ├── MathFunctions.h │ │ │ │ ├── PacketMath.h │ │ │ │ └── TypeCasting.h │ │ │ ├── AVX512 │ │ │ │ ├── MathFunctions.h │ │ │ │ └── PacketMath.h │ │ │ ├── AltiVec │ │ │ │ ├── Complex.h │ │ │ │ ├── MathFunctions.h │ │ │ │ └── PacketMath.h │ │ │ ├── CUDA │ │ │ │ ├── Complex.h │ │ │ │ ├── Half.h │ │ │ │ ├── MathFunctions.h │ │ │ │ ├── PacketMath.h │ │ │ │ ├── PacketMathHalf.h │ │ │ │ └── TypeCasting.h │ │ │ ├── Default │ │ │ │ ├── ConjHelper.h │ │ │ │ └── Settings.h │ │ │ ├── NEON │ │ │ │ ├── Complex.h │ │ │ │ ├── MathFunctions.h │ │ │ │ └── PacketMath.h │ │ │ ├── SSE │ │ │ │ ├── Complex.h │ │ │ │ ├── MathFunctions.h │ │ │ │ ├── PacketMath.h │ │ │ │ └── TypeCasting.h │ │ │ └── ZVector │ │ │ │ ├── Complex.h │ │ │ │ ├── MathFunctions.h │ │ │ │ └── PacketMath.h │ │ ├── functors │ │ │ ├── AssignmentFunctors.h │ │ │ ├── BinaryFunctors.h │ │ │ ├── NullaryFunctors.h │ │ │ ├── StlFunctors.h │ │ │ ├── TernaryFunctors.h │ │ │ └── UnaryFunctors.h │ │ ├── products │ │ │ ├── GeneralBlockPanelKernel.h │ │ │ ├── GeneralMatrixMatrix.h │ │ │ ├── GeneralMatrixMatrixTriangular.h │ │ │ ├── GeneralMatrixMatrixTriangular_BLAS.h │ │ │ ├── GeneralMatrixMatrix_BLAS.h │ │ │ ├── GeneralMatrixVector.h │ │ │ ├── GeneralMatrixVector_BLAS.h │ │ │ ├── Parallelizer.h │ │ │ ├── SelfadjointMatrixMatrix.h │ │ │ ├── SelfadjointMatrixMatrix_BLAS.h │ │ │ ├── SelfadjointMatrixVector.h │ │ │ ├── SelfadjointMatrixVector_BLAS.h │ │ │ ├── SelfadjointProduct.h │ │ │ ├── SelfadjointRank2Update.h │ │ │ ├── TriangularMatrixMatrix.h │ │ │ ├── TriangularMatrixMatrix_BLAS.h │ │ │ ├── TriangularMatrixVector.h │ │ │ ├── TriangularMatrixVector_BLAS.h │ │ │ ├── TriangularSolverMatrix.h │ │ │ ├── TriangularSolverMatrix_BLAS.h │ │ │ └── TriangularSolverVector.h │ │ └── util │ │ │ ├── BlasUtil.h │ │ │ ├── Constants.h │ │ │ ├── DisableStupidWarnings.h │ │ │ ├── ForwardDeclarations.h │ │ │ ├── MKL_support.h │ │ │ ├── Macros.h │ │ │ ├── Memory.h │ │ │ ├── Meta.h │ │ │ ├── NonMPL2.h │ │ │ ├── ReenableStupidWarnings.h │ │ │ ├── StaticAssert.h │ │ │ └── XprHelper.h │ │ ├── Eigenvalues │ │ ├── ComplexEigenSolver.h │ │ ├── ComplexSchur.h │ │ ├── ComplexSchur_LAPACKE.h │ │ ├── EigenSolver.h │ │ ├── GeneralizedEigenSolver.h │ │ ├── GeneralizedSelfAdjointEigenSolver.h │ │ ├── HessenbergDecomposition.h │ │ ├── MatrixBaseEigenvalues.h │ │ ├── RealQZ.h │ │ ├── RealSchur.h │ │ ├── RealSchur_LAPACKE.h │ │ ├── SelfAdjointEigenSolver.h │ │ ├── SelfAdjointEigenSolver_LAPACKE.h │ │ └── Tridiagonalization.h │ │ ├── Geometry │ │ ├── AlignedBox.h │ │ ├── AngleAxis.h │ │ ├── EulerAngles.h │ │ ├── Homogeneous.h │ │ ├── Hyperplane.h │ │ ├── OrthoMethods.h │ │ ├── ParametrizedLine.h │ │ ├── Quaternion.h │ │ ├── Rotation2D.h │ │ ├── RotationBase.h │ │ ├── Scaling.h │ │ ├── Transform.h │ │ ├── Translation.h │ │ ├── Umeyama.h │ │ └── arch │ │ │ └── Geometry_SSE.h │ │ ├── Householder │ │ ├── BlockHouseholder.h │ │ ├── Householder.h │ │ └── HouseholderSequence.h │ │ ├── IterativeLinearSolvers │ │ ├── BasicPreconditioners.h │ │ ├── BiCGSTAB.h │ │ ├── ConjugateGradient.h │ │ ├── IncompleteCholesky.h │ │ ├── IncompleteLUT.h │ │ ├── IterativeSolverBase.h │ │ ├── LeastSquareConjugateGradient.h │ │ └── SolveWithGuess.h │ │ ├── Jacobi │ │ └── Jacobi.h │ │ ├── LU │ │ ├── Determinant.h │ │ ├── FullPivLU.h │ │ ├── InverseImpl.h │ │ ├── PartialPivLU.h │ │ ├── PartialPivLU_LAPACKE.h │ │ └── arch │ │ │ └── Inverse_SSE.h │ │ ├── MetisSupport │ │ └── MetisSupport.h │ │ ├── OrderingMethods │ │ ├── Amd.h │ │ ├── Eigen_Colamd.h │ │ └── Ordering.h │ │ ├── PaStiXSupport │ │ └── PaStiXSupport.h │ │ ├── PardisoSupport │ │ └── PardisoSupport.h │ │ ├── QR │ │ ├── ColPivHouseholderQR.h │ │ ├── ColPivHouseholderQR_LAPACKE.h │ │ ├── CompleteOrthogonalDecomposition.h │ │ ├── FullPivHouseholderQR.h │ │ ├── HouseholderQR.h │ │ └── HouseholderQR_LAPACKE.h │ │ ├── SPQRSupport │ │ └── SuiteSparseQRSupport.h │ │ ├── SVD │ │ ├── BDCSVD.h │ │ ├── JacobiSVD.h │ │ ├── JacobiSVD_LAPACKE.h │ │ ├── SVDBase.h │ │ └── UpperBidiagonalization.h │ │ ├── SparseCholesky │ │ ├── SimplicialCholesky.h │ │ └── SimplicialCholesky_impl.h │ │ ├── SparseCore │ │ ├── AmbiVector.h │ │ ├── CompressedStorage.h │ │ ├── ConservativeSparseSparseProduct.h │ │ ├── MappedSparseMatrix.h │ │ ├── SparseAssign.h │ │ ├── SparseBlock.h │ │ ├── SparseColEtree.h │ │ ├── SparseCompressedBase.h │ │ ├── SparseCwiseBinaryOp.h │ │ ├── SparseCwiseUnaryOp.h │ │ ├── SparseDenseProduct.h │ │ ├── SparseDiagonalProduct.h │ │ ├── SparseDot.h │ │ ├── SparseFuzzy.h │ │ ├── SparseMap.h │ │ ├── SparseMatrix.h │ │ ├── SparseMatrixBase.h │ │ ├── SparsePermutation.h │ │ ├── SparseProduct.h │ │ ├── SparseRedux.h │ │ ├── SparseRef.h │ │ ├── SparseSelfAdjointView.h │ │ ├── SparseSolverBase.h │ │ ├── SparseSparseProductWithPruning.h │ │ ├── SparseTranspose.h │ │ ├── SparseTriangularView.h │ │ ├── SparseUtil.h │ │ ├── SparseVector.h │ │ ├── SparseView.h │ │ └── TriangularSolver.h │ │ ├── SparseLU │ │ ├── SparseLU.h │ │ ├── SparseLUImpl.h │ │ ├── SparseLU_Memory.h │ │ ├── SparseLU_Structs.h │ │ ├── SparseLU_SupernodalMatrix.h │ │ ├── SparseLU_Utils.h │ │ ├── SparseLU_column_bmod.h │ │ ├── SparseLU_column_dfs.h │ │ ├── SparseLU_copy_to_ucol.h │ │ ├── SparseLU_gemm_kernel.h │ │ ├── SparseLU_heap_relax_snode.h │ │ ├── SparseLU_kernel_bmod.h │ │ ├── SparseLU_panel_bmod.h │ │ ├── SparseLU_panel_dfs.h │ │ ├── SparseLU_pivotL.h │ │ ├── SparseLU_pruneL.h │ │ └── SparseLU_relax_snode.h │ │ ├── SparseQR │ │ └── SparseQR.h │ │ ├── StlSupport │ │ ├── StdDeque.h │ │ ├── StdList.h │ │ ├── StdVector.h │ │ └── details.h │ │ ├── SuperLUSupport │ │ └── SuperLUSupport.h │ │ ├── UmfPackSupport │ │ └── UmfPackSupport.h │ │ ├── misc │ │ ├── Image.h │ │ ├── Kernel.h │ │ ├── RealSvd2x2.h │ │ ├── blas.h │ │ ├── lapack.h │ │ ├── lapacke.h │ │ └── lapacke_mangling.h │ │ └── plugins │ │ ├── ArrayCwiseBinaryOps.h │ │ ├── ArrayCwiseUnaryOps.h │ │ ├── BlockMethods.h │ │ ├── CommonCwiseBinaryOps.h │ │ ├── CommonCwiseUnaryOps.h │ │ ├── MatrixCwiseBinaryOps.h │ │ └── MatrixCwiseUnaryOps.h │ ├── INSTALL │ ├── README.md │ ├── bench │ ├── BenchSparseUtil.h │ ├── BenchTimer.h │ ├── BenchUtil.h │ ├── README.txt │ ├── analyze-blocking-sizes.cpp │ ├── basicbench.cxxlist │ ├── basicbenchmark.cpp │ ├── basicbenchmark.h │ ├── benchBlasGemm.cpp │ ├── benchCholesky.cpp │ ├── benchEigenSolver.cpp │ ├── benchFFT.cpp │ ├── benchGeometry.cpp │ ├── benchVecAdd.cpp │ ├── bench_gemm.cpp │ ├── bench_multi_compilers.sh │ ├── bench_norm.cpp │ ├── bench_reverse.cpp │ ├── bench_sum.cpp │ ├── bench_unrolling │ ├── benchmark-blocking-sizes.cpp │ ├── benchmark.cpp │ ├── benchmarkSlice.cpp │ ├── benchmarkX.cpp │ ├── benchmarkXcwise.cpp │ ├── benchmark_suite │ ├── btl │ │ ├── CMakeLists.txt │ │ ├── COPYING │ │ ├── README │ │ ├── actions │ │ │ ├── action_aat_product.hh │ │ │ ├── action_ata_product.hh │ │ │ ├── action_atv_product.hh │ │ │ ├── action_axpby.hh │ │ │ ├── action_axpy.hh │ │ │ ├── action_cholesky.hh │ │ │ ├── action_ger.hh │ │ │ ├── action_hessenberg.hh │ │ │ ├── action_lu_decomp.hh │ │ │ ├── action_lu_solve.hh │ │ │ ├── action_matrix_matrix_product.hh │ │ │ ├── action_matrix_matrix_product_bis.hh │ │ │ ├── action_matrix_vector_product.hh │ │ │ ├── action_partial_lu.hh │ │ │ ├── action_rot.hh │ │ │ ├── action_symv.hh │ │ │ ├── action_syr2.hh │ │ │ ├── action_trisolve.hh │ │ │ ├── action_trisolve_matrix.hh │ │ │ ├── action_trmm.hh │ │ │ └── basic_actions.hh │ │ ├── cmake │ │ │ ├── FindACML.cmake │ │ │ ├── FindATLAS.cmake │ │ │ ├── FindBLAZE.cmake │ │ │ ├── FindBlitz.cmake │ │ │ ├── FindCBLAS.cmake │ │ │ ├── FindGMM.cmake │ │ │ ├── FindMKL.cmake │ │ │ ├── FindMTL4.cmake │ │ │ ├── FindOPENBLAS.cmake │ │ │ ├── FindPackageHandleStandardArgs.cmake │ │ │ ├── FindTvmet.cmake │ │ │ └── MacroOptionalAddSubdirectory.cmake │ │ ├── data │ │ │ ├── CMakeLists.txt │ │ │ ├── action_settings.txt │ │ │ ├── gnuplot_common_settings.hh │ │ │ ├── go_mean │ │ │ ├── mean.cxx │ │ │ ├── mk_gnuplot_script.sh │ │ │ ├── mk_mean_script.sh │ │ │ ├── mk_new_gnuplot.sh │ │ │ ├── perlib_plot_settings.txt │ │ │ ├── regularize.cxx │ │ │ ├── smooth.cxx │ │ │ └── smooth_all.sh │ │ ├── generic_bench │ │ │ ├── bench.hh │ │ │ ├── bench_parameter.hh │ │ │ ├── btl.hh │ │ │ ├── init │ │ │ │ ├── init_function.hh │ │ │ │ ├── init_matrix.hh │ │ │ │ └── init_vector.hh │ │ │ ├── static │ │ │ │ ├── bench_static.hh │ │ │ │ ├── intel_bench_fixed_size.hh │ │ │ │ └── static_size_generator.hh │ │ │ ├── timers │ │ │ │ ├── STL_perf_analyzer.hh │ │ │ │ ├── STL_timer.hh │ │ │ │ ├── mixed_perf_analyzer.hh │ │ │ │ ├── portable_perf_analyzer.hh │ │ │ │ ├── portable_perf_analyzer_old.hh │ │ │ │ ├── portable_timer.hh │ │ │ │ ├── x86_perf_analyzer.hh │ │ │ │ └── x86_timer.hh │ │ │ └── utils │ │ │ │ ├── size_lin_log.hh │ │ │ │ ├── size_log.hh │ │ │ │ ├── utilities.h │ │ │ │ └── xy_file.hh │ │ └── libs │ │ │ ├── BLAS │ │ │ ├── CMakeLists.txt │ │ │ ├── blas.h │ │ │ ├── blas_interface.hh │ │ │ ├── blas_interface_impl.hh │ │ │ ├── c_interface_base.h │ │ │ └── main.cpp │ │ │ ├── STL │ │ │ ├── CMakeLists.txt │ │ │ ├── STL_interface.hh │ │ │ └── main.cpp │ │ │ ├── blaze │ │ │ ├── CMakeLists.txt │ │ │ ├── blaze_interface.hh │ │ │ └── main.cpp │ │ │ ├── blitz │ │ │ ├── CMakeLists.txt │ │ │ ├── blitz_LU_solve_interface.hh │ │ │ ├── blitz_interface.hh │ │ │ ├── btl_blitz.cpp │ │ │ ├── btl_tiny_blitz.cpp │ │ │ └── tiny_blitz_interface.hh │ │ │ ├── eigen2 │ │ │ ├── CMakeLists.txt │ │ │ ├── btl_tiny_eigen2.cpp │ │ │ ├── eigen2_interface.hh │ │ │ ├── main_adv.cpp │ │ │ ├── main_linear.cpp │ │ │ ├── main_matmat.cpp │ │ │ └── main_vecmat.cpp │ │ │ ├── eigen3 │ │ │ ├── CMakeLists.txt │ │ │ ├── btl_tiny_eigen3.cpp │ │ │ ├── eigen3_interface.hh │ │ │ ├── main_adv.cpp │ │ │ ├── main_linear.cpp │ │ │ ├── main_matmat.cpp │ │ │ └── main_vecmat.cpp │ │ │ ├── gmm │ │ │ ├── CMakeLists.txt │ │ │ ├── gmm_LU_solve_interface.hh │ │ │ ├── gmm_interface.hh │ │ │ └── main.cpp │ │ │ ├── mtl4 │ │ │ ├── .kdbgrc.main │ │ │ ├── CMakeLists.txt │ │ │ ├── main.cpp │ │ │ ├── mtl4_LU_solve_interface.hh │ │ │ └── mtl4_interface.hh │ │ │ ├── tensors │ │ │ ├── CMakeLists.txt │ │ │ ├── main_linear.cpp │ │ │ ├── main_matmat.cpp │ │ │ ├── main_vecmat.cpp │ │ │ └── tensor_interface.hh │ │ │ ├── tvmet │ │ │ ├── CMakeLists.txt │ │ │ ├── main.cpp │ │ │ └── tvmet_interface.hh │ │ │ └── ublas │ │ │ ├── CMakeLists.txt │ │ │ ├── main.cpp │ │ │ └── ublas_interface.hh │ ├── check_cache_queries.cpp │ ├── dense_solvers.cpp │ ├── eig33.cpp │ ├── geometry.cpp │ ├── perf_monitoring │ │ └── gemm │ │ │ ├── changesets.txt │ │ │ ├── gemm.cpp │ │ │ ├── gemm_settings.txt │ │ │ ├── lazy_gemm.cpp │ │ │ ├── lazy_gemm_settings.txt │ │ │ ├── make_plot.sh │ │ │ └── run.sh │ ├── product_threshold.cpp │ ├── quat_slerp.cpp │ ├── quatmul.cpp │ ├── sparse_cholesky.cpp │ ├── sparse_dense_product.cpp │ ├── sparse_lu.cpp │ ├── sparse_product.cpp │ ├── sparse_randomsetter.cpp │ ├── sparse_setter.cpp │ ├── sparse_transpose.cpp │ ├── sparse_trisolver.cpp │ ├── spbench │ │ ├── CMakeLists.txt │ │ ├── sp_solver.cpp │ │ ├── spbench.dtd │ │ ├── spbenchsolver.cpp │ │ ├── spbenchsolver.h │ │ ├── spbenchstyle.h │ │ └── test_sparseLU.cpp │ ├── spmv.cpp │ ├── tensors │ │ ├── README │ │ ├── benchmark.h │ │ ├── benchmark_main.cc │ │ ├── contraction_benchmarks_cpu.cc │ │ ├── tensor_benchmarks.h │ │ ├── tensor_benchmarks_cpu.cc │ │ ├── tensor_benchmarks_fp16_gpu.cu │ │ ├── tensor_benchmarks_gpu.cu │ │ └── tensor_benchmarks_sycl.cc │ └── vdw_new.cpp │ ├── blas │ ├── BandTriangularSolver.h │ ├── CMakeLists.txt │ ├── GeneralRank1Update.h │ ├── PackedSelfadjointProduct.h │ ├── PackedTriangularMatrixVector.h │ ├── PackedTriangularSolverVector.h │ ├── README.txt │ ├── Rank2Update.h │ ├── common.h │ ├── complex_double.cpp │ ├── complex_single.cpp │ ├── double.cpp │ ├── f2c │ │ ├── chbmv.c │ │ ├── chpmv.c │ │ ├── complexdots.c │ │ ├── ctbmv.c │ │ ├── d_cnjg.c │ │ ├── datatypes.h │ │ ├── drotm.c │ │ ├── drotmg.c │ │ ├── dsbmv.c │ │ ├── dspmv.c │ │ ├── dtbmv.c │ │ ├── lsame.c │ │ ├── r_cnjg.c │ │ ├── srotm.c │ │ ├── srotmg.c │ │ ├── ssbmv.c │ │ ├── sspmv.c │ │ ├── stbmv.c │ │ ├── zhbmv.c │ │ ├── zhpmv.c │ │ └── ztbmv.c │ ├── fortran │ │ └── complexdots.f │ ├── level1_cplx_impl.h │ ├── level1_impl.h │ ├── level1_real_impl.h │ ├── level2_cplx_impl.h │ ├── level2_impl.h │ ├── level2_real_impl.h │ ├── level3_impl.h │ ├── single.cpp │ ├── testing │ │ ├── CMakeLists.txt │ │ ├── cblat1.f │ │ ├── cblat2.dat │ │ ├── cblat2.f │ │ ├── cblat3.dat │ │ ├── cblat3.f │ │ ├── dblat1.f │ │ ├── dblat2.dat │ │ ├── dblat2.f │ │ ├── dblat3.dat │ │ ├── dblat3.f │ │ ├── runblastest.sh │ │ ├── sblat1.f │ │ ├── sblat2.dat │ │ ├── sblat2.f │ │ ├── sblat3.dat │ │ ├── sblat3.f │ │ ├── zblat1.f │ │ ├── zblat2.dat │ │ ├── zblat2.f │ │ ├── zblat3.dat │ │ └── zblat3.f │ └── xerbla.cpp │ ├── cmake │ ├── Eigen3Config.cmake.in │ ├── Eigen3ConfigLegacy.cmake.in │ ├── EigenConfigureTesting.cmake │ ├── EigenDetermineOSVersion.cmake │ ├── EigenDetermineVSServicePack.cmake │ ├── EigenTesting.cmake │ ├── EigenUninstall.cmake │ ├── FindAdolc.cmake │ ├── FindBLAS.cmake │ ├── FindBLASEXT.cmake │ ├── FindCholmod.cmake │ ├── FindComputeCpp.cmake │ ├── FindEigen2.cmake │ ├── FindEigen3.cmake │ ├── FindFFTW.cmake │ ├── FindGLEW.cmake │ ├── FindGMP.cmake │ ├── FindGSL.cmake │ ├── FindGoogleHash.cmake │ ├── FindHWLOC.cmake │ ├── FindLAPACK.cmake │ ├── FindMPFR.cmake │ ├── FindMetis.cmake │ ├── FindPTSCOTCH.cmake │ ├── FindPastix.cmake │ ├── FindSPQR.cmake │ ├── FindScotch.cmake │ ├── FindStandardMathLibrary.cmake │ ├── FindSuperLU.cmake │ ├── FindUmfpack.cmake │ ├── RegexUtils.cmake │ ├── UseEigen3.cmake │ └── language_support.cmake │ ├── debug │ ├── gdb │ │ ├── __init__.py │ │ └── printers.py │ └── msvc │ │ ├── eigen.natvis │ │ └── eigen_autoexp_part.dat │ ├── demos │ ├── CMakeLists.txt │ ├── mandelbrot │ │ ├── CMakeLists.txt │ │ ├── README │ │ ├── mandelbrot.cpp │ │ └── mandelbrot.h │ ├── mix_eigen_and_c │ │ ├── README │ │ ├── binary_library.cpp │ │ ├── binary_library.h │ │ └── example.c │ └── opengl │ │ ├── CMakeLists.txt │ │ ├── README │ │ ├── camera.cpp │ │ ├── camera.h │ │ ├── gpuhelper.cpp │ │ ├── gpuhelper.h │ │ ├── icosphere.cpp │ │ ├── icosphere.h │ │ ├── quaternion_demo.cpp │ │ ├── quaternion_demo.h │ │ ├── trackball.cpp │ │ └── trackball.h │ ├── doc │ ├── A05_PortingFrom2To3.dox │ ├── AsciiQuickReference.txt │ ├── B01_Experimental.dox │ ├── CMakeLists.txt │ ├── ClassHierarchy.dox │ ├── CoeffwiseMathFunctionsTable.dox │ ├── CustomizingEigen_CustomScalar.dox │ ├── CustomizingEigen_InheritingMatrix.dox │ ├── CustomizingEigen_NullaryExpr.dox │ ├── CustomizingEigen_Plugins.dox │ ├── DenseDecompositionBenchmark.dox │ ├── Doxyfile.in │ ├── Eigen_Silly_Professor_64x64.png │ ├── FixedSizeVectorizable.dox │ ├── FunctionsTakingEigenTypes.dox │ ├── HiPerformance.dox │ ├── InplaceDecomposition.dox │ ├── InsideEigenExample.dox │ ├── LeastSquares.dox │ ├── Manual.dox │ ├── MatrixfreeSolverExample.dox │ ├── NewExpressionType.dox │ ├── Overview.dox │ ├── PassingByValue.dox │ ├── Pitfalls.dox │ ├── PreprocessorDirectives.dox │ ├── QuickReference.dox │ ├── QuickStartGuide.dox │ ├── SparseLinearSystems.dox │ ├── SparseQuickReference.dox │ ├── StlContainers.dox │ ├── StorageOrders.dox │ ├── StructHavingEigenMembers.dox │ ├── TemplateKeyword.dox │ ├── TopicAliasing.dox │ ├── TopicAssertions.dox │ ├── TopicCMakeGuide.dox │ ├── TopicEigenExpressionTemplates.dox │ ├── TopicLazyEvaluation.dox │ ├── TopicLinearAlgebraDecompositions.dox │ ├── TopicMultithreading.dox │ ├── TopicResizing.dox │ ├── TopicScalarTypes.dox │ ├── TopicVectorization.dox │ ├── TutorialAdvancedInitialization.dox │ ├── TutorialArrayClass.dox │ ├── TutorialBlockOperations.dox │ ├── TutorialGeometry.dox │ ├── TutorialLinearAlgebra.dox │ ├── TutorialMapClass.dox │ ├── TutorialMatrixArithmetic.dox │ ├── TutorialMatrixClass.dox │ ├── TutorialReductionsVisitorsBroadcasting.dox │ ├── TutorialReshapeSlicing.dox │ ├── TutorialSparse.dox │ ├── TutorialSparse_example_details.dox │ ├── UnalignedArrayAssert.dox │ ├── UsingBlasLapackBackends.dox │ ├── UsingIntelMKL.dox │ ├── UsingNVCC.dox │ ├── WrongStackAlignment.dox │ ├── eigen_navtree_hacks.js │ ├── eigendoxy.css │ ├── eigendoxy_footer.html.in │ ├── eigendoxy_header.html.in │ ├── eigendoxy_layout.xml.in │ ├── eigendoxy_tabs.css │ ├── examples │ │ ├── .krazy │ │ ├── CMakeLists.txt │ │ ├── CustomizingEigen_Inheritance.cpp │ │ ├── Cwise_erf.cpp │ │ ├── Cwise_erfc.cpp │ │ ├── Cwise_lgamma.cpp │ │ ├── DenseBase_middleCols_int.cpp │ │ ├── DenseBase_middleRows_int.cpp │ │ ├── DenseBase_template_int_middleCols.cpp │ │ ├── DenseBase_template_int_middleRows.cpp │ │ ├── QuickStart_example.cpp │ │ ├── QuickStart_example2_dynamic.cpp │ │ ├── QuickStart_example2_fixed.cpp │ │ ├── TemplateKeyword_flexible.cpp │ │ ├── TemplateKeyword_simple.cpp │ │ ├── TutorialInplaceLU.cpp │ │ ├── TutorialLinAlgComputeTwice.cpp │ │ ├── TutorialLinAlgExComputeSolveError.cpp │ │ ├── TutorialLinAlgExSolveColPivHouseholderQR.cpp │ │ ├── TutorialLinAlgExSolveLDLT.cpp │ │ ├── TutorialLinAlgInverseDeterminant.cpp │ │ ├── TutorialLinAlgRankRevealing.cpp │ │ ├── TutorialLinAlgSVDSolve.cpp │ │ ├── TutorialLinAlgSelfAdjointEigenSolver.cpp │ │ ├── TutorialLinAlgSetThreshold.cpp │ │ ├── Tutorial_ArrayClass_accessors.cpp │ │ ├── Tutorial_ArrayClass_addition.cpp │ │ ├── Tutorial_ArrayClass_cwise_other.cpp │ │ ├── Tutorial_ArrayClass_interop.cpp │ │ ├── Tutorial_ArrayClass_interop_matrix.cpp │ │ ├── Tutorial_ArrayClass_mult.cpp │ │ ├── Tutorial_BlockOperations_block_assignment.cpp │ │ ├── Tutorial_BlockOperations_colrow.cpp │ │ ├── Tutorial_BlockOperations_corner.cpp │ │ ├── Tutorial_BlockOperations_print_block.cpp │ │ ├── Tutorial_BlockOperations_vector.cpp │ │ ├── Tutorial_PartialLU_solve.cpp │ │ ├── Tutorial_ReductionsVisitorsBroadcasting_broadcast_1nn.cpp │ │ ├── Tutorial_ReductionsVisitorsBroadcasting_broadcast_simple.cpp │ │ ├── Tutorial_ReductionsVisitorsBroadcasting_broadcast_simple_rowwise.cpp │ │ ├── Tutorial_ReductionsVisitorsBroadcasting_colwise.cpp │ │ ├── Tutorial_ReductionsVisitorsBroadcasting_maxnorm.cpp │ │ ├── Tutorial_ReductionsVisitorsBroadcasting_reductions_bool.cpp │ │ ├── Tutorial_ReductionsVisitorsBroadcasting_reductions_norm.cpp │ │ ├── Tutorial_ReductionsVisitorsBroadcasting_reductions_operatornorm.cpp │ │ ├── Tutorial_ReductionsVisitorsBroadcasting_rowwise.cpp │ │ ├── Tutorial_ReductionsVisitorsBroadcasting_visitors.cpp │ │ ├── Tutorial_simple_example_dynamic_size.cpp │ │ ├── Tutorial_simple_example_fixed_size.cpp │ │ ├── class_Block.cpp │ │ ├── class_CwiseBinaryOp.cpp │ │ ├── class_CwiseUnaryOp.cpp │ │ ├── class_CwiseUnaryOp_ptrfun.cpp │ │ ├── class_FixedBlock.cpp │ │ ├── class_FixedVectorBlock.cpp │ │ ├── class_VectorBlock.cpp │ │ ├── function_taking_eigenbase.cpp │ │ ├── function_taking_ref.cpp │ │ ├── make_circulant.cpp │ │ ├── make_circulant.cpp.entry │ │ ├── make_circulant.cpp.evaluator │ │ ├── make_circulant.cpp.expression │ │ ├── make_circulant.cpp.main │ │ ├── make_circulant.cpp.preamble │ │ ├── make_circulant.cpp.traits │ │ ├── make_circulant2.cpp │ │ ├── matrixfree_cg.cpp │ │ ├── nullary_indexing.cpp │ │ ├── tut_arithmetic_add_sub.cpp │ │ ├── tut_arithmetic_dot_cross.cpp │ │ ├── tut_arithmetic_matrix_mul.cpp │ │ ├── tut_arithmetic_redux_basic.cpp │ │ ├── tut_arithmetic_scalar_mul_div.cpp │ │ ├── tut_matrix_coefficient_accessors.cpp │ │ ├── tut_matrix_resize.cpp │ │ └── tut_matrix_resize_fixed_size.cpp │ ├── ftv2node.png │ ├── ftv2pnode.png │ ├── snippets │ │ ├── .krazy │ │ ├── AngleAxis_mimic_euler.cpp │ │ ├── BiCGSTAB_simple.cpp │ │ ├── BiCGSTAB_step_by_step.cpp │ │ ├── CMakeLists.txt │ │ ├── ColPivHouseholderQR_solve.cpp │ │ ├── ComplexEigenSolver_compute.cpp │ │ ├── ComplexEigenSolver_eigenvalues.cpp │ │ ├── ComplexEigenSolver_eigenvectors.cpp │ │ ├── ComplexSchur_compute.cpp │ │ ├── ComplexSchur_matrixT.cpp │ │ ├── ComplexSchur_matrixU.cpp │ │ ├── Cwise_abs.cpp │ │ ├── Cwise_abs2.cpp │ │ ├── Cwise_acos.cpp │ │ ├── Cwise_arg.cpp │ │ ├── Cwise_array_power_array.cpp │ │ ├── Cwise_asin.cpp │ │ ├── Cwise_atan.cpp │ │ ├── Cwise_boolean_and.cpp │ │ ├── Cwise_boolean_not.cpp │ │ ├── Cwise_boolean_or.cpp │ │ ├── Cwise_boolean_xor.cpp │ │ ├── Cwise_ceil.cpp │ │ ├── Cwise_cos.cpp │ │ ├── Cwise_cosh.cpp │ │ ├── Cwise_cube.cpp │ │ ├── Cwise_equal_equal.cpp │ │ ├── Cwise_exp.cpp │ │ ├── Cwise_floor.cpp │ │ ├── Cwise_greater.cpp │ │ ├── Cwise_greater_equal.cpp │ │ ├── Cwise_inverse.cpp │ │ ├── Cwise_isFinite.cpp │ │ ├── Cwise_isInf.cpp │ │ ├── Cwise_isNaN.cpp │ │ ├── Cwise_less.cpp │ │ ├── Cwise_less_equal.cpp │ │ ├── Cwise_log.cpp │ │ ├── Cwise_log10.cpp │ │ ├── Cwise_max.cpp │ │ ├── Cwise_min.cpp │ │ ├── Cwise_minus.cpp │ │ ├── Cwise_minus_equal.cpp │ │ ├── Cwise_not_equal.cpp │ │ ├── Cwise_plus.cpp │ │ ├── Cwise_plus_equal.cpp │ │ ├── Cwise_pow.cpp │ │ ├── Cwise_product.cpp │ │ ├── Cwise_quotient.cpp │ │ ├── Cwise_round.cpp │ │ ├── Cwise_scalar_power_array.cpp │ │ ├── Cwise_sign.cpp │ │ ├── Cwise_sin.cpp │ │ ├── Cwise_sinh.cpp │ │ ├── Cwise_slash_equal.cpp │ │ ├── Cwise_sqrt.cpp │ │ ├── Cwise_square.cpp │ │ ├── Cwise_tan.cpp │ │ ├── Cwise_tanh.cpp │ │ ├── Cwise_times_equal.cpp │ │ ├── DenseBase_LinSpaced.cpp │ │ ├── DenseBase_LinSpacedInt.cpp │ │ ├── DenseBase_LinSpaced_seq.cpp │ │ ├── DenseBase_setLinSpaced.cpp │ │ ├── DirectionWise_hnormalized.cpp │ │ ├── DirectionWise_replicate.cpp │ │ ├── DirectionWise_replicate_int.cpp │ │ ├── EigenSolver_EigenSolver_MatrixType.cpp │ │ ├── EigenSolver_compute.cpp │ │ ├── EigenSolver_eigenvalues.cpp │ │ ├── EigenSolver_eigenvectors.cpp │ │ ├── EigenSolver_pseudoEigenvectors.cpp │ │ ├── FullPivHouseholderQR_solve.cpp │ │ ├── FullPivLU_image.cpp │ │ ├── FullPivLU_kernel.cpp │ │ ├── FullPivLU_solve.cpp │ │ ├── GeneralizedEigenSolver.cpp │ │ ├── HessenbergDecomposition_compute.cpp │ │ ├── HessenbergDecomposition_matrixH.cpp │ │ ├── HessenbergDecomposition_packedMatrix.cpp │ │ ├── HouseholderQR_householderQ.cpp │ │ ├── HouseholderQR_solve.cpp │ │ ├── HouseholderSequence_HouseholderSequence.cpp │ │ ├── IOFormat.cpp │ │ ├── JacobiSVD_basic.cpp │ │ ├── Jacobi_makeGivens.cpp │ │ ├── Jacobi_makeJacobi.cpp │ │ ├── LLT_example.cpp │ │ ├── LLT_solve.cpp │ │ ├── LeastSquaresNormalEquations.cpp │ │ ├── LeastSquaresQR.cpp │ │ ├── Map_general_stride.cpp │ │ ├── Map_inner_stride.cpp │ │ ├── Map_outer_stride.cpp │ │ ├── Map_placement_new.cpp │ │ ├── Map_simple.cpp │ │ ├── MatrixBase_adjoint.cpp │ │ ├── MatrixBase_all.cpp │ │ ├── MatrixBase_applyOnTheLeft.cpp │ │ ├── MatrixBase_applyOnTheRight.cpp │ │ ├── MatrixBase_array.cpp │ │ ├── MatrixBase_array_const.cpp │ │ ├── MatrixBase_asDiagonal.cpp │ │ ├── MatrixBase_block_int_int.cpp │ │ ├── MatrixBase_block_int_int_int_int.cpp │ │ ├── MatrixBase_bottomLeftCorner_int_int.cpp │ │ ├── MatrixBase_bottomRightCorner_int_int.cpp │ │ ├── MatrixBase_bottomRows_int.cpp │ │ ├── MatrixBase_cast.cpp │ │ ├── MatrixBase_col.cpp │ │ ├── MatrixBase_colwise.cpp │ │ ├── MatrixBase_computeInverseAndDetWithCheck.cpp │ │ ├── MatrixBase_computeInverseWithCheck.cpp │ │ ├── MatrixBase_cwiseAbs.cpp │ │ ├── MatrixBase_cwiseAbs2.cpp │ │ ├── MatrixBase_cwiseEqual.cpp │ │ ├── MatrixBase_cwiseInverse.cpp │ │ ├── MatrixBase_cwiseMax.cpp │ │ ├── MatrixBase_cwiseMin.cpp │ │ ├── MatrixBase_cwiseNotEqual.cpp │ │ ├── MatrixBase_cwiseProduct.cpp │ │ ├── MatrixBase_cwiseQuotient.cpp │ │ ├── MatrixBase_cwiseSign.cpp │ │ ├── MatrixBase_cwiseSqrt.cpp │ │ ├── MatrixBase_diagonal.cpp │ │ ├── MatrixBase_diagonal_int.cpp │ │ ├── MatrixBase_diagonal_template_int.cpp │ │ ├── MatrixBase_eigenvalues.cpp │ │ ├── MatrixBase_end_int.cpp │ │ ├── MatrixBase_eval.cpp │ │ ├── MatrixBase_fixedBlock_int_int.cpp │ │ ├── MatrixBase_hnormalized.cpp │ │ ├── MatrixBase_homogeneous.cpp │ │ ├── MatrixBase_identity.cpp │ │ ├── MatrixBase_identity_int_int.cpp │ │ ├── MatrixBase_inverse.cpp │ │ ├── MatrixBase_isDiagonal.cpp │ │ ├── MatrixBase_isIdentity.cpp │ │ ├── MatrixBase_isOnes.cpp │ │ ├── MatrixBase_isOrthogonal.cpp │ │ ├── MatrixBase_isUnitary.cpp │ │ ├── MatrixBase_isZero.cpp │ │ ├── MatrixBase_leftCols_int.cpp │ │ ├── MatrixBase_noalias.cpp │ │ ├── MatrixBase_ones.cpp │ │ ├── MatrixBase_ones_int.cpp │ │ ├── MatrixBase_ones_int_int.cpp │ │ ├── MatrixBase_operatorNorm.cpp │ │ ├── MatrixBase_prod.cpp │ │ ├── MatrixBase_random.cpp │ │ ├── MatrixBase_random_int.cpp │ │ ├── MatrixBase_random_int_int.cpp │ │ ├── MatrixBase_replicate.cpp │ │ ├── MatrixBase_replicate_int_int.cpp │ │ ├── MatrixBase_reverse.cpp │ │ ├── MatrixBase_rightCols_int.cpp │ │ ├── MatrixBase_row.cpp │ │ ├── MatrixBase_rowwise.cpp │ │ ├── MatrixBase_segment_int_int.cpp │ │ ├── MatrixBase_select.cpp │ │ ├── MatrixBase_selfadjointView.cpp │ │ ├── MatrixBase_set.cpp │ │ ├── MatrixBase_setIdentity.cpp │ │ ├── MatrixBase_setOnes.cpp │ │ ├── MatrixBase_setRandom.cpp │ │ ├── MatrixBase_setZero.cpp │ │ ├── MatrixBase_start_int.cpp │ │ ├── MatrixBase_template_int_bottomRows.cpp │ │ ├── MatrixBase_template_int_end.cpp │ │ ├── MatrixBase_template_int_int_block_int_int_int_int.cpp │ │ ├── MatrixBase_template_int_int_bottomLeftCorner.cpp │ │ ├── MatrixBase_template_int_int_bottomLeftCorner_int_int.cpp │ │ ├── MatrixBase_template_int_int_bottomRightCorner.cpp │ │ ├── MatrixBase_template_int_int_bottomRightCorner_int_int.cpp │ │ ├── MatrixBase_template_int_int_topLeftCorner.cpp │ │ ├── MatrixBase_template_int_int_topLeftCorner_int_int.cpp │ │ ├── MatrixBase_template_int_int_topRightCorner.cpp │ │ ├── MatrixBase_template_int_int_topRightCorner_int_int.cpp │ │ ├── MatrixBase_template_int_leftCols.cpp │ │ ├── MatrixBase_template_int_rightCols.cpp │ │ ├── MatrixBase_template_int_segment.cpp │ │ ├── MatrixBase_template_int_start.cpp │ │ ├── MatrixBase_template_int_topRows.cpp │ │ ├── MatrixBase_topLeftCorner_int_int.cpp │ │ ├── MatrixBase_topRightCorner_int_int.cpp │ │ ├── MatrixBase_topRows_int.cpp │ │ ├── MatrixBase_transpose.cpp │ │ ├── MatrixBase_triangularView.cpp │ │ ├── MatrixBase_zero.cpp │ │ ├── MatrixBase_zero_int.cpp │ │ ├── MatrixBase_zero_int_int.cpp │ │ ├── Matrix_Map_stride.cpp │ │ ├── Matrix_resize_NoChange_int.cpp │ │ ├── Matrix_resize_int.cpp │ │ ├── Matrix_resize_int_NoChange.cpp │ │ ├── Matrix_resize_int_int.cpp │ │ ├── Matrix_setConstant_int.cpp │ │ ├── Matrix_setConstant_int_int.cpp │ │ ├── Matrix_setIdentity_int_int.cpp │ │ ├── Matrix_setOnes_int.cpp │ │ ├── Matrix_setOnes_int_int.cpp │ │ ├── Matrix_setRandom_int.cpp │ │ ├── Matrix_setRandom_int_int.cpp │ │ ├── Matrix_setZero_int.cpp │ │ ├── Matrix_setZero_int_int.cpp │ │ ├── PartialPivLU_solve.cpp │ │ ├── PartialRedux_count.cpp │ │ ├── PartialRedux_maxCoeff.cpp │ │ ├── PartialRedux_minCoeff.cpp │ │ ├── PartialRedux_norm.cpp │ │ ├── PartialRedux_prod.cpp │ │ ├── PartialRedux_squaredNorm.cpp │ │ ├── PartialRedux_sum.cpp │ │ ├── RealQZ_compute.cpp │ │ ├── RealSchur_RealSchur_MatrixType.cpp │ │ ├── RealSchur_compute.cpp │ │ ├── SelfAdjointEigenSolver_SelfAdjointEigenSolver.cpp │ │ ├── SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType.cpp │ │ ├── SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType2.cpp │ │ ├── SelfAdjointEigenSolver_compute_MatrixType.cpp │ │ ├── SelfAdjointEigenSolver_compute_MatrixType2.cpp │ │ ├── SelfAdjointEigenSolver_eigenvalues.cpp │ │ ├── SelfAdjointEigenSolver_eigenvectors.cpp │ │ ├── SelfAdjointEigenSolver_operatorInverseSqrt.cpp │ │ ├── SelfAdjointEigenSolver_operatorSqrt.cpp │ │ ├── SelfAdjointView_eigenvalues.cpp │ │ ├── SelfAdjointView_operatorNorm.cpp │ │ ├── SparseMatrix_coeffs.cpp │ │ ├── TopicAliasing_block.cpp │ │ ├── TopicAliasing_block_correct.cpp │ │ ├── TopicAliasing_cwise.cpp │ │ ├── TopicAliasing_mult1.cpp │ │ ├── TopicAliasing_mult2.cpp │ │ ├── TopicAliasing_mult3.cpp │ │ ├── TopicAliasing_mult4.cpp │ │ ├── TopicAliasing_mult5.cpp │ │ ├── TopicStorageOrders_example.cpp │ │ ├── Triangular_solve.cpp │ │ ├── Tridiagonalization_Tridiagonalization_MatrixType.cpp │ │ ├── Tridiagonalization_compute.cpp │ │ ├── Tridiagonalization_decomposeInPlace.cpp │ │ ├── Tridiagonalization_diagonal.cpp │ │ ├── Tridiagonalization_householderCoefficients.cpp │ │ ├── Tridiagonalization_packedMatrix.cpp │ │ ├── Tutorial_AdvancedInitialization_Block.cpp │ │ ├── Tutorial_AdvancedInitialization_CommaTemporary.cpp │ │ ├── Tutorial_AdvancedInitialization_Join.cpp │ │ ├── Tutorial_AdvancedInitialization_LinSpaced.cpp │ │ ├── Tutorial_AdvancedInitialization_ThreeWays.cpp │ │ ├── Tutorial_AdvancedInitialization_Zero.cpp │ │ ├── Tutorial_Map_rowmajor.cpp │ │ ├── Tutorial_Map_using.cpp │ │ ├── Tutorial_ReshapeMat2Mat.cpp │ │ ├── Tutorial_ReshapeMat2Vec.cpp │ │ ├── Tutorial_SlicingCol.cpp │ │ ├── Tutorial_SlicingVec.cpp │ │ ├── Tutorial_commainit_01.cpp │ │ ├── Tutorial_commainit_01b.cpp │ │ ├── Tutorial_commainit_02.cpp │ │ ├── Tutorial_solve_matrix_inverse.cpp │ │ ├── Tutorial_solve_multiple_rhs.cpp │ │ ├── Tutorial_solve_reuse_decomposition.cpp │ │ ├── Tutorial_solve_singular.cpp │ │ ├── Tutorial_solve_triangular.cpp │ │ ├── Tutorial_solve_triangular_inplace.cpp │ │ ├── VectorwiseOp_homogeneous.cpp │ │ ├── Vectorwise_reverse.cpp │ │ ├── class_FullPivLU.cpp │ │ ├── compile_snippet.cpp.in │ │ ├── tut_arithmetic_redux_minmax.cpp │ │ ├── tut_arithmetic_transpose_aliasing.cpp │ │ ├── tut_arithmetic_transpose_conjugate.cpp │ │ ├── tut_arithmetic_transpose_inplace.cpp │ │ └── tut_matrix_assignment_resizing.cpp │ ├── special_examples │ │ ├── CMakeLists.txt │ │ ├── Tutorial_sparse_example.cpp │ │ ├── Tutorial_sparse_example_details.cpp │ │ └── random_cpp11.cpp │ └── tutorial.cpp │ ├── eigen3.pc.in │ ├── failtest │ ├── CMakeLists.txt │ ├── bdcsvd_int.cpp │ ├── block_nonconst_ctor_on_const_xpr_0.cpp │ ├── block_nonconst_ctor_on_const_xpr_1.cpp │ ├── block_nonconst_ctor_on_const_xpr_2.cpp │ ├── block_on_const_type_actually_const_0.cpp │ ├── block_on_const_type_actually_const_1.cpp │ ├── colpivqr_int.cpp │ ├── const_qualified_block_method_retval_0.cpp │ ├── const_qualified_block_method_retval_1.cpp │ ├── const_qualified_diagonal_method_retval.cpp │ ├── const_qualified_transpose_method_retval.cpp │ ├── cwiseunaryview_nonconst_ctor_on_const_xpr.cpp │ ├── cwiseunaryview_on_const_type_actually_const.cpp │ ├── diagonal_nonconst_ctor_on_const_xpr.cpp │ ├── diagonal_on_const_type_actually_const.cpp │ ├── eigensolver_cplx.cpp │ ├── eigensolver_int.cpp │ ├── failtest_sanity_check.cpp │ ├── fullpivlu_int.cpp │ ├── fullpivqr_int.cpp │ ├── jacobisvd_int.cpp │ ├── ldlt_int.cpp │ ├── llt_int.cpp │ ├── map_nonconst_ctor_on_const_ptr_0.cpp │ ├── map_nonconst_ctor_on_const_ptr_1.cpp │ ├── map_nonconst_ctor_on_const_ptr_2.cpp │ ├── map_nonconst_ctor_on_const_ptr_3.cpp │ ├── map_nonconst_ctor_on_const_ptr_4.cpp │ ├── map_on_const_type_actually_const_0.cpp │ ├── map_on_const_type_actually_const_1.cpp │ ├── partialpivlu_int.cpp │ ├── qr_int.cpp │ ├── ref_1.cpp │ ├── ref_2.cpp │ ├── ref_3.cpp │ ├── ref_4.cpp │ ├── ref_5.cpp │ ├── selfadjointview_nonconst_ctor_on_const_xpr.cpp │ ├── selfadjointview_on_const_type_actually_const.cpp │ ├── sparse_ref_1.cpp │ ├── sparse_ref_2.cpp │ ├── sparse_ref_3.cpp │ ├── sparse_ref_4.cpp │ ├── sparse_ref_5.cpp │ ├── sparse_storage_mismatch.cpp │ ├── swap_1.cpp │ ├── swap_2.cpp │ ├── ternary_1.cpp │ ├── ternary_2.cpp │ ├── transpose_nonconst_ctor_on_const_xpr.cpp │ ├── transpose_on_const_type_actually_const.cpp │ ├── triangularview_nonconst_ctor_on_const_xpr.cpp │ └── triangularview_on_const_type_actually_const.cpp │ ├── lapack │ ├── CMakeLists.txt │ ├── cholesky.cpp │ ├── clacgv.f │ ├── cladiv.f │ ├── clarf.f │ ├── clarfb.f │ ├── clarfg.f │ ├── clarft.f │ ├── complex_double.cpp │ ├── complex_single.cpp │ ├── dladiv.f │ ├── dlamch.f │ ├── dlapy2.f │ ├── dlapy3.f │ ├── dlarf.f │ ├── dlarfb.f │ ├── dlarfg.f │ ├── dlarft.f │ ├── double.cpp │ ├── dsecnd_NONE.f │ ├── eigenvalues.cpp │ ├── ilaclc.f │ ├── ilaclr.f │ ├── iladlc.f │ ├── iladlr.f │ ├── ilaslc.f │ ├── ilaslr.f │ ├── ilazlc.f │ ├── ilazlr.f │ ├── lapack_common.h │ ├── lu.cpp │ ├── second_NONE.f │ ├── single.cpp │ ├── sladiv.f │ ├── slamch.f │ ├── slapy2.f │ ├── slapy3.f │ ├── slarf.f │ ├── slarfb.f │ ├── slarfg.f │ ├── slarft.f │ ├── svd.cpp │ ├── zlacgv.f │ ├── zladiv.f │ ├── zlarf.f │ ├── zlarfb.f │ ├── zlarfg.f │ └── zlarft.f │ ├── scripts │ ├── CMakeLists.txt │ ├── buildtests.in │ ├── cdashtesting.cmake.in │ ├── check.in │ ├── debug.in │ ├── eigen_gen_credits.cpp │ ├── eigen_gen_docs │ ├── release.in │ └── relicense.py │ ├── signature_of_eigen3_matrix_library │ └── unsupported │ ├── CMakeLists.txt │ ├── Eigen │ ├── AdolcForward │ ├── AlignedVector3 │ ├── ArpackSupport │ ├── AutoDiff │ ├── BVH │ ├── CMakeLists.txt │ ├── CXX11 │ │ ├── CMakeLists.txt │ │ ├── Tensor │ │ ├── TensorSymmetry │ │ ├── ThreadPool │ │ └── src │ │ │ ├── Tensor │ │ │ ├── README.md │ │ │ ├── Tensor.h │ │ │ ├── TensorArgMax.h │ │ │ ├── TensorAssign.h │ │ │ ├── TensorBase.h │ │ │ ├── TensorBroadcasting.h │ │ │ ├── TensorChipping.h │ │ │ ├── TensorConcatenation.h │ │ │ ├── TensorContraction.h │ │ │ ├── TensorContractionBlocking.h │ │ │ ├── TensorContractionCuda.h │ │ │ ├── TensorContractionMapper.h │ │ │ ├── TensorContractionThreadPool.h │ │ │ ├── TensorConversion.h │ │ │ ├── TensorConvolution.h │ │ │ ├── TensorCostModel.h │ │ │ ├── TensorCustomOp.h │ │ │ ├── TensorDevice.h │ │ │ ├── TensorDeviceCuda.h │ │ │ ├── TensorDeviceDefault.h │ │ │ ├── TensorDeviceSycl.h │ │ │ ├── TensorDeviceThreadPool.h │ │ │ ├── TensorDimensionList.h │ │ │ ├── TensorDimensions.h │ │ │ ├── TensorEvalTo.h │ │ │ ├── TensorEvaluator.h │ │ │ ├── TensorExecutor.h │ │ │ ├── TensorExpr.h │ │ │ ├── TensorFFT.h │ │ │ ├── TensorFixedSize.h │ │ │ ├── TensorForcedEval.h │ │ │ ├── TensorForwardDeclarations.h │ │ │ ├── TensorFunctors.h │ │ │ ├── TensorGenerator.h │ │ │ ├── TensorGlobalFunctions.h │ │ │ ├── TensorIO.h │ │ │ ├── TensorImagePatch.h │ │ │ ├── TensorIndexList.h │ │ │ ├── TensorInflation.h │ │ │ ├── TensorInitializer.h │ │ │ ├── TensorIntDiv.h │ │ │ ├── TensorLayoutSwap.h │ │ │ ├── TensorMacros.h │ │ │ ├── TensorMap.h │ │ │ ├── TensorMeta.h │ │ │ ├── TensorMorphing.h │ │ │ ├── TensorPadding.h │ │ │ ├── TensorPatch.h │ │ │ ├── TensorRandom.h │ │ │ ├── TensorReduction.h │ │ │ ├── TensorReductionCuda.h │ │ │ ├── TensorReductionSycl.h │ │ │ ├── TensorRef.h │ │ │ ├── TensorReverse.h │ │ │ ├── TensorScan.h │ │ │ ├── TensorShuffling.h │ │ │ ├── TensorStorage.h │ │ │ ├── TensorStriding.h │ │ │ ├── TensorSycl.h │ │ │ ├── TensorSyclConvertToDeviceExpression.h │ │ │ ├── TensorSyclExprConstructor.h │ │ │ ├── TensorSyclExtractAccessor.h │ │ │ ├── TensorSyclExtractFunctors.h │ │ │ ├── TensorSyclLeafCount.h │ │ │ ├── TensorSyclPlaceHolderExpr.h │ │ │ ├── TensorSyclRun.h │ │ │ ├── TensorSyclTuple.h │ │ │ ├── TensorTraits.h │ │ │ ├── TensorUInt128.h │ │ │ └── TensorVolumePatch.h │ │ │ ├── TensorSymmetry │ │ │ ├── DynamicSymmetry.h │ │ │ ├── StaticSymmetry.h │ │ │ ├── Symmetry.h │ │ │ └── util │ │ │ │ └── TemplateGroupTheory.h │ │ │ ├── ThreadPool │ │ │ ├── EventCount.h │ │ │ ├── NonBlockingThreadPool.h │ │ │ ├── RunQueue.h │ │ │ ├── SimpleThreadPool.h │ │ │ ├── ThreadEnvironment.h │ │ │ ├── ThreadLocal.h │ │ │ ├── ThreadPoolInterface.h │ │ │ └── ThreadYield.h │ │ │ └── util │ │ │ ├── CXX11Meta.h │ │ │ ├── CXX11Workarounds.h │ │ │ ├── EmulateArray.h │ │ │ ├── EmulateCXX11Meta.h │ │ │ └── MaxSizeVector.h │ ├── EulerAngles │ ├── FFT │ ├── IterativeSolvers │ ├── KroneckerProduct │ ├── LevenbergMarquardt │ ├── MPRealSupport │ ├── MatrixFunctions │ ├── MoreVectorization │ ├── NonLinearOptimization │ ├── NumericalDiff │ ├── OpenGLSupport │ ├── Polynomials │ ├── Skyline │ ├── SparseExtra │ ├── SpecialFunctions │ ├── Splines │ └── src │ │ ├── AutoDiff │ │ ├── AutoDiffJacobian.h │ │ ├── AutoDiffScalar.h │ │ └── AutoDiffVector.h │ │ ├── BVH │ │ ├── BVAlgorithms.h │ │ └── KdBVH.h │ │ ├── Eigenvalues │ │ └── ArpackSelfAdjointEigenSolver.h │ │ ├── EulerAngles │ │ ├── CMakeLists.txt │ │ ├── EulerAngles.h │ │ └── EulerSystem.h │ │ ├── FFT │ │ ├── ei_fftw_impl.h │ │ └── ei_kissfft_impl.h │ │ ├── IterativeSolvers │ │ ├── ConstrainedConjGrad.h │ │ ├── DGMRES.h │ │ ├── GMRES.h │ │ ├── IncompleteLU.h │ │ ├── IterationController.h │ │ ├── MINRES.h │ │ └── Scaling.h │ │ ├── KroneckerProduct │ │ └── KroneckerTensorProduct.h │ │ ├── LevenbergMarquardt │ │ ├── CopyrightMINPACK.txt │ │ ├── LMcovar.h │ │ ├── LMonestep.h │ │ ├── LMpar.h │ │ ├── LMqrsolv.h │ │ └── LevenbergMarquardt.h │ │ ├── MatrixFunctions │ │ ├── MatrixExponential.h │ │ ├── MatrixFunction.h │ │ ├── MatrixLogarithm.h │ │ ├── MatrixPower.h │ │ ├── MatrixSquareRoot.h │ │ └── StemFunction.h │ │ ├── MoreVectorization │ │ └── MathFunctions.h │ │ ├── NonLinearOptimization │ │ ├── HybridNonLinearSolver.h │ │ ├── LevenbergMarquardt.h │ │ ├── chkder.h │ │ ├── covar.h │ │ ├── dogleg.h │ │ ├── fdjac1.h │ │ ├── lmpar.h │ │ ├── qrsolv.h │ │ ├── r1mpyq.h │ │ ├── r1updt.h │ │ └── rwupdt.h │ │ ├── NumericalDiff │ │ └── NumericalDiff.h │ │ ├── Polynomials │ │ ├── Companion.h │ │ ├── PolynomialSolver.h │ │ └── PolynomialUtils.h │ │ ├── Skyline │ │ ├── SkylineInplaceLU.h │ │ ├── SkylineMatrix.h │ │ ├── SkylineMatrixBase.h │ │ ├── SkylineProduct.h │ │ ├── SkylineStorage.h │ │ └── SkylineUtil.h │ │ ├── SparseExtra │ │ ├── BlockOfDynamicSparseMatrix.h │ │ ├── BlockSparseMatrix.h │ │ ├── DynamicSparseMatrix.h │ │ ├── MarketIO.h │ │ ├── MatrixMarketIterator.h │ │ └── RandomSetter.h │ │ ├── SpecialFunctions │ │ ├── SpecialFunctionsArrayAPI.h │ │ ├── SpecialFunctionsFunctors.h │ │ ├── SpecialFunctionsHalf.h │ │ ├── SpecialFunctionsImpl.h │ │ ├── SpecialFunctionsPacketMath.h │ │ └── arch │ │ │ └── CUDA │ │ │ └── CudaSpecialFunctions.h │ │ └── Splines │ │ ├── Spline.h │ │ ├── SplineFitting.h │ │ └── SplineFwd.h │ ├── README.txt │ ├── bench │ └── bench_svd.cpp │ └── doc │ ├── CMakeLists.txt │ ├── Overview.dox │ ├── eigendoxy_layout.xml.in │ ├── examples │ ├── BVH_Example.cpp │ ├── CMakeLists.txt │ ├── EulerAngles.cpp │ ├── FFT.cpp │ ├── MatrixExponential.cpp │ ├── MatrixFunction.cpp │ ├── MatrixLogarithm.cpp │ ├── MatrixPower.cpp │ ├── MatrixPower_optimal.cpp │ ├── MatrixSine.cpp │ ├── MatrixSinh.cpp │ ├── MatrixSquareRoot.cpp │ ├── PolynomialSolver1.cpp │ └── PolynomialUtils1.cpp │ └── snippets │ └── CMakeLists.txt ├── README.md ├── camera_model ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── include │ └── camodocal │ │ ├── calib │ │ └── CameraCalibration.h │ │ ├── camera_models │ │ ├── Camera.h │ │ ├── CameraFactory.h │ │ ├── CataCamera.h │ │ ├── CostFunctionFactory.h │ │ ├── EquidistantCamera.h │ │ ├── PinholeCamera.h │ │ └── ScaramuzzaCamera.h │ │ ├── chessboard │ │ ├── Chessboard.h │ │ ├── ChessboardCorner.h │ │ ├── ChessboardQuad.h │ │ └── Spline.h │ │ ├── gpl │ │ ├── EigenQuaternionParameterization.h │ │ ├── EigenUtils.h │ │ └── gpl.h │ │ └── sparse_graph │ │ └── Transform.h ├── instruction ├── package.xml ├── readme.md └── src │ ├── calib │ └── CameraCalibration.cc │ ├── camera_models │ ├── Camera.cc │ ├── CameraFactory.cc │ ├── CataCamera.cc │ ├── CostFunctionFactory.cc │ ├── EquidistantCamera.cc │ ├── PinholeCamera.cc │ └── ScaramuzzaCamera.cc │ ├── chessboard │ └── Chessboard.cc │ ├── gpl │ ├── EigenQuaternionParameterization.cc │ └── gpl.cc │ ├── intrinsic_calib.cc │ └── sparse_graph │ └── Transform.cc ├── pose_graph ├── .vscode │ └── settings.json ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── package.xml └── src │ ├── ThirdParty │ ├── DBoW │ │ ├── BowVector.cpp │ │ ├── BowVector.h │ │ ├── DBoW2.h │ │ ├── FBrief.cpp │ │ ├── FBrief.h │ │ ├── FClass.h │ │ ├── FeatureVector.cpp │ │ ├── FeatureVector.h │ │ ├── QueryResults.cpp │ │ ├── QueryResults.h │ │ ├── ScoringObject.cpp │ │ ├── ScoringObject.h │ │ ├── TemplatedDatabase.h │ │ └── TemplatedVocabulary.h │ ├── DUtils │ │ ├── DException.h │ │ ├── DUtils.h │ │ ├── Random.cpp │ │ ├── Random.h │ │ ├── Timestamp.cpp │ │ └── Timestamp.h │ ├── DVision │ │ ├── BRIEF.cpp │ │ ├── BRIEF.h │ │ └── DVision.h │ ├── ORBextractor │ │ ├── ORBextractor.cc │ │ └── ORBextractor.h │ ├── VocabularyBinary.cpp │ └── VocabularyBinary.hpp │ ├── keyframe.cpp │ ├── keyframe.h │ ├── parameters.h │ ├── pose_graph.cpp │ ├── pose_graph.h │ ├── pose_graph_node.cpp │ └── utility │ ├── CameraPoseVisualization.cpp │ ├── CameraPoseVisualization.h │ ├── tic_toc.h │ ├── utility.cpp │ └── utility.h └── support_files ├── brief_pattern.yml └── paper_bib.txt /MCVO/.vscode/settings.json: -------------------------------------------------------------------------------- 1 | { 2 | "files.associations": { 3 | "core": "cpp", 4 | "*.evaluator": "cpp", 5 | "*.traits": "cpp", 6 | "bvh": "cpp", 7 | "eulerangles": "cpp", 8 | "fft": "cpp", 9 | "specialfunctions": "cpp" 10 | } 11 | } -------------------------------------------------------------------------------- /MCVO/config/05mask.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JunhaoWang615/MCVO/2616491969a5fa25f86e6a58ad1f8992c0688436/MCVO/config/05mask.jpg -------------------------------------------------------------------------------- /MCVO/config/06mask.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JunhaoWang615/MCVO/2616491969a5fa25f86e6a58ad1f8992c0688436/MCVO/config/06mask.jpg -------------------------------------------------------------------------------- /MCVO/config/KITTI360/cameras/camera_00.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | model_type: PINHOLE 3 | camera_name: image_00 4 | image_width: 1408 5 | image_height: 376 6 | mirror_parameters: 7 | xi: 2.2134047507854890e+00 8 | distortion_parameters: 9 | k1: -0.344441 10 | k2: 0.141678 11 | p1: 0.000414 12 | p2: -0.000222 13 | projection_parameters: 14 | fx: 552.554261 15 | fy: 552.554261 16 | cx: 682.049453 17 | cy: 238.769549 18 | -------------------------------------------------------------------------------- /MCVO/config/KITTI360/cameras/camera_01.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | model_type: PINHOLE 3 | camera_name: image_01 4 | image_width: 1408 5 | image_height: 376 6 | mirror_parameters: 7 | xi: 2.2134047507854890e+00 8 | distortion_parameters: 9 | k1: -0.353195 10 | k2: 0.161996 11 | p1: 0.000383 12 | p2: -0.000242 13 | projection_parameters: 14 | fx: 552.554261 15 | fy: 552.554261 16 | cx: 682.049453 17 | cy: 238.769549 -------------------------------------------------------------------------------- /MCVO/config/KITTI360/cameras/camera_02.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | model_type: MEI 3 | camera_name: image_02 4 | image_width: 1400 5 | image_height: 1400 6 | mirror_parameters: 7 | xi: 2.2134047507854890e+00 8 | distortion_parameters: 9 | k1: 1.6798235660113681e-02 10 | k2: 1.6548773243373522e+00 11 | p1: 4.2223943394772046e-04 12 | p2: 4.2462134260997584e-04 13 | projection_parameters: 14 | gamma1: 1.3363220825849971e+03 15 | gamma2: 1.3357883350012958e+03 16 | u0: 7.1694323510126321e+02 17 | v0: 7.0576498308221585e+02 -------------------------------------------------------------------------------- /MCVO/config/KITTI360/cameras/camera_03.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | model_type: MEI 3 | camera_name: image_03 4 | image_width: 1400 5 | image_height: 1400 6 | mirror_parameters: 7 | xi: 2.5535139132482758e+00 8 | distortion_parameters: 9 | k1: 4.9370396274089505e-02 10 | k2: 4.5068455478645308e+00 11 | p1: 1.3477698472982495e-03 12 | p2: -7.0340482615055284e-04 13 | projection_parameters: 14 | gamma1: 1.4854388981875156e+03 15 | gamma2: 1.4849477411748708e+03 16 | u0: 6.9888316784030962e+02 17 | v0: 6.9814541887723055e+02 18 | -------------------------------------------------------------------------------- /MCVO/config/M2DGR/cameras/camera_00.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | model_type: KANNALA_BRANDT 3 | camera_name: image_00 4 | image_width: 1280 5 | image_height: 1024 6 | distortion_parameters: 7 | k2: -0.07015146608431883 8 | k3: 0.008586142263125124 9 | k4: -0.021968993685891842 10 | k5: 0.007442211946112636 11 | projection_parameters: 12 | mu: 540.645056202188 13 | mv: 539.8545023658869 14 | u0: 626.4125666883942 15 | v0: 523.947634226782 16 | 17 | 18 | # left -------------------------------------------------------------------------------- /MCVO/config/M2DGR/cameras/camera_01.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | model_type: KANNALA_BRANDT 3 | camera_name: image_01 4 | image_width: 1280 5 | image_height: 1024 6 | distortion_parameters: 7 | k2: -0.07147685334620411 8 | k3: 0.006423830171528276 9 | k4: -0.02354604292216998 10 | k5: 0.009181757660952325 11 | projection_parameters: 12 | mu: 540.6832252229977 13 | mv: 539.3921307247979 14 | u0: 632.9173957218305 15 | v0: 503.3766864767991 16 | 17 | 18 | # right 19 | -------------------------------------------------------------------------------- /MCVO/config/M2DGR/cameras/camera_02.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | model_type: KANNALA_BRANDT 3 | camera_name: image_02 4 | image_width: 1280 5 | image_height: 1024 6 | distortion_parameters: 7 | k2: -0.061526128889893804 8 | k3: -0.00867447574360461 9 | k4: -0.00984399833727642 10 | k5: 0.004810173767131135 11 | projection_parameters: 12 | mu: 538.3154329292029 13 | mv: 537.4277766778052 14 | u0: 632.4020370259001 15 | v0: 509.3609761132556 16 | 17 | 18 | # Cam-midleft8830 19 | 20 | -------------------------------------------------------------------------------- /MCVO/config/M2DGR/cameras/camera_03.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | model_type: KANNALA_BRANDT 3 | camera_name: image_03 4 | image_width: 1280 5 | image_height: 1024 6 | distortion_parameters: 7 | k2: -0.06329338788105426 8 | k3: -0.005282288794043655 9 | k4: -0.01439687642303018 10 | k5: 0.006593296524853555 11 | projection_parameters: 12 | mu: 537.2294180909289 13 | mv: 536.6425889117285 14 | u0: 635.5687263167875 15 | v0: 491.9422582452684 16 | 17 | # Cam-midright 8827 18 | 19 | -------------------------------------------------------------------------------- /MCVO/config/M2DGR/cameras/camera_04.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | model_type: KANNALA_BRANDT 3 | camera_name: image_04 4 | image_width: 1280 5 | image_height: 1024 6 | distortion_parameters: 7 | k2: -0.057504608980455875 8 | k3: -0.03555561603037192 9 | k4: 0.030555976552383957 10 | k5: -0.014358151534147164 11 | projection_parameters: 12 | mu: 539.834690518987 13 | mv: 538.7141533225924 14 | u0: 630.8171732844409 15 | v0: 501.86380820583685 16 | 17 | # Cam-backleft6450 18 | -------------------------------------------------------------------------------- /MCVO/config/M2DGR/cameras/camera_05.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | model_type: KANNALA_BRANDT 3 | camera_name: image_05 4 | image_width: 1280 5 | image_height: 1024 6 | distortion_parameters: 7 | k2: -0.06681929469733765 8 | k3: -0.005533273650165602 9 | k4: -0.006167142895316966 10 | k5: 0.0018089751112068567 11 | projection_parameters: 12 | mu: 543.4124571628414 13 | mv: 542.2071506815953 14 | u0: 642.967852391304 15 | v0: 504.2993692252895 16 | 17 | # Cam-backright6548 18 | -------------------------------------------------------------------------------- /MCVO/config/MCVO/cam360/cam_0.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | #camera calibration 4 | model_type: MEI 5 | camera_name: camera 6 | image_width: 816 7 | image_height: 686 8 | mirror_parameters: 9 | xi: 1.7611304049140395 10 | distortion_parameters: 11 | k1: -0.11244081175224713 12 | k2: 0.15405016667491067 13 | p1: -0.00038031797429535443 14 | p2: -0.00010442241015034751 15 | projection_parameters: 16 | gamma1: 535.8572870329474 17 | gamma2: 536.7718044461199 18 | u0: 404.30409874398526 19 | v0: 334.09489788735095 -------------------------------------------------------------------------------- /MCVO/config/MCVO/cam360/cam_1.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | model_type: MEI 3 | camera_name: camera 4 | image_width: 816 5 | image_height: 686 6 | mirror_parameters: 7 | xi: 1.8075725317445792 8 | distortion_parameters: 9 | k1: -0.10312403240397729 10 | k2: 0.1922063596449809 11 | p1: 0.0003807523836658894 12 | p2: -0.0005500919525955383 13 | projection_parameters: 14 | gamma1: 547.8836937046682 15 | gamma2: 549.2551986948349 16 | u0: 413.04391004954954 17 | v0: 347.83565317286997 -------------------------------------------------------------------------------- /MCVO/config/MCVO/fisheye_mask.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JunhaoWang615/MCVO/2616491969a5fa25f86e6a58ad1f8992c0688436/MCVO/config/MCVO/fisheye_mask.jpg -------------------------------------------------------------------------------- /MCVO/config/MCVO/ugv/camera_1.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | model_type: MEI 3 | camera_name: camera 4 | image_width: 640 5 | image_height: 480 6 | mirror_parameters: 7 | xi: 1.507983304667433 8 | distortion_parameters: 9 | k1: -0.07347781616721441 10 | k2: 0.24417387274492433 11 | p1: 0.0019232361081336904 12 | p2: 0.0014668219651531832 13 | projection_parameters: 14 | gamma1: 740.729341011609 #fx 15 | gamma2: 660.2628898817492 #fy 16 | u0: 319.6316274499249 #cx 17 | v0: 235.25773827438545 #cy -------------------------------------------------------------------------------- /MCVO/config/MCVO/ugv/fisheye_mask_640x480.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JunhaoWang615/MCVO/2616491969a5fa25f86e6a58ad1f8992c0688436/MCVO/config/MCVO/ugv/fisheye_mask_640x480.png -------------------------------------------------------------------------------- /MCVO/config/MCdata/cameras/camera_00.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | model_type: PINHOLE 3 | camera_name: image_00 4 | image_width: 720 5 | image_height: 540 6 | distortion_parameters: 7 | k1: -0.21046072327790924 8 | k2: 0.15577979446322998 9 | p1: -0.0001708844706763513 10 | p2: -0.00022739337206347906 11 | projection_parameters: 12 | fx: 887.6164997890269 13 | fy: 888.0072466034701 14 | cx: 361.24043510285503 15 | cy: 283.1408283882888 16 | -------------------------------------------------------------------------------- /MCVO/config/MCdata/cameras/camera_04.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | model_type: PINHOLE 3 | camera_name: image_04 4 | image_width: 720 5 | image_height: 540 6 | distortion_parameters: 7 | k1: -0.20852442337343433 8 | k2: 0.15125177991809963 9 | p1: 0.00025236802525244775 10 | p2: -0.0004285603550192086 11 | projection_parameters: 12 | fx: 887.3281485318109 13 | fy: 888.185239228112 14 | cx: 362.08823055653517 15 | cy: 282.26370444292604 -------------------------------------------------------------------------------- /MCVO/config/NCLT/cameras/camera_00.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | model_type: PINHOLE 3 | camera_name: image_00 4 | image_width: 1616 5 | image_height: 1232 6 | distortion_parameters: 7 | k1: 0 8 | k2: 0 9 | p1: 0 10 | p2: 0 11 | projection_parameters: 12 | fx: 410.777504 13 | fy: 410.777504 14 | cx: 805.879152 15 | cy: 613.277472 16 | 17 | 18 | # left -------------------------------------------------------------------------------- /MCVO/config/NCLT/cameras/camera_01.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | model_type: PINHOLE 3 | camera_name: image_01 4 | image_width: 1616 5 | image_height: 1232 6 | distortion_parameters: 7 | k1: 0 8 | k2: 0 9 | p1: 0 10 | p2: 0 11 | projection_parameters: 12 | fx: 409.719024 13 | fy: 409.719024 14 | cx: 813.947840 15 | cy: 624.237344 16 | 17 | # right 18 | -------------------------------------------------------------------------------- /MCVO/config/NCLT/cameras/camera_02.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | model_type: PINHOLE 3 | camera_name: image_02 4 | image_width: 1616 5 | image_height: 1232 6 | distortion_parameters: 7 | k1: 0 8 | k2: 0 9 | p1: 0 10 | p2: 0 11 | projection_parameters: 12 | fx: 408.385824 13 | fy: 408.385824 14 | cx: 793.959536 15 | cy: 623.058320 16 | 17 | 18 | -------------------------------------------------------------------------------- /MCVO/config/NCLT/cameras/camera_03.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | model_type: PINHOLE 3 | camera_name: image_02 4 | image_width: 1616 5 | image_height: 1232 6 | distortion_parameters: 7 | k1: 0 8 | k2: 0 9 | p1: 0 10 | p2: 0 11 | projection_parameters: 12 | fx: 406.802144 13 | fy: 406.802144 14 | cx: 810.874208 15 | cy: 617.352928 16 | 17 | -------------------------------------------------------------------------------- /MCVO/config/NCLT/cameras/camera_04.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | model_type: PINHOLE 3 | camera_name: image_02 4 | image_width: 1616 5 | image_height: 1232 6 | distortion_parameters: 7 | k1: 0 8 | k2: 0 9 | p1: 0 10 | p2: 0 11 | projection_parameters: 12 | fx: 403.920816 13 | fy: 403.920816 14 | cx: 823.270544 15 | cy: 601.929520 16 | 17 | -------------------------------------------------------------------------------- /MCVO/config/NCLT/cameras/camera_05.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | model_type: PINHOLE 3 | camera_name: image_05 4 | image_width: 1616 5 | image_height: 1232 6 | distortion_parameters: 7 | k1: 0 8 | k2: 0 9 | p1: 0 10 | p2: 0 11 | projection_parameters: 12 | fx: 399.433184 13 | fy: 399.433184 14 | cx: 826.361952 15 | cy: 621.668624 16 | 17 | 18 | -------------------------------------------------------------------------------- /MCVO/config/camera_info.yaml: -------------------------------------------------------------------------------- 1 | cam0: 2 | cam_overlaps: [] 3 | camera_model: pinhole 4 | distortion_coeffs: [0.01792688839737692, -0.02626085267295036, 0.04389057152862129, 5 | -0.018593900927459682] 6 | distortion_model: equidistant 7 | intrinsics: [1493.0606696757898, 1329.879207062618, 662.1274260105292, 486.2877991096021] 8 | resolution: [1280, 960] 9 | rostopic: /cmu_rc1/camera_0/image_mono 10 | -------------------------------------------------------------------------------- /MCVO/config/champ/NVIDIA_ISAAC_cam.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | model_type: PINHOLE 3 | camera_name: camera 4 | height: 1080 5 | width: 2048 6 | distortion_parameters: 7 | k1: 0 8 | k2: 0 9 | p1: 0 10 | p2: 0 11 | projection_parameters: 12 | fx: 2345.59765625 13 | fy: 1695.136962890625 14 | cx: 1024.0 15 | cy: 540.0 -------------------------------------------------------------------------------- /MCVO/config/fisheye_mask.jpg: -------------------------------------------------------------------------------- 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| cx: 367.8522793375995 15 | cy: 253.8402144980996 -------------------------------------------------------------------------------- /MCVO/config/hilti_challange/cameras/cam1.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | model_type: PINHOLE 3 | camera_name: camera 4 | height: 540 5 | width: 720 6 | distortion_parameters: 7 | k1: -0.039086652082708805 8 | k2: -0.005525347047415151 9 | p1: 0.004398151558986798 10 | p2: -0.0019701263170917808 11 | projection_parameters: 12 | fx: 352.6489794433894 13 | fy: 352.8586498571586 14 | cx: 347.8170010310082 15 | cy: 270.5806692485468 -------------------------------------------------------------------------------- /MCVO/config/hilti_challange/cameras/cam2.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | model_type: PINHOLE 3 | camera_name: camera1 4 | height: 540 5 | width: 720 6 | distortion_parameters: 7 | k1: -0.041202246303621064 8 | k2: -0.0012607385825244833 9 | p1: 0.0006712169937177444 10 | p2: -0.0006234254968089226 11 | projection_parameters: 12 | fx: 350.70040966794545 13 | fy: 350.8792449525716 14 | cx: 375.2977403521422 15 | cy: 268.5927747079796 -------------------------------------------------------------------------------- /MCVO/config/hilti_challange/cameras/cam3.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | model_type: PINHOLE 3 | camera_name: camera3 4 | height: 540 5 | width: 720 6 | distortion_parameters: 7 | k1: -0.03890973498616883 8 | k2: -0.002604676547864069 9 | p1: 0.0004634700730293949 10 | p2: -0.00036698216675371063 11 | projection_parameters: 12 | fx: 352.9514843860555 13 | fy: 353.32837903547403 14 | cx: 363.93345228274336 15 | cy: 266.14511705007413 -------------------------------------------------------------------------------- /MCVO/config/hilti_challange/cameras/cam4.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | model_type: PINHOLE 3 | camera_name: camera4 4 | height: 540 5 | width: 720 6 | distortion_parameters: 7 | k1: -0.03842764034005408 8 | k2: -0.005841411460411122 9 | p1: 0.003451041303088915 10 | p2: -0.0011463543672005018 11 | projection_parameters: 12 | fx: 351.5132148653381 13 | fy: 351.7557554938886 14 | cx: 342.8425988673232 15 | cy: 259.91793254535776 -------------------------------------------------------------------------------- /MCVO/config/initial.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JunhaoWang615/MCVO/2616491969a5fa25f86e6a58ad1f8992c0688436/MCVO/config/initial.png -------------------------------------------------------------------------------- /MCVO/config/uav360/cameras/camera_00.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | model_type: MEI 3 | camera_name: image_00 4 | image_width: 838 5 | image_height: 720 6 | mirror_parameters: 7 | xi: 1.81167414e+00 8 | distortion_parameters: 9 | k1: -0.24355013 10 | k2: 0.20362954 11 | p1: 0.00048753 12 | p2: 0.00031327 13 | projection_parameters: 14 | gamma1: 692.71182129 15 | gamma2: 692.82313383 16 | u0: 421.29033854 17 | v0: 342.12877758 18 | -------------------------------------------------------------------------------- /MCVO/config/uav360/cameras/camera_01.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | model_type: MEI 3 | camera_name: image_01 4 | image_width: 838 5 | image_height: 720 6 | mirror_parameters: 7 | xi: 1.77046181 8 | distortion_parameters: 9 | k1: -0.26076239 10 | k2: 0.1886713 11 | p1: 0.00092547 12 | p2: -0.0010098 13 | projection_parameters: 14 | gamma1: 688.21952096 15 | gamma2: 688.22048868 16 | u0: 415.48978856 17 | v0: 362.36252391 18 | -------------------------------------------------------------------------------- /MCVO/config/uav360/cameras/camera_02.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | model_type: MEI 3 | camera_name: image_02 4 | image_width: 838 5 | image_height: 720 6 | mirror_parameters: 7 | xi: 1.78908346e+00 8 | distortion_parameters: 9 | k1: -0.25126935 10 | k2: 0.18944099 11 | p1: -0.00106281 12 | p2: 0.00111316 13 | projection_parameters: 14 | gamma1: 688.5033355 15 | gamma2: 688.65481624 16 | u0: 416.61181632 17 | v0: 355.23491325 18 | -------------------------------------------------------------------------------- /MCVO/config/uav360/cameras/camera_03.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | model_type: MEI 3 | camera_name: image_03 4 | image_width: 838 5 | image_height: 720 6 | mirror_parameters: 7 | xi: 1.78711155e+00 8 | distortion_parameters: 9 | k1: -0.25488638 10 | k2: 0.18766678 11 | p1: 0.00058592 12 | p2: 0.00110638 13 | projection_parameters: 14 | gamma1: 687.85162069 15 | gamma2: 687.66752998 16 | u0: 413.97512427 17 | v0: 345.00529072 18 | -------------------------------------------------------------------------------- /MCVO/config/ugv/mono1_config.yaml: -------------------------------------------------------------------------------- 1 | model_type: MEI 2 | camera_name: camera 3 | image_width: 640 4 | image_height: 480 5 | mirror_parameters: 6 | xi: 1.5629934283981157 7 | distortion_parameters: 8 | k1: -0.07083665039247518 9 | k2: 0.3094574364801575 10 | p1: 0.0004607746627279861 11 | p2: 0.00015704097191542886 12 | projection_parameters: 13 | gamma1: 761.6791126513665 14 | gamma2: 678.7676595096547 15 | u0: 317.73997456826834 16 | v0: 233.50210820810244 -------------------------------------------------------------------------------- /MCVO/launch/vins_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /MCVO/src/Estimator/factor/pose_local_parameterization.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | #include 5 | #include "../../utility/utility.h" 6 | 7 | class PoseLocalParameterization : public ceres::LocalParameterization 8 | { 9 | virtual bool Plus(const double *x, const double *delta, double *x_plus_delta) const; 10 | virtual bool ComputeJacobian(const double *x, double *jacobian) const; 11 | virtual int GlobalSize() const { return 7; }; 12 | virtual int LocalSize() const { return 6; }; 13 | }; 14 | -------------------------------------------------------------------------------- /MCVO/src/Frontend/feature_tracker/SPHORB/Data/geoinfo102.pfm: -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- /MCVO/src/utility/utility.cpp: -------------------------------------------------------------------------------- 1 | #include "utility.h" 2 | 3 | Eigen::Matrix3d Utility::g2R(const Eigen::Vector3d &g) 4 | { 5 | Eigen::Matrix3d R0; 6 | Eigen::Vector3d ng1 = g.normalized(); 7 | Eigen::Vector3d ng2{0, 0, 1.0}; 8 | R0 = Eigen::Quaterniond::FromTwoVectors(ng1, ng2).toRotationMatrix(); 9 | double yaw = Utility::R2ypr(R0).x(); 10 | R0 = Utility::ypr2R(Eigen::Vector3d{-yaw, 0, 0}) * R0; 11 | // R0 = Utility::ypr2R(Eigen::Vector3d{-90, 0, 0}) * R0; 12 | return R0; 13 | } 14 | -------------------------------------------------------------------------------- /MCVO/thirdparty/Sophus/.gitignore: -------------------------------------------------------------------------------- 1 | build 2 | CMakeLists.txt.user 3 | *.pyc -------------------------------------------------------------------------------- /MCVO/thirdparty/Sophus/SophusConfig.cmake.in: -------------------------------------------------------------------------------- 1 | @PACKAGE_INIT@ 2 | 3 | include (CMakeFindDependencyMacro) 4 | 5 | @Eigen3_DEPENDENCY@ 6 | 7 | include ("${CMAKE_CURRENT_LIST_DIR}/SophusTargets.cmake") 8 | -------------------------------------------------------------------------------- /MCVO/thirdparty/Sophus/py/cpp_gencode/Se2_Dx_this_mul_exp_x_at_0.cpp: -------------------------------------------------------------------------------- 1 | Scalar const c0 = -c[1]; 2 | result[0] = 0; 3 | result[1] = 0; 4 | result[2] = c0; 5 | result[3] = 0; 6 | result[4] = 0; 7 | result[5] = c[0]; 8 | result[6] = c[0]; 9 | result[7] = c0; 10 | result[8] = 0; 11 | result[9] = c[1]; 12 | result[10] = c[0]; 13 | result[11] = 0; 14 | -------------------------------------------------------------------------------- /MCVO/thirdparty/Sophus/py/cpp_gencode/So2_Dx_exp_x.cpp: -------------------------------------------------------------------------------- 1 | result[0] = -sin(theta); 2 | result[1] = cos(theta); 3 | -------------------------------------------------------------------------------- /MCVO/thirdparty/Sophus/py/cpp_gencode/So2_Dx_this_mul_exp_x_at_0.cpp: -------------------------------------------------------------------------------- 1 | result[0] = -c[1]; 2 | result[1] = c[0]; 3 | -------------------------------------------------------------------------------- /MCVO/thirdparty/Sophus/py/cpp_gencode/So3_Dx_this_mul_exp_x_at_0.cpp: -------------------------------------------------------------------------------- 1 | Scalar const c0 = 0.5*q.w(); 2 | Scalar const c1 = 0.5*q.z(); 3 | Scalar const c2 = -c1; 4 | Scalar const c3 = 0.5*q.y(); 5 | Scalar const c4 = 0.5*q.x(); 6 | Scalar const c5 = -c4; 7 | Scalar const c6 = -c3; 8 | result[0] = c0; 9 | result[1] = c2; 10 | result[2] = c3; 11 | result[3] = c1; 12 | result[4] = c0; 13 | result[5] = c5; 14 | result[6] = c6; 15 | result[7] = c4; 16 | result[8] = c0; 17 | result[9] = c5; 18 | result[10] = c6; 19 | result[11] = c2; 20 | -------------------------------------------------------------------------------- /MCVO/thirdparty/Sophus/py/run_tests.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | #bin/bash 3 | 4 | python3 -m sophus.complex 5 | python3 -m sophus.quaternion 6 | python3 -m sophus.dual_quaternion 7 | python3 -m sophus.so2 8 | python3 -m sophus.se2 9 | python3 -m sophus.so3 10 | python3 -m sophus.se3 -------------------------------------------------------------------------------- /MCVO/thirdparty/Sophus/py/sophus/__init__.py: -------------------------------------------------------------------------------- 1 | from sophus.cse_codegen import cse_codegen 2 | from sophus.matrix import dot, squared_norm, Vector2, Vector3, Vector6, ZeroVector2, ZeroVector3, ZeroVector6, proj, unproj 3 | from sophus.complex import Complex 4 | from sophus.quaternion import Quaternion 5 | from sophus.so2 import So2 6 | from sophus.so3 import So3 7 | from sophus.se3 import Se3 8 | -------------------------------------------------------------------------------- /MCVO/thirdparty/Sophus/py/sophus/cse_codegen.py: -------------------------------------------------------------------------------- 1 | import sympy 2 | import io 3 | 4 | 5 | def cse_codegen(symbols): 6 | cse_results = sympy.cse(symbols, sympy.numbered_symbols("c")) 7 | output = io.StringIO() 8 | for helper in cse_results[0]: 9 | output.write("Scalar const ") 10 | output.write(sympy.printing.ccode(helper[1], helper[0])) 11 | output.write("\n") 12 | assert len(cse_results[1]) == 1 13 | 14 | output.write(sympy.printing.ccode(cse_results[1][0], "result")) 15 | output.write("\n") 16 | output.seek(0) 17 | return output 18 | -------------------------------------------------------------------------------- /MCVO/thirdparty/Sophus/py/sophus/so3_codegen.py: -------------------------------------------------------------------------------- 1 | import sophus 2 | from sympy.utilities.codegen import codegen 3 | import sympy 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/Sophus/run_format.sh: -------------------------------------------------------------------------------- 1 | find . -iname *.hpp -o -iname *.cpp | xargs clang-format -i 2 | -------------------------------------------------------------------------------- /MCVO/thirdparty/Sophus/scripts/run_cpp_tests.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | set -x # echo on 4 | set -e # exit on error 5 | 6 | mkdir build 7 | cd build 8 | pwd 9 | cmake -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=$BUILD_TYPE .. 10 | make -j2 11 | make CTEST_OUTPUT_ON_FAILURE=1 test 12 | -------------------------------------------------------------------------------- /MCVO/thirdparty/Sophus/sophus/example_ensure_handler.cpp: -------------------------------------------------------------------------------- 1 | #include "common.hpp" 2 | 3 | #include 4 | #include 5 | 6 | namespace Sophus { 7 | void ensureFailed(char const* function, char const* file, int line, 8 | char const* description) { 9 | std::printf("Sophus ensure failed in function '%s', file '%s', line %d.\n", 10 | file, function, line); 11 | std::printf("Description: %s\n", description); 12 | std::abort(); 13 | } 14 | } 15 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/.hgeol: -------------------------------------------------------------------------------- 1 | [patterns] 2 | *.sh = LF 3 | *.MINPACK = CRLF 4 | scripts/*.in = LF 5 | debug/msvc/*.dat = CRLF 6 | debug/msvc/*.natvis = CRLF 7 | unsupported/test/mpreal/*.* = CRLF 8 | ** = native 9 | 10 | [repository] 11 | native = LF 12 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/.hgignore: -------------------------------------------------------------------------------- 1 | syntax: glob 2 | qrc_*cxx 3 | *.orig 4 | *.pyc 5 | *.diff 6 | diff 7 | *.save 8 | save 9 | *.old 10 | *.gmo 11 | *.qm 12 | core 13 | core.* 14 | *.bak 15 | *~ 16 | *build* 17 | *.moc.* 18 | *.moc 19 | ui_* 20 | CMakeCache.txt 21 | tags 22 | .*.swp 23 | activity.png 24 | *.out 25 | *.php* 26 | *.log 27 | *.orig 28 | *.rej 29 | log 30 | patch 31 | a 32 | a.* 33 | lapack/testing 34 | lapack/reference 35 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/CTestCustom.cmake.in: -------------------------------------------------------------------------------- 1 | 2 | set(CTEST_CUSTOM_MAXIMUM_NUMBER_OF_WARNINGS "2000") 3 | set(CTEST_CUSTOM_MAXIMUM_NUMBER_OF_ERRORS "2000") 4 | list(APPEND CTEST_CUSTOM_ERROR_EXCEPTION @EIGEN_CTEST_ERROR_EXCEPTION@) 5 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/Eigen/Dense: -------------------------------------------------------------------------------- 1 | #include "Core" 2 | #include "LU" 3 | #include "Cholesky" 4 | #include "QR" 5 | #include "SVD" 6 | #include "Geometry" 7 | #include "Eigenvalues" 8 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/Eigen/Eigen: -------------------------------------------------------------------------------- 1 | #include "Dense" 2 | #include "Sparse" 3 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/Eigen/src/Core/util/NonMPL2.h: -------------------------------------------------------------------------------- 1 | #ifdef EIGEN_MPL2_ONLY 2 | #error Including non-MPL2 code in EIGEN_MPL2_ONLY mode 3 | #endif 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/README.md: -------------------------------------------------------------------------------- 1 | **Eigen is a C++ template library for linear algebra: matrices, vectors, numerical solvers, and related algorithms.** 2 | 3 | For more information go to http://eigen.tuxfamily.org/. 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/bench/bench_sum.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | using namespace Eigen; 4 | using namespace std; 5 | 6 | int main() 7 | { 8 | typedef Matrix Vec; 9 | Vec v(SIZE); 10 | v.setZero(); 11 | v[0] = 1; 12 | v[1] = 2; 13 | for(int i = 0; i < 1000000; i++) 14 | { 15 | v.coeffRef(0) += v.sum() * SCALAR(1e-20); 16 | } 17 | cout << v.sum() << endl; 18 | } 19 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/bench/btl/cmake/FindGMM.cmake: -------------------------------------------------------------------------------- 1 | if (GMM_INCLUDE_DIR) 2 | # in cache already 3 | set(GMM_FOUND TRUE) 4 | else (GMM_INCLUDE_DIR) 5 | 6 | find_path(GMM_INCLUDE_DIR NAMES gmm/gmm.h 7 | PATHS 8 | ${INCLUDE_INSTALL_DIR} 9 | ${GMM_INCLUDE_PATH} 10 | ) 11 | 12 | include(FindPackageHandleStandardArgs) 13 | FIND_PACKAGE_HANDLE_STANDARD_ARGS(GMM DEFAULT_MSG GMM_INCLUDE_DIR ) 14 | 15 | mark_as_advanced(GMM_INCLUDE_DIR) 16 | 17 | endif(GMM_INCLUDE_DIR) 18 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/bench/btl/generic_bench/static/intel_bench_fixed_size.hh: -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- https://raw.githubusercontent.com/JunhaoWang615/MCVO/2616491969a5fa25f86e6a58ad1f8992c0688436/MCVO/thirdparty/eigen/bench/btl/generic_bench/utils/size_lin_log.hh -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/bench/btl/libs/STL/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | 2 | btl_add_bench(btl_STL main.cpp OFF) 3 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/bench/btl/libs/blaze/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | 2 | find_package(BLAZE) 3 | find_package(Boost COMPONENTS system) 4 | if (BLAZE_FOUND AND Boost_FOUND) 5 | include_directories(${BLAZE_INCLUDE_DIR} ${Boost_INCLUDE_DIRS}) 6 | btl_add_bench(btl_blaze main.cpp) 7 | # Note: The newest blaze version requires C++14. 8 | # Ideally, we should set this depending on the version of Blaze we found 9 | set_property(TARGET btl_blaze PROPERTY CXX_STANDARD 14) 10 | if(BUILD_btl_blaze) 11 | target_link_libraries(btl_blaze ${Boost_LIBRARIES}) 12 | endif() 13 | endif () 14 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/bench/btl/libs/blitz/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | 2 | find_package(Blitz) 3 | 4 | if (BLITZ_FOUND) 5 | include_directories(${BLITZ_INCLUDES}) 6 | 7 | btl_add_bench(btl_blitz btl_blitz.cpp) 8 | if (BUILD_btl_blitz) 9 | target_link_libraries(btl_blitz ${BLITZ_LIBRARIES}) 10 | endif (BUILD_btl_blitz) 11 | 12 | btl_add_bench(btl_tiny_blitz btl_tiny_blitz.cpp OFF) 13 | if (BUILD_btl_tiny_blitz) 14 | target_link_libraries(btl_tiny_blitz ${BLITZ_LIBRARIES}) 15 | endif (BUILD_btl_tiny_blitz) 16 | 17 | endif (BLITZ_FOUND) 18 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/bench/btl/libs/gmm/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | 2 | find_package(GMM) 3 | if (GMM_FOUND) 4 | include_directories(${GMM_INCLUDES}) 5 | btl_add_bench(btl_gmm main.cpp) 6 | endif (GMM_FOUND) 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/bench/btl/libs/mtl4/.kdbgrc.main: -------------------------------------------------------------------------------- 1 | [General] 2 | DebuggerCmdStr= 3 | DriverName=GDB 4 | FileVersion=1 5 | OptionsSelected= 6 | ProgramArgs= 7 | TTYLevel=7 8 | WorkingDirectory= 9 | 10 | [Memory] 11 | ColumnWidths=80,0 12 | NumExprs=0 13 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/bench/btl/libs/mtl4/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | 2 | find_package(MTL4) 3 | if (MTL4_FOUND) 4 | include_directories(${MTL4_INCLUDE_DIR}) 5 | btl_add_bench(btl_mtl4 main.cpp) 6 | endif (MTL4_FOUND) 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/bench/btl/libs/tvmet/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | 2 | find_package(Tvmet) 3 | if (TVMET_FOUND) 4 | include_directories(${TVMET_INCLUDE_DIR}) 5 | btl_add_bench(btl_tvmet main.cpp OFF) 6 | endif (TVMET_FOUND) 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/bench/btl/libs/ublas/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | 2 | find_package(Boost) 3 | if (Boost_FOUND) 4 | include_directories(${Boost_INCLUDE_DIRS}) 5 | include_directories(${Boost_INCLUDES}) 6 | btl_add_bench(btl_ublas main.cpp) 7 | endif (Boost_FOUND) 8 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/bench/perf_monitoring/gemm/gemm_settings.txt: -------------------------------------------------------------------------------- 1 | 8 8 8 2 | 9 9 9 3 | 24 24 24 4 | 239 239 239 5 | 240 240 240 6 | 2400 24 24 7 | 24 2400 24 8 | 24 24 2400 9 | 24 2400 2400 10 | 2400 24 2400 11 | 2400 2400 24 12 | 2400 2400 64 13 | 4800 23 160 14 | 23 4800 160 15 | 2400 2400 2400 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/bench/perf_monitoring/gemm/lazy_gemm_settings.txt: -------------------------------------------------------------------------------- 1 | 1 1 1 0 2 | 2 2 2 0 3 | 3 3 3 0 4 | 4 4 4 0 5 | 4 4 4 1 6 | 5 5 5 0 7 | 6 6 6 0 8 | 7 7 7 0 9 | 7 7 7 1 10 | 8 8 8 0 11 | 9 9 9 0 12 | 10 10 10 0 13 | 11 11 11 0 14 | 12 12 12 0 15 | 12 12 12 1 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/blas/README.txt: -------------------------------------------------------------------------------- 1 | 2 | This directory contains a BLAS library built on top of Eigen. 3 | 4 | This module is not built by default. In order to compile it, you need to 5 | type 'make blas' from within your build dir. 6 | 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/blas/f2c/d_cnjg.c: -------------------------------------------------------------------------------- 1 | #include "datatypes.h" 2 | 3 | void d_cnjg(doublecomplex *r, doublecomplex *z) { 4 | r->r = z->r; 5 | r->i = -(z->i); 6 | } 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/blas/f2c/r_cnjg.c: -------------------------------------------------------------------------------- 1 | #include "datatypes.h" 2 | 3 | void r_cnjg(complex *r, complex *z) { 4 | r->r = z->r; 5 | r->i = -(z->i); 6 | } 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/blas/xerbla.cpp: -------------------------------------------------------------------------------- 1 | 2 | #include 3 | 4 | #if (defined __GNUC__) && (!defined __MINGW32__) && (!defined __CYGWIN__) 5 | #define EIGEN_WEAK_LINKING __attribute__ ((weak)) 6 | #else 7 | #define EIGEN_WEAK_LINKING 8 | #endif 9 | 10 | #ifdef __cplusplus 11 | extern "C" 12 | { 13 | #endif 14 | 15 | EIGEN_WEAK_LINKING int xerbla_(const char * msg, int *info, int) 16 | { 17 | printf("Eigen BLAS ERROR #%i: %s\n", *info, msg ); 18 | return 0; 19 | } 20 | 21 | #ifdef __cplusplus 22 | } 23 | #endif 24 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/cmake/UseEigen3.cmake: -------------------------------------------------------------------------------- 1 | # -*- cmake -*- 2 | # 3 | # UseEigen3.cmake 4 | 5 | add_definitions ( ${EIGEN3_DEFINITIONS} ) 6 | include_directories ( ${EIGEN3_INCLUDE_DIRS} ) 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/debug/gdb/__init__.py: -------------------------------------------------------------------------------- 1 | # Intentionally empty 2 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/demos/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | project(EigenDemos) 2 | 3 | add_custom_target(demos) 4 | 5 | if(NOT EIGEN_TEST_NOQT) 6 | find_package(Qt4) 7 | if(QT4_FOUND) 8 | add_subdirectory(mandelbrot) 9 | add_subdirectory(opengl) 10 | else(QT4_FOUND) 11 | message(STATUS "Qt4 not found, so disabling the mandelbrot and opengl demos") 12 | endif(QT4_FOUND) 13 | endif() 14 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/demos/mandelbrot/README: -------------------------------------------------------------------------------- 1 | *** Mandelbrot demo *** 2 | 3 | Controls: 4 | * Left mouse button to center view at a point. 5 | * Drag vertically with left mouse button to zoom in and out. 6 | 7 | Be sure to enable SSE2 or AltiVec to improve performance. 8 | 9 | The number of iterations, and the choice between single and double precision, are 10 | determined at runtime depending on the zoom level. 11 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/demos/mix_eigen_and_c/README: -------------------------------------------------------------------------------- 1 | This is an example of how one can wrap some of Eigen into a C library. 2 | 3 | To try this with GCC, do: 4 | 5 | g++ -c binary_library.cpp -O2 -msse2 -I ../.. 6 | gcc example.c binary_library.o -o example -lstdc++ 7 | ./example 8 | 9 | TODO: add CMakeLists, add more explanations here -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/demos/opengl/README: -------------------------------------------------------------------------------- 1 | 2 | Navigation: 3 | left button: rotate around the target 4 | middle button: zoom 5 | left button + ctrl quake rotate (rotate around camera position) 6 | middle button + ctrl walk (progress along camera's z direction) 7 | left button: pan (translate in the XY camera's plane) 8 | 9 | R : move the camera to initial position 10 | A : start/stop animation 11 | C : clear the animation 12 | G : add a key frame 13 | 14 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/Eigen_Silly_Professor_64x64.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JunhaoWang615/MCVO/2616491969a5fa25f86e6a58ad1f8992c0688436/MCVO/thirdparty/eigen/doc/Eigen_Silly_Professor_64x64.png -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/TopicEigenExpressionTemplates.dox: -------------------------------------------------------------------------------- 1 | namespace Eigen { 2 | 3 | /** \page TopicEigenExpressionTemplates Expression templates in Eigen 4 | 5 | 6 | TODO: write this dox page! 7 | 8 | Is linked from the tutorial on arithmetic ops. 9 | 10 | */ 11 | 12 | } 13 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/TopicResizing.dox: -------------------------------------------------------------------------------- 1 | namespace Eigen { 2 | 3 | /** \page TopicResizing Resizing 4 | 5 | 6 | TODO: write this dox page! 7 | 8 | Is linked from the tutorial on the Matrix class. 9 | 10 | */ 11 | } 12 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/TopicScalarTypes.dox: -------------------------------------------------------------------------------- 1 | namespace Eigen { 2 | 3 | /** \page TopicScalarTypes Scalar types 4 | 5 | 6 | TODO: write this dox page! 7 | 8 | Is linked from the tutorial on the Matrix class. 9 | 10 | */ 11 | 12 | } 13 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/TopicVectorization.dox: -------------------------------------------------------------------------------- 1 | namespace Eigen { 2 | 3 | /** \page TopicVectorization Vectorization 4 | 5 | 6 | TODO: write this dox page! 7 | 8 | */ 9 | } 10 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/TutorialSparse_example_details.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \page TutorialSparse_example_details 3 | \include Tutorial_sparse_example_details.cpp 4 | */ 5 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/.krazy: -------------------------------------------------------------------------------- 1 | EXCLUDE copyright 2 | EXCLUDE license 3 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/Cwise_erf.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | using namespace Eigen; 5 | int main() 6 | { 7 | Array4d v(-0.5,2,0,-7); 8 | std::cout << v.erf() << std::endl; 9 | } 10 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/Cwise_erfc.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | using namespace Eigen; 5 | int main() 6 | { 7 | Array4d v(-0.5,2,0,-7); 8 | std::cout << v.erfc() << std::endl; 9 | } 10 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/Cwise_lgamma.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | using namespace Eigen; 5 | int main() 6 | { 7 | Array4d v(0.5,10,0,-1); 8 | std::cout << v.lgamma() << std::endl; 9 | } 10 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/DenseBase_middleCols_int.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | using namespace std; 6 | 7 | int main(void) 8 | { 9 | int const N = 5; 10 | MatrixXi A(N,N); 11 | A.setRandom(); 12 | cout << "A =\n" << A << '\n' << endl; 13 | cout << "A(1..3,:) =\n" << A.middleCols(1,3) << endl; 14 | return 0; 15 | } 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/DenseBase_middleRows_int.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | using namespace std; 6 | 7 | int main(void) 8 | { 9 | int const N = 5; 10 | MatrixXi A(N,N); 11 | A.setRandom(); 12 | cout << "A =\n" << A << '\n' << endl; 13 | cout << "A(2..3,:) =\n" << A.middleRows(2,2) << endl; 14 | return 0; 15 | } 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/DenseBase_template_int_middleCols.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | using namespace std; 6 | 7 | int main(void) 8 | { 9 | int const N = 5; 10 | MatrixXi A(N,N); 11 | A.setRandom(); 12 | cout << "A =\n" << A << '\n' << endl; 13 | cout << "A(:,1..3) =\n" << A.middleCols<3>(1) << endl; 14 | return 0; 15 | } 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/DenseBase_template_int_middleRows.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | using namespace std; 6 | 7 | int main(void) 8 | { 9 | int const N = 5; 10 | MatrixXi A(N,N); 11 | A.setRandom(); 12 | cout << "A =\n" << A << '\n' << endl; 13 | cout << "A(1..3,:) =\n" << A.middleRows<3>(1) << endl; 14 | return 0; 15 | } 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/QuickStart_example.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using Eigen::MatrixXd; 5 | 6 | int main() 7 | { 8 | MatrixXd m(2,2); 9 | m(0,0) = 3; 10 | m(1,0) = 2.5; 11 | m(0,1) = -1; 12 | m(1,1) = m(1,0) + m(0,1); 13 | std::cout << m << std::endl; 14 | } 15 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/QuickStart_example2_dynamic.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | using namespace std; 6 | 7 | int main() 8 | { 9 | MatrixXd m = MatrixXd::Random(3,3); 10 | m = (m + MatrixXd::Constant(3,3,1.2)) * 50; 11 | cout << "m =" << endl << m << endl; 12 | VectorXd v(3); 13 | v << 1, 2, 3; 14 | cout << "m * v =" << endl << m * v << endl; 15 | } 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/QuickStart_example2_fixed.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | using namespace std; 6 | 7 | int main() 8 | { 9 | Matrix3d m = Matrix3d::Random(); 10 | m = (m + Matrix3d::Constant(1.2)) * 50; 11 | cout << "m =" << endl << m << endl; 12 | Vector3d v(1,2,3); 13 | 14 | cout << "m * v =" << endl << m * v << endl; 15 | } 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/TutorialLinAlgExComputeSolveError.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace std; 5 | using namespace Eigen; 6 | 7 | int main() 8 | { 9 | MatrixXd A = MatrixXd::Random(100,100); 10 | MatrixXd b = MatrixXd::Random(100,50); 11 | MatrixXd x = A.fullPivLu().solve(b); 12 | double relative_error = (A*x - b).norm() / b.norm(); // norm() is L2 norm 13 | cout << "The relative error is:\n" << relative_error << endl; 14 | } 15 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/TutorialLinAlgExSolveColPivHouseholderQR.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace std; 5 | using namespace Eigen; 6 | 7 | int main() 8 | { 9 | Matrix3f A; 10 | Vector3f b; 11 | A << 1,2,3, 4,5,6, 7,8,10; 12 | b << 3, 3, 4; 13 | cout << "Here is the matrix A:\n" << A << endl; 14 | cout << "Here is the vector b:\n" << b << endl; 15 | Vector3f x = A.colPivHouseholderQr().solve(b); 16 | cout << "The solution is:\n" << x << endl; 17 | } 18 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/TutorialLinAlgExSolveLDLT.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace std; 5 | using namespace Eigen; 6 | 7 | int main() 8 | { 9 | Matrix2f A, b; 10 | A << 2, -1, -1, 3; 11 | b << 1, 2, 3, 1; 12 | cout << "Here is the matrix A:\n" << A << endl; 13 | cout << "Here is the right hand side b:\n" << b << endl; 14 | Matrix2f x = A.ldlt().solve(b); 15 | cout << "The solution is:\n" << x << endl; 16 | } 17 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/TutorialLinAlgInverseDeterminant.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace std; 5 | using namespace Eigen; 6 | 7 | int main() 8 | { 9 | Matrix3f A; 10 | A << 1, 2, 1, 11 | 2, 1, 0, 12 | -1, 1, 2; 13 | cout << "Here is the matrix A:\n" << A << endl; 14 | cout << "The determinant of A is " << A.determinant() << endl; 15 | cout << "The inverse of A is:\n" << A.inverse() << endl; 16 | } 17 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/TutorialLinAlgSVDSolve.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace std; 5 | using namespace Eigen; 6 | 7 | int main() 8 | { 9 | MatrixXf A = MatrixXf::Random(3, 2); 10 | cout << "Here is the matrix A:\n" << A << endl; 11 | VectorXf b = VectorXf::Random(3); 12 | cout << "Here is the right hand side b:\n" << b << endl; 13 | cout << "The least-squares solution is:\n" 14 | << A.bdcSvd(ComputeThinU | ComputeThinV).solve(b) << endl; 15 | } 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/TutorialLinAlgSetThreshold.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace std; 5 | using namespace Eigen; 6 | 7 | int main() 8 | { 9 | Matrix2d A; 10 | A << 2, 1, 11 | 2, 0.9999999999; 12 | FullPivLU lu(A); 13 | cout << "By default, the rank of A is found to be " << lu.rank() << endl; 14 | lu.setThreshold(1e-5); 15 | cout << "With threshold 1e-5, the rank of A is found to be " << lu.rank() << endl; 16 | } 17 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/Tutorial_ArrayClass_addition.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | using namespace std; 6 | 7 | int main() 8 | { 9 | ArrayXXf a(3,3); 10 | ArrayXXf b(3,3); 11 | a << 1,2,3, 12 | 4,5,6, 13 | 7,8,9; 14 | b << 1,2,3, 15 | 1,2,3, 16 | 1,2,3; 17 | 18 | // Adding two arrays 19 | cout << "a + b = " << endl << a + b << endl << endl; 20 | 21 | // Subtracting a scalar from an array 22 | cout << "a - 2 = " << endl << a - 2 << endl; 23 | } 24 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/Tutorial_ArrayClass_cwise_other.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | using namespace std; 6 | 7 | int main() 8 | { 9 | ArrayXf a = ArrayXf::Random(5); 10 | a *= 2; 11 | cout << "a =" << endl 12 | << a << endl; 13 | cout << "a.abs() =" << endl 14 | << a.abs() << endl; 15 | cout << "a.abs().sqrt() =" << endl 16 | << a.abs().sqrt() << endl; 17 | cout << "a.min(a.abs().sqrt()) =" << endl 18 | << a.min(a.abs().sqrt()) << endl; 19 | } 20 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/Tutorial_ArrayClass_mult.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | using namespace std; 6 | 7 | int main() 8 | { 9 | ArrayXXf a(2,2); 10 | ArrayXXf b(2,2); 11 | a << 1,2, 12 | 3,4; 13 | b << 5,6, 14 | 7,8; 15 | cout << "a * b = " << endl << a * b << endl; 16 | } 17 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/Tutorial_BlockOperations_colrow.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace std; 5 | 6 | int main() 7 | { 8 | Eigen::MatrixXf m(3,3); 9 | m << 1,2,3, 10 | 4,5,6, 11 | 7,8,9; 12 | cout << "Here is the matrix m:" << endl << m << endl; 13 | cout << "2nd Row: " << m.row(1) << endl; 14 | m.col(2) += 3 * m.col(0); 15 | cout << "After adding 3 times the first column into the third column, the matrix m is:\n"; 16 | cout << m << endl; 17 | } 18 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/Tutorial_BlockOperations_corner.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace std; 5 | 6 | int main() 7 | { 8 | Eigen::Matrix4f m; 9 | m << 1, 2, 3, 4, 10 | 5, 6, 7, 8, 11 | 9, 10,11,12, 12 | 13,14,15,16; 13 | cout << "m.leftCols(2) =" << endl << m.leftCols(2) << endl << endl; 14 | cout << "m.bottomRows<2>() =" << endl << m.bottomRows<2>() << endl << endl; 15 | m.topLeftCorner(1,3) = m.bottomRightCorner(3,1).transpose(); 16 | cout << "After assignment, m = " << endl << m << endl; 17 | } 18 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/Tutorial_BlockOperations_print_block.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace std; 5 | 6 | int main() 7 | { 8 | Eigen::MatrixXf m(4,4); 9 | m << 1, 2, 3, 4, 10 | 5, 6, 7, 8, 11 | 9,10,11,12, 12 | 13,14,15,16; 13 | cout << "Block in the middle" << endl; 14 | cout << m.block<2,2>(1,1) << endl << endl; 15 | for (int i = 1; i <= 3; ++i) 16 | { 17 | cout << "Block of size " << i << "x" << i << endl; 18 | cout << m.block(0,0,i,i) << endl << endl; 19 | } 20 | } 21 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/Tutorial_BlockOperations_vector.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace std; 5 | 6 | int main() 7 | { 8 | Eigen::ArrayXf v(6); 9 | v << 1, 2, 3, 4, 5, 6; 10 | cout << "v.head(3) =" << endl << v.head(3) << endl << endl; 11 | cout << "v.tail<3>() = " << endl << v.tail<3>() << endl << endl; 12 | v.segment(1,4) *= 2; 13 | cout << "after 'v.segment(1,4) *= 2', v =" << endl << v << endl; 14 | } 15 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/Tutorial_PartialLU_solve.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | 5 | using namespace std; 6 | using namespace Eigen; 7 | 8 | int main() 9 | { 10 | Matrix3f A; 11 | Vector3f b; 12 | A << 1,2,3, 4,5,6, 7,8,10; 13 | b << 3, 3, 4; 14 | cout << "Here is the matrix A:" << endl << A << endl; 15 | cout << "Here is the vector b:" << endl << b << endl; 16 | Vector3f x = A.lu().solve(b); 17 | cout << "The solution is:" << endl << x << endl; 18 | } 19 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_broadcast_simple.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace std; 5 | int main() 6 | { 7 | Eigen::MatrixXf mat(2,4); 8 | Eigen::VectorXf v(2); 9 | 10 | mat << 1, 2, 6, 9, 11 | 3, 1, 7, 2; 12 | 13 | v << 0, 14 | 1; 15 | 16 | //add v to each column of m 17 | mat.colwise() += v; 18 | 19 | std::cout << "Broadcasting result: " << std::endl; 20 | std::cout << mat << std::endl; 21 | } 22 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_broadcast_simple_rowwise.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace std; 5 | int main() 6 | { 7 | Eigen::MatrixXf mat(2,4); 8 | Eigen::VectorXf v(4); 9 | 10 | mat << 1, 2, 6, 9, 11 | 3, 1, 7, 2; 12 | 13 | v << 0,1,2,3; 14 | 15 | //add v to each row of m 16 | mat.rowwise() += v.transpose(); 17 | 18 | std::cout << "Broadcasting result: " << std::endl; 19 | std::cout << mat << std::endl; 20 | } 21 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_colwise.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace std; 5 | int main() 6 | { 7 | Eigen::MatrixXf mat(2,4); 8 | mat << 1, 2, 6, 9, 9 | 3, 1, 7, 2; 10 | 11 | std::cout << "Column's maximum: " << std::endl 12 | << mat.colwise().maxCoeff() << std::endl; 13 | } 14 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_rowwise.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace std; 5 | int main() 6 | { 7 | Eigen::MatrixXf mat(2,4); 8 | mat << 1, 2, 6, 9, 9 | 3, 1, 7, 2; 10 | 11 | std::cout << "Row's maximum: " << std::endl 12 | << mat.rowwise().maxCoeff() << std::endl; 13 | } 14 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/Tutorial_simple_example_fixed_size.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | 6 | int main() 7 | { 8 | Matrix3f m3; 9 | m3 << 1, 2, 3, 4, 5, 6, 7, 8, 9; 10 | Matrix4f m4 = Matrix4f::Identity(); 11 | Vector4i v4(1, 2, 3, 4); 12 | 13 | std::cout << "m3\n" << m3 << "\nm4:\n" 14 | << m4 << "\nv4:\n" << v4 << std::endl; 15 | } 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/class_CwiseUnaryOp_ptrfun.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | using namespace Eigen; 4 | using namespace std; 5 | 6 | // define function to be applied coefficient-wise 7 | double ramp(double x) 8 | { 9 | if (x > 0) 10 | return x; 11 | else 12 | return 0; 13 | } 14 | 15 | int main(int, char**) 16 | { 17 | Matrix4d m1 = Matrix4d::Random(); 18 | cout << m1 << endl << "becomes: " << endl << m1.unaryExpr(ptr_fun(ramp)) << endl; 19 | return 0; 20 | } 21 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/function_taking_eigenbase.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | using namespace Eigen; 4 | 5 | template 6 | void print_size(const EigenBase& b) 7 | { 8 | std::cout << "size (rows, cols): " << b.size() << " (" << b.rows() 9 | << ", " << b.cols() << ")" << std::endl; 10 | } 11 | 12 | int main() 13 | { 14 | Vector3f v; 15 | print_size(v); 16 | // v.asDiagonal() returns a 3x3 diagonal matrix pseudo-expression 17 | print_size(v.asDiagonal()); 18 | } 19 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/make_circulant.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | This program is presented in several fragments in the doc page. 3 | Every fragment is in its own file; this file simply combines them. 4 | */ 5 | 6 | #include "make_circulant.cpp.preamble" 7 | #include "make_circulant.cpp.traits" 8 | #include "make_circulant.cpp.expression" 9 | #include "make_circulant.cpp.evaluator" 10 | #include "make_circulant.cpp.entry" 11 | #include "make_circulant.cpp.main" 12 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/make_circulant.cpp.entry: -------------------------------------------------------------------------------- 1 | template 2 | Circulant makeCirculant(const Eigen::MatrixBase& arg) 3 | { 4 | return Circulant(arg.derived()); 5 | } 6 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/make_circulant.cpp.main: -------------------------------------------------------------------------------- 1 | int main() 2 | { 3 | Eigen::VectorXd vec(4); 4 | vec << 1, 2, 4, 8; 5 | Eigen::MatrixXd mat; 6 | mat = makeCirculant(vec); 7 | std::cout << mat << std::endl; 8 | } 9 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/make_circulant.cpp.preamble: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | template class Circulant; 5 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/tut_arithmetic_dot_cross.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | using namespace std; 6 | int main() 7 | { 8 | Vector3d v(1,2,3); 9 | Vector3d w(0,1,2); 10 | 11 | cout << "Dot product: " << v.dot(w) << endl; 12 | double dp = v.adjoint()*w; // automatic conversion of the inner product to a scalar 13 | cout << "Dot product via a matrix product: " << dp << endl; 14 | cout << "Cross product:\n" << v.cross(w) << endl; 15 | } 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/tut_arithmetic_scalar_mul_div.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | 6 | int main() 7 | { 8 | Matrix2d a; 9 | a << 1, 2, 10 | 3, 4; 11 | Vector3d v(1,2,3); 12 | std::cout << "a * 2.5 =\n" << a * 2.5 << std::endl; 13 | std::cout << "0.1 * v =\n" << 0.1 * v << std::endl; 14 | std::cout << "Doing v *= 2;" << std::endl; 15 | v *= 2; 16 | std::cout << "Now v =\n" << v << std::endl; 17 | } 18 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/tut_matrix_coefficient_accessors.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | 6 | int main() 7 | { 8 | MatrixXd m(2,2); 9 | m(0,0) = 3; 10 | m(1,0) = 2.5; 11 | m(0,1) = -1; 12 | m(1,1) = m(1,0) + m(0,1); 13 | std::cout << "Here is the matrix m:\n" << m << std::endl; 14 | VectorXd v(2); 15 | v(0) = 4; 16 | v(1) = v(0) - 1; 17 | std::cout << "Here is the vector v:\n" << v << std::endl; 18 | } 19 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/examples/tut_matrix_resize_fixed_size.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | 6 | int main() 7 | { 8 | Matrix4d m; 9 | m.resize(4,4); // no operation 10 | std::cout << "The matrix m is of size " 11 | << m.rows() << "x" << m.cols() << std::endl; 12 | } 13 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/ftv2node.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JunhaoWang615/MCVO/2616491969a5fa25f86e6a58ad1f8992c0688436/MCVO/thirdparty/eigen/doc/ftv2node.png -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/ftv2pnode.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JunhaoWang615/MCVO/2616491969a5fa25f86e6a58ad1f8992c0688436/MCVO/thirdparty/eigen/doc/ftv2pnode.png -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/.krazy: -------------------------------------------------------------------------------- 1 | EXCLUDE copyright 2 | EXCLUDE license 3 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/AngleAxis_mimic_euler.cpp: -------------------------------------------------------------------------------- 1 | Matrix3f m; 2 | m = AngleAxisf(0.25*M_PI, Vector3f::UnitX()) 3 | * AngleAxisf(0.5*M_PI, Vector3f::UnitY()) 4 | * AngleAxisf(0.33*M_PI, Vector3f::UnitZ()); 5 | cout << m << endl << "is unitary: " << m.isUnitary() << endl; 6 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/BiCGSTAB_simple.cpp: -------------------------------------------------------------------------------- 1 | int n = 10000; 2 | VectorXd x(n), b(n); 3 | SparseMatrix A(n,n); 4 | /* ... fill A and b ... */ 5 | BiCGSTAB > solver; 6 | solver.compute(A); 7 | x = solver.solve(b); 8 | std::cout << "#iterations: " << solver.iterations() << std::endl; 9 | std::cout << "estimated error: " << solver.error() << std::endl; 10 | /* ... update b ... */ 11 | x = solver.solve(b); // solve again -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/BiCGSTAB_step_by_step.cpp: -------------------------------------------------------------------------------- 1 | int n = 10000; 2 | VectorXd x(n), b(n); 3 | SparseMatrix A(n,n); 4 | /* ... fill A and b ... */ 5 | BiCGSTAB > solver(A); 6 | // start from a random solution 7 | x = VectorXd::Random(n); 8 | solver.setMaxIterations(1); 9 | int i = 0; 10 | do { 11 | x = solver.solveWithGuess(b,x); 12 | std::cout << i << " : " << solver.error() << std::endl; 13 | ++i; 14 | } while (solver.info()!=Success && i<100); -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/ColPivHouseholderQR_solve.cpp: -------------------------------------------------------------------------------- 1 | Matrix3f m = Matrix3f::Random(); 2 | Matrix3f y = Matrix3f::Random(); 3 | cout << "Here is the matrix m:" << endl << m << endl; 4 | cout << "Here is the matrix y:" << endl << y << endl; 5 | Matrix3f x; 6 | x = m.colPivHouseholderQr().solve(y); 7 | assert(y.isApprox(m*x)); 8 | cout << "Here is a solution x to the equation mx=y:" << endl << x << endl; 9 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/ComplexEigenSolver_eigenvalues.cpp: -------------------------------------------------------------------------------- 1 | MatrixXcf ones = MatrixXcf::Ones(3,3); 2 | ComplexEigenSolver ces(ones, /* computeEigenvectors = */ false); 3 | cout << "The eigenvalues of the 3x3 matrix of ones are:" 4 | << endl << ces.eigenvalues() << endl; 5 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/ComplexEigenSolver_eigenvectors.cpp: -------------------------------------------------------------------------------- 1 | MatrixXcf ones = MatrixXcf::Ones(3,3); 2 | ComplexEigenSolver ces(ones); 3 | cout << "The first eigenvector of the 3x3 matrix of ones is:" 4 | << endl << ces.eigenvectors().col(1) << endl; 5 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/ComplexSchur_compute.cpp: -------------------------------------------------------------------------------- 1 | MatrixXcf A = MatrixXcf::Random(4,4); 2 | ComplexSchur schur(4); 3 | schur.compute(A); 4 | cout << "The matrix T in the decomposition of A is:" << endl << schur.matrixT() << endl; 5 | schur.compute(A.inverse()); 6 | cout << "The matrix T in the decomposition of A^(-1) is:" << endl << schur.matrixT() << endl; 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/ComplexSchur_matrixT.cpp: -------------------------------------------------------------------------------- 1 | MatrixXcf A = MatrixXcf::Random(4,4); 2 | cout << "Here is a random 4x4 matrix, A:" << endl << A << endl << endl; 3 | ComplexSchur schurOfA(A, false); // false means do not compute U 4 | cout << "The triangular matrix T is:" << endl << schurOfA.matrixT() << endl; 5 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/ComplexSchur_matrixU.cpp: -------------------------------------------------------------------------------- 1 | MatrixXcf A = MatrixXcf::Random(4,4); 2 | cout << "Here is a random 4x4 matrix, A:" << endl << A << endl << endl; 3 | ComplexSchur schurOfA(A); 4 | cout << "The unitary matrix U is:" << endl << schurOfA.matrixU() << endl; 5 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Cwise_abs.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(1,-2,-3); 2 | cout << v.abs() << endl; 3 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Cwise_abs2.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(1,-2,-3); 2 | cout << v.abs2() << endl; 3 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Cwise_acos.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(0, sqrt(2.)/2, 1); 2 | cout << v.acos() << endl; 3 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Cwise_arg.cpp: -------------------------------------------------------------------------------- 1 | ArrayXcf v = ArrayXcf::Random(3); 2 | cout << v << endl << endl; 3 | cout << arg(v) << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Cwise_array_power_array.cpp: -------------------------------------------------------------------------------- 1 | Array x(8,25,3), 2 | e(1./3.,0.5,2.); 3 | cout << "[" << x << "]^[" << e << "] = " << x.pow(e) << endl; // using ArrayBase::pow 4 | cout << "[" << x << "]^[" << e << "] = " << pow(x,e) << endl; // using Eigen::pow 5 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Cwise_asin.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(0, sqrt(2.)/2, 1); 2 | cout << v.asin() << endl; 3 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Cwise_atan.cpp: -------------------------------------------------------------------------------- 1 | ArrayXd v = ArrayXd::LinSpaced(5,0,1); 2 | cout << v.atan() << endl; 3 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Cwise_boolean_and.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(-1,2,1), w(-3,2,3); 2 | cout << ((vw) << endl; 3 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Cwise_greater_equal.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(1,2,3), w(3,2,1); 2 | cout << (v>=w) << endl; 3 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Cwise_inverse.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(2,3,4); 2 | cout << v.inverse() << endl; 3 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Cwise_isFinite.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(1,2,3); 2 | v(1) *= 0.0/0.0; 3 | v(2) /= 0.0; 4 | cout << v << endl << endl; 5 | cout << isfinite(v) << endl; 6 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Cwise_isInf.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(1,2,3); 2 | v(1) *= 0.0/0.0; 3 | v(2) /= 0.0; 4 | cout << v << endl << endl; 5 | cout << isinf(v) << endl; 6 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Cwise_isNaN.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(1,2,3); 2 | v(1) *= 0.0/0.0; 3 | v(2) /= 0.0; 4 | cout << v << endl << endl; 5 | cout << isnan(v) << endl; 6 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Cwise_less.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(1,2,3), w(3,2,1); 2 | cout << (v e(2,-3,1./3.); 2 | cout << "10^[" << e << "] = " << pow(10,e) << endl; 3 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Cwise_sign.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(-3,5,0); 2 | cout << v.sign() << endl; 3 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Cwise_sin.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(M_PI, M_PI/2, M_PI/3); 2 | cout << v.sin() << endl; 3 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Cwise_sinh.cpp: -------------------------------------------------------------------------------- 1 | ArrayXd v = ArrayXd::LinSpaced(5,0,1); 2 | cout << sinh(v) << endl; 3 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Cwise_slash_equal.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(3,2,4), w(5,4,2); 2 | v /= w; 3 | cout << v << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Cwise_sqrt.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(1,2,4); 2 | cout << v.sqrt() << endl; 3 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Cwise_square.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(2,3,4); 2 | cout << v.square() << endl; 3 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Cwise_tan.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(M_PI, M_PI/2, M_PI/3); 2 | cout << v.tan() << endl; 3 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Cwise_tanh.cpp: -------------------------------------------------------------------------------- 1 | ArrayXd v = ArrayXd::LinSpaced(5,0,1); 2 | cout << tanh(v) << endl; 3 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Cwise_times_equal.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(1,2,3), w(2,3,0); 2 | v *= w; 3 | cout << v << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/DenseBase_LinSpaced.cpp: -------------------------------------------------------------------------------- 1 | cout << VectorXi::LinSpaced(4,7,10).transpose() << endl; 2 | cout << VectorXd::LinSpaced(5,0.0,1.0).transpose() << endl; 3 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/DenseBase_LinSpacedInt.cpp: -------------------------------------------------------------------------------- 1 | cout << "Even spacing inputs:" << endl; 2 | cout << VectorXi::LinSpaced(8,1,4).transpose() << endl; 3 | cout << VectorXi::LinSpaced(8,1,8).transpose() << endl; 4 | cout << VectorXi::LinSpaced(8,1,15).transpose() << endl; 5 | cout << "Uneven spacing inputs:" << endl; 6 | cout << VectorXi::LinSpaced(8,1,7).transpose() << endl; 7 | cout << VectorXi::LinSpaced(8,1,9).transpose() << endl; 8 | cout << VectorXi::LinSpaced(8,1,16).transpose() << endl; 9 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/DenseBase_LinSpaced_seq.cpp: -------------------------------------------------------------------------------- 1 | cout << VectorXi::LinSpaced(Sequential,4,7,10).transpose() << endl; 2 | cout << VectorXd::LinSpaced(Sequential,5,0.0,1.0).transpose() << endl; 3 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/DenseBase_setLinSpaced.cpp: -------------------------------------------------------------------------------- 1 | VectorXf v; 2 | v.setLinSpaced(5,0.5f,1.5f); 3 | cout << v << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/DirectionWise_hnormalized.cpp: -------------------------------------------------------------------------------- 1 | typedef Matrix Matrix4Xd; 2 | Matrix4Xd M = Matrix4Xd::Random(4,5); 3 | Projective3d P(Matrix4d::Random()); 4 | cout << "The matrix M is:" << endl << M << endl << endl; 5 | cout << "M.colwise().hnormalized():" << endl << M.colwise().hnormalized() << endl << endl; 6 | cout << "P*M:" << endl << P*M << endl << endl; 7 | cout << "(P*M).colwise().hnormalized():" << endl << (P*M).colwise().hnormalized() << endl << endl; -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/DirectionWise_replicate.cpp: -------------------------------------------------------------------------------- 1 | MatrixXi m = MatrixXi::Random(2,3); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "m.colwise().replicate<3>() = ..." << endl; 4 | cout << m.colwise().replicate<3>() << endl; 5 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/DirectionWise_replicate_int.cpp: -------------------------------------------------------------------------------- 1 | Vector3i v = Vector3i::Random(); 2 | cout << "Here is the vector v:" << endl << v << endl; 3 | cout << "v.rowwise().replicate(5) = ..." << endl; 4 | cout << v.rowwise().replicate(5) << endl; 5 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/EigenSolver_compute.cpp: -------------------------------------------------------------------------------- 1 | EigenSolver es; 2 | MatrixXf A = MatrixXf::Random(4,4); 3 | es.compute(A, /* computeEigenvectors = */ false); 4 | cout << "The eigenvalues of A are: " << es.eigenvalues().transpose() << endl; 5 | es.compute(A + MatrixXf::Identity(4,4), false); // re-use es to compute eigenvalues of A+I 6 | cout << "The eigenvalues of A+I are: " << es.eigenvalues().transpose() << endl; 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/EigenSolver_eigenvalues.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd ones = MatrixXd::Ones(3,3); 2 | EigenSolver es(ones, false); 3 | cout << "The eigenvalues of the 3x3 matrix of ones are:" 4 | << endl << es.eigenvalues() << endl; 5 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/EigenSolver_eigenvectors.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd ones = MatrixXd::Ones(3,3); 2 | EigenSolver es(ones); 3 | cout << "The first eigenvector of the 3x3 matrix of ones is:" 4 | << endl << es.eigenvectors().col(0) << endl; 5 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/EigenSolver_pseudoEigenvectors.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd A = MatrixXd::Random(6,6); 2 | cout << "Here is a random 6x6 matrix, A:" << endl << A << endl << endl; 3 | 4 | EigenSolver es(A); 5 | MatrixXd D = es.pseudoEigenvalueMatrix(); 6 | MatrixXd V = es.pseudoEigenvectors(); 7 | cout << "The pseudo-eigenvalue matrix D is:" << endl << D << endl; 8 | cout << "The pseudo-eigenvector matrix V is:" << endl << V << endl; 9 | cout << "Finally, V * D * V^(-1) = " << endl << V * D * V.inverse() << endl; 10 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/FullPivHouseholderQR_solve.cpp: -------------------------------------------------------------------------------- 1 | Matrix3f m = Matrix3f::Random(); 2 | Matrix3f y = Matrix3f::Random(); 3 | cout << "Here is the matrix m:" << endl << m << endl; 4 | cout << "Here is the matrix y:" << endl << y << endl; 5 | Matrix3f x; 6 | x = m.fullPivHouseholderQr().solve(y); 7 | assert(y.isApprox(m*x)); 8 | cout << "Here is a solution x to the equation mx=y:" << endl << x << endl; 9 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/FullPivLU_image.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m; 2 | m << 1,1,0, 3 | 1,3,2, 4 | 0,1,1; 5 | cout << "Here is the matrix m:" << endl << m << endl; 6 | cout << "Notice that the middle column is the sum of the two others, so the " 7 | << "columns are linearly dependent." << endl; 8 | cout << "Here is a matrix whose columns have the same span but are linearly independent:" 9 | << endl << m.fullPivLu().image(m) << endl; 10 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/FullPivLU_kernel.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf m = MatrixXf::Random(3,5); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | MatrixXf ker = m.fullPivLu().kernel(); 4 | cout << "Here is a matrix whose columns form a basis of the kernel of m:" 5 | << endl << ker << endl; 6 | cout << "By definition of the kernel, m*ker is zero:" 7 | << endl << m*ker << endl; 8 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/FullPivLU_solve.cpp: -------------------------------------------------------------------------------- 1 | Matrix m = Matrix::Random(); 2 | Matrix2f y = Matrix2f::Random(); 3 | cout << "Here is the matrix m:" << endl << m << endl; 4 | cout << "Here is the matrix y:" << endl << y << endl; 5 | Matrix x = m.fullPivLu().solve(y); 6 | if((m*x).isApprox(y)) 7 | { 8 | cout << "Here is a solution x to the equation mx=y:" << endl << x << endl; 9 | } 10 | else 11 | cout << "The equation mx=y does not have any solution." << endl; 12 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/GeneralizedEigenSolver.cpp: -------------------------------------------------------------------------------- 1 | GeneralizedEigenSolver ges; 2 | MatrixXf A = MatrixXf::Random(4,4); 3 | MatrixXf B = MatrixXf::Random(4,4); 4 | ges.compute(A, B); 5 | cout << "The (complex) numerators of the generalzied eigenvalues are: " << ges.alphas().transpose() << endl; 6 | cout << "The (real) denominatore of the generalzied eigenvalues are: " << ges.betas().transpose() << endl; 7 | cout << "The (complex) generalzied eigenvalues are (alphas./beta): " << ges.eigenvalues().transpose() << endl; 8 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/HessenbergDecomposition_compute.cpp: -------------------------------------------------------------------------------- 1 | MatrixXcf A = MatrixXcf::Random(4,4); 2 | HessenbergDecomposition hd(4); 3 | hd.compute(A); 4 | cout << "The matrix H in the decomposition of A is:" << endl << hd.matrixH() << endl; 5 | hd.compute(2*A); // re-use hd to compute and store decomposition of 2A 6 | cout << "The matrix H in the decomposition of 2A is:" << endl << hd.matrixH() << endl; 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/HessenbergDecomposition_matrixH.cpp: -------------------------------------------------------------------------------- 1 | Matrix4f A = MatrixXf::Random(4,4); 2 | cout << "Here is a random 4x4 matrix:" << endl << A << endl; 3 | HessenbergDecomposition hessOfA(A); 4 | MatrixXf H = hessOfA.matrixH(); 5 | cout << "The Hessenberg matrix H is:" << endl << H << endl; 6 | MatrixXf Q = hessOfA.matrixQ(); 7 | cout << "The orthogonal matrix Q is:" << endl << Q << endl; 8 | cout << "Q H Q^T is:" << endl << Q * H * Q.transpose() << endl; 9 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/HessenbergDecomposition_packedMatrix.cpp: -------------------------------------------------------------------------------- 1 | Matrix4d A = Matrix4d::Random(4,4); 2 | cout << "Here is a random 4x4 matrix:" << endl << A << endl; 3 | HessenbergDecomposition hessOfA(A); 4 | Matrix4d pm = hessOfA.packedMatrix(); 5 | cout << "The packed matrix M is:" << endl << pm << endl; 6 | cout << "The upper Hessenberg part corresponds to the matrix H, which is:" 7 | << endl << hessOfA.matrixH() << endl; 8 | Vector3d hc = hessOfA.householderCoefficients(); 9 | cout << "The vector of Householder coefficients is:" << endl << hc << endl; 10 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/HouseholderQR_householderQ.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf A(MatrixXf::Random(5,3)), thinQ(MatrixXf::Identity(5,3)), Q; 2 | A.setRandom(); 3 | HouseholderQR qr(A); 4 | Q = qr.householderQ(); 5 | thinQ = qr.householderQ() * thinQ; 6 | std::cout << "The complete unitary matrix Q is:\n" << Q << "\n\n"; 7 | std::cout << "The thin matrix Q is:\n" << thinQ << "\n\n"; 8 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/HouseholderQR_solve.cpp: -------------------------------------------------------------------------------- 1 | typedef Matrix Matrix3x3; 2 | Matrix3x3 m = Matrix3x3::Random(); 3 | Matrix3f y = Matrix3f::Random(); 4 | cout << "Here is the matrix m:" << endl << m << endl; 5 | cout << "Here is the matrix y:" << endl << y << endl; 6 | Matrix3f x; 7 | x = m.householderQr().solve(y); 8 | assert(y.isApprox(m*x)); 9 | cout << "Here is a solution x to the equation mx=y:" << endl << x << endl; 10 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Jacobi_makeGivens.cpp: -------------------------------------------------------------------------------- 1 | Vector2f v = Vector2f::Random(); 2 | JacobiRotation G; 3 | G.makeGivens(v.x(), v.y()); 4 | cout << "Here is the vector v:" << endl << v << endl; 5 | v.applyOnTheLeft(0, 1, G.adjoint()); 6 | cout << "Here is the vector J' * v:" << endl << v << endl; -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Jacobi_makeJacobi.cpp: -------------------------------------------------------------------------------- 1 | Matrix2f m = Matrix2f::Random(); 2 | m = (m + m.adjoint()).eval(); 3 | JacobiRotation J; 4 | J.makeJacobi(m, 0, 1); 5 | cout << "Here is the matrix m:" << endl << m << endl; 6 | m.applyOnTheLeft(0, 1, J.adjoint()); 7 | m.applyOnTheRight(0, 1, J); 8 | cout << "Here is the matrix J' * m * J:" << endl << m << endl; -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/LLT_solve.cpp: -------------------------------------------------------------------------------- 1 | typedef Matrix DataMatrix; 2 | // let's generate some samples on the 3D plane of equation z = 2x+3y (with some noise) 3 | DataMatrix samples = DataMatrix::Random(12,2); 4 | VectorXf elevations = 2*samples.col(0) + 3*samples.col(1) + VectorXf::Random(12)*0.1; 5 | // and let's solve samples * [x y]^T = elevations in least square sense: 6 | Matrix xy 7 | = (samples.adjoint() * samples).llt().solve((samples.adjoint()*elevations)); 8 | cout << xy << endl; 9 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/LeastSquaresNormalEquations.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf A = MatrixXf::Random(3, 2); 2 | VectorXf b = VectorXf::Random(3); 3 | cout << "The solution using normal equations is:\n" 4 | << (A.transpose() * A).ldlt().solve(A.transpose() * b) << endl; 5 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/LeastSquaresQR.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf A = MatrixXf::Random(3, 2); 2 | VectorXf b = VectorXf::Random(3); 3 | cout << "The solution using the QR decomposition is:\n" 4 | << A.colPivHouseholderQr().solve(b) << endl; 5 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Map_general_stride.cpp: -------------------------------------------------------------------------------- 1 | int array[24]; 2 | for(int i = 0; i < 24; ++i) array[i] = i; 3 | cout << Map > 4 | (array, 3, 3, Stride(8, 2)) 5 | << endl; 6 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Map_inner_stride.cpp: -------------------------------------------------------------------------------- 1 | int array[12]; 2 | for(int i = 0; i < 12; ++i) array[i] = i; 3 | cout << Map > 4 | (array, 6) // the inner stride has already been passed as template parameter 5 | << endl; 6 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Map_outer_stride.cpp: -------------------------------------------------------------------------------- 1 | int array[12]; 2 | for(int i = 0; i < 12; ++i) array[i] = i; 3 | cout << Map >(array, 3, 3, OuterStride<>(4)) << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Map_placement_new.cpp: -------------------------------------------------------------------------------- 1 | int data[] = {1,2,3,4,5,6,7,8,9}; 2 | Map v(data,4); 3 | cout << "The mapped vector v is: " << v << "\n"; 4 | new (&v) Map(data+4,5); 5 | cout << "Now v is: " << v << "\n"; -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Map_simple.cpp: -------------------------------------------------------------------------------- 1 | int array[9]; 2 | for(int i = 0; i < 9; ++i) array[i] = i; 3 | cout << Map(array) << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_adjoint.cpp: -------------------------------------------------------------------------------- 1 | Matrix2cf m = Matrix2cf::Random(); 2 | cout << "Here is the 2x2 complex matrix m:" << endl << m << endl; 3 | cout << "Here is the adjoint of m:" << endl << m.adjoint() << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_applyOnTheLeft.cpp: -------------------------------------------------------------------------------- 1 | Matrix3f A = Matrix3f::Random(3,3), B; 2 | B << 0,1,0, 3 | 0,0,1, 4 | 1,0,0; 5 | cout << "At start, A = " << endl << A << endl; 6 | A.applyOnTheLeft(B); 7 | cout << "After applyOnTheLeft, A = " << endl << A << endl; 8 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_applyOnTheRight.cpp: -------------------------------------------------------------------------------- 1 | Matrix3f A = Matrix3f::Random(3,3), B; 2 | B << 0,1,0, 3 | 0,0,1, 4 | 1,0,0; 5 | cout << "At start, A = " << endl << A << endl; 6 | A *= B; 7 | cout << "After A *= B, A = " << endl << A << endl; 8 | A.applyOnTheRight(B); // equivalent to A *= B 9 | cout << "After applyOnTheRight, A = " << endl << A << endl; 10 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_array.cpp: -------------------------------------------------------------------------------- 1 | Vector3d v(1,2,3); 2 | v.array() += 3; 3 | v.array() -= 2; 4 | cout << v << endl; 5 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_array_const.cpp: -------------------------------------------------------------------------------- 1 | Vector3d v(-1,2,-3); 2 | cout << "the absolute values:" << endl << v.array().abs() << endl; 3 | cout << "the absolute values plus one:" << endl << v.array().abs()+1 << endl; 4 | cout << "sum of the squares: " << v.array().square().sum() << endl; 5 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_asDiagonal.cpp: -------------------------------------------------------------------------------- 1 | cout << Matrix3i(Vector3i(2,5,6).asDiagonal()) << endl; 2 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_block_int_int.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is m.block<2,2>(1,1):" << endl << m.block<2,2>(1,1) << endl; 4 | m.block<2,2>(1,1).setZero(); 5 | cout << "Now the matrix m is:" << endl << m << endl; 6 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_block_int_int_int_int.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is m.block(1, 1, 2, 2):" << endl << m.block(1, 1, 2, 2) << endl; 4 | m.block(1, 1, 2, 2).setZero(); 5 | cout << "Now the matrix m is:" << endl << m << endl; 6 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_bottomLeftCorner_int_int.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is m.bottomLeftCorner(2, 2):" << endl; 4 | cout << m.bottomLeftCorner(2, 2) << endl; 5 | m.bottomLeftCorner(2, 2).setZero(); 6 | cout << "Now the matrix m is:" << endl << m << endl; 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_bottomRightCorner_int_int.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is m.bottomRightCorner(2, 2):" << endl; 4 | cout << m.bottomRightCorner(2, 2) << endl; 5 | m.bottomRightCorner(2, 2).setZero(); 6 | cout << "Now the matrix m is:" << endl << m << endl; 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_bottomRows_int.cpp: -------------------------------------------------------------------------------- 1 | Array44i a = Array44i::Random(); 2 | cout << "Here is the array a:" << endl << a << endl; 3 | cout << "Here is a.bottomRows(2):" << endl; 4 | cout << a.bottomRows(2) << endl; 5 | a.bottomRows(2).setZero(); 6 | cout << "Now the array a is:" << endl << a << endl; 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_cast.cpp: -------------------------------------------------------------------------------- 1 | Matrix2d md = Matrix2d::Identity() * 0.45; 2 | Matrix2f mf = Matrix2f::Identity(); 3 | cout << md + mf.cast() << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_col.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Identity(); 2 | m.col(1) = Vector3d(4,5,6); 3 | cout << m << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_colwise.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is the sum of each column:" << endl << m.colwise().sum() << endl; 4 | cout << "Here is the maximum absolute value of each column:" 5 | << endl << m.cwiseAbs().colwise().maxCoeff() << endl; 6 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_computeInverseAndDetWithCheck.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | Matrix3d inverse; 4 | bool invertible; 5 | double determinant; 6 | m.computeInverseAndDetWithCheck(inverse,determinant,invertible); 7 | cout << "Its determinant is " << determinant << endl; 8 | if(invertible) { 9 | cout << "It is invertible, and its inverse is:" << endl << inverse << endl; 10 | } 11 | else { 12 | cout << "It is not invertible." << endl; 13 | } 14 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_computeInverseWithCheck.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | Matrix3d inverse; 4 | bool invertible; 5 | m.computeInverseWithCheck(inverse,invertible); 6 | if(invertible) { 7 | cout << "It is invertible, and its inverse is:" << endl << inverse << endl; 8 | } 9 | else { 10 | cout << "It is not invertible." << endl; 11 | } 12 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_cwiseAbs.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd m(2,3); 2 | m << 2, -4, 6, 3 | -5, 1, 0; 4 | cout << m.cwiseAbs() << endl; 5 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_cwiseAbs2.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd m(2,3); 2 | m << 2, -4, 6, 3 | -5, 1, 0; 4 | cout << m.cwiseAbs2() << endl; 5 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_cwiseEqual.cpp: -------------------------------------------------------------------------------- 1 | MatrixXi m(2,2); 2 | m << 1, 0, 3 | 1, 1; 4 | cout << "Comparing m with identity matrix:" << endl; 5 | cout << m.cwiseEqual(MatrixXi::Identity(2,2)) << endl; 6 | Index count = m.cwiseEqual(MatrixXi::Identity(2,2)).count(); 7 | cout << "Number of coefficients that are equal: " << count << endl; 8 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_cwiseInverse.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd m(2,3); 2 | m << 2, 0.5, 1, 3 | 3, 0.25, 1; 4 | cout << m.cwiseInverse() << endl; 5 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_cwiseMax.cpp: -------------------------------------------------------------------------------- 1 | Vector3d v(2,3,4), w(4,2,3); 2 | cout << v.cwiseMax(w) << endl; 3 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_cwiseMin.cpp: -------------------------------------------------------------------------------- 1 | Vector3d v(2,3,4), w(4,2,3); 2 | cout << v.cwiseMin(w) << endl; 3 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_cwiseNotEqual.cpp: -------------------------------------------------------------------------------- 1 | MatrixXi m(2,2); 2 | m << 1, 0, 3 | 1, 1; 4 | cout << "Comparing m with identity matrix:" << endl; 5 | cout << m.cwiseNotEqual(MatrixXi::Identity(2,2)) << endl; 6 | Index count = m.cwiseNotEqual(MatrixXi::Identity(2,2)).count(); 7 | cout << "Number of coefficients that are not equal: " << count << endl; 8 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_cwiseProduct.cpp: -------------------------------------------------------------------------------- 1 | Matrix3i a = Matrix3i::Random(), b = Matrix3i::Random(); 2 | Matrix3i c = a.cwiseProduct(b); 3 | cout << "a:\n" << a << "\nb:\n" << b << "\nc:\n" << c << endl; 4 | 5 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_cwiseQuotient.cpp: -------------------------------------------------------------------------------- 1 | Vector3d v(2,3,4), w(4,2,3); 2 | cout << v.cwiseQuotient(w) << endl; 3 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_cwiseSign.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd m(2,3); 2 | m << 2, -4, 6, 3 | -5, 1, 0; 4 | cout << m.cwiseSign() << endl; 5 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_cwiseSqrt.cpp: -------------------------------------------------------------------------------- 1 | Vector3d v(1,2,4); 2 | cout << v.cwiseSqrt() << endl; 3 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_diagonal.cpp: -------------------------------------------------------------------------------- 1 | Matrix3i m = Matrix3i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here are the coefficients on the main diagonal of m:" << endl 4 | << m.diagonal() << endl; 5 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_diagonal_int.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here are the coefficients on the 1st super-diagonal and 2nd sub-diagonal of m:" << endl 4 | << m.diagonal(1).transpose() << endl 5 | << m.diagonal(-2).transpose() << endl; 6 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_diagonal_template_int.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here are the coefficients on the 1st super-diagonal and 2nd sub-diagonal of m:" << endl 4 | << m.diagonal<1>().transpose() << endl 5 | << m.diagonal<-2>().transpose() << endl; 6 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_eigenvalues.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd ones = MatrixXd::Ones(3,3); 2 | VectorXcd eivals = ones.eigenvalues(); 3 | cout << "The eigenvalues of the 3x3 matrix of ones are:" << endl << eivals << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_end_int.cpp: -------------------------------------------------------------------------------- 1 | RowVector4i v = RowVector4i::Random(); 2 | cout << "Here is the vector v:" << endl << v << endl; 3 | cout << "Here is v.tail(2):" << endl << v.tail(2) << endl; 4 | v.tail(2).setZero(); 5 | cout << "Now the vector v is:" << endl << v << endl; 6 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_eval.cpp: -------------------------------------------------------------------------------- 1 | Matrix2f M = Matrix2f::Random(); 2 | Matrix2f m; 3 | m = M; 4 | cout << "Here is the matrix m:" << endl << m << endl; 5 | cout << "Now we want to copy a column into a row." << endl; 6 | cout << "If we do m.col(1) = m.row(0), then m becomes:" << endl; 7 | m.col(1) = m.row(0); 8 | cout << m << endl << "which is wrong!" << endl; 9 | cout << "Now let us instead do m.col(1) = m.row(0).eval(). Then m becomes" << endl; 10 | m = M; 11 | m.col(1) = m.row(0).eval(); 12 | cout << m << endl << "which is right." << endl; 13 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_fixedBlock_int_int.cpp: -------------------------------------------------------------------------------- 1 | Matrix4d m = Vector4d(1,2,3,4).asDiagonal(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is m.fixed<2, 2>(2, 2):" << endl << m.block<2, 2>(2, 2) << endl; 4 | m.block<2, 2>(2, 0) = m.block<2, 2>(2, 2); 5 | cout << "Now the matrix m is:" << endl << m << endl; 6 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_hnormalized.cpp: -------------------------------------------------------------------------------- 1 | Vector4d v = Vector4d::Random(); 2 | Projective3d P(Matrix4d::Random()); 3 | cout << "v = " << v.transpose() << "]^T" << endl; 4 | cout << "v.hnormalized() = " << v.hnormalized().transpose() << "]^T" << endl; 5 | cout << "P*v = " << (P*v).transpose() << "]^T" << endl; 6 | cout << "(P*v).hnormalized() = " << (P*v).hnormalized().transpose() << "]^T" << endl; -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_homogeneous.cpp: -------------------------------------------------------------------------------- 1 | Vector3d v = Vector3d::Random(), w; 2 | Projective3d P(Matrix4d::Random()); 3 | cout << "v = [" << v.transpose() << "]^T" << endl; 4 | cout << "h.homogeneous() = [" << v.homogeneous().transpose() << "]^T" << endl; 5 | cout << "(P * v.homogeneous()) = [" << (P * v.homogeneous()).transpose() << "]^T" << endl; 6 | cout << "(P * v.homogeneous()).hnormalized() = [" << (P * v.homogeneous()).eval().hnormalized().transpose() << "]^T" << endl; -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_identity.cpp: -------------------------------------------------------------------------------- 1 | cout << Matrix::Identity() << endl; 2 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_identity_int_int.cpp: -------------------------------------------------------------------------------- 1 | cout << MatrixXd::Identity(4, 3) << endl; 2 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_inverse.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Its inverse is:" << endl << m.inverse() << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_isDiagonal.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = 10000 * Matrix3d::Identity(); 2 | m(0,2) = 1; 3 | cout << "Here's the matrix m:" << endl << m << endl; 4 | cout << "m.isDiagonal() returns: " << m.isDiagonal() << endl; 5 | cout << "m.isDiagonal(1e-3) returns: " << m.isDiagonal(1e-3) << endl; 6 | 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_isIdentity.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Identity(); 2 | m(0,2) = 1e-4; 3 | cout << "Here's the matrix m:" << endl << m << endl; 4 | cout << "m.isIdentity() returns: " << m.isIdentity() << endl; 5 | cout << "m.isIdentity(1e-3) returns: " << m.isIdentity(1e-3) << endl; 6 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_isOnes.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Ones(); 2 | m(0,2) += 1e-4; 3 | cout << "Here's the matrix m:" << endl << m << endl; 4 | cout << "m.isOnes() returns: " << m.isOnes() << endl; 5 | cout << "m.isOnes(1e-3) returns: " << m.isOnes(1e-3) << endl; 6 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_isOrthogonal.cpp: -------------------------------------------------------------------------------- 1 | Vector3d v(1,0,0); 2 | Vector3d w(1e-4,0,1); 3 | cout << "Here's the vector v:" << endl << v << endl; 4 | cout << "Here's the vector w:" << endl << w << endl; 5 | cout << "v.isOrthogonal(w) returns: " << v.isOrthogonal(w) << endl; 6 | cout << "v.isOrthogonal(w,1e-3) returns: " << v.isOrthogonal(w,1e-3) << endl; 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_isUnitary.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Identity(); 2 | m(0,2) = 1e-4; 3 | cout << "Here's the matrix m:" << endl << m << endl; 4 | cout << "m.isUnitary() returns: " << m.isUnitary() << endl; 5 | cout << "m.isUnitary(1e-3) returns: " << m.isUnitary(1e-3) << endl; 6 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_isZero.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Zero(); 2 | m(0,2) = 1e-4; 3 | cout << "Here's the matrix m:" << endl << m << endl; 4 | cout << "m.isZero() returns: " << m.isZero() << endl; 5 | cout << "m.isZero(1e-3) returns: " << m.isZero(1e-3) << endl; 6 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_leftCols_int.cpp: -------------------------------------------------------------------------------- 1 | Array44i a = Array44i::Random(); 2 | cout << "Here is the array a:" << endl << a << endl; 3 | cout << "Here is a.leftCols(2):" << endl; 4 | cout << a.leftCols(2) << endl; 5 | a.leftCols(2).setZero(); 6 | cout << "Now the array a is:" << endl << a << endl; 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_noalias.cpp: -------------------------------------------------------------------------------- 1 | Matrix2d a, b, c; a << 1,2,3,4; b << 5,6,7,8; 2 | c.noalias() = a * b; // this computes the product directly to c 3 | cout << c << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_ones.cpp: -------------------------------------------------------------------------------- 1 | cout << Matrix2d::Ones() << endl; 2 | cout << 6 * RowVector4i::Ones() << endl; 3 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_ones_int.cpp: -------------------------------------------------------------------------------- 1 | cout << 6 * RowVectorXi::Ones(4) << endl; 2 | cout << VectorXf::Ones(2) << endl; 3 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_ones_int_int.cpp: -------------------------------------------------------------------------------- 1 | cout << MatrixXi::Ones(2,3) << endl; 2 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_operatorNorm.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd ones = MatrixXd::Ones(3,3); 2 | cout << "The operator norm of the 3x3 matrix of ones is " 3 | << ones.operatorNorm() << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_prod.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is the product of all the coefficients:" << endl << m.prod() << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_random.cpp: -------------------------------------------------------------------------------- 1 | cout << 100 * Matrix2i::Random() << endl; 2 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_random_int.cpp: -------------------------------------------------------------------------------- 1 | cout << VectorXi::Random(2) << endl; 2 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_random_int_int.cpp: -------------------------------------------------------------------------------- 1 | cout << MatrixXi::Random(2,3) << endl; 2 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_replicate.cpp: -------------------------------------------------------------------------------- 1 | MatrixXi m = MatrixXi::Random(2,3); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "m.replicate<3,2>() = ..." << endl; 4 | cout << m.replicate<3,2>() << endl; 5 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_replicate_int_int.cpp: -------------------------------------------------------------------------------- 1 | Vector3i v = Vector3i::Random(); 2 | cout << "Here is the vector v:" << endl << v << endl; 3 | cout << "v.replicate(2,5) = ..." << endl; 4 | cout << v.replicate(2,5) << endl; 5 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_reverse.cpp: -------------------------------------------------------------------------------- 1 | MatrixXi m = MatrixXi::Random(3,4); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is the reverse of m:" << endl << m.reverse() << endl; 4 | cout << "Here is the coefficient (1,0) in the reverse of m:" << endl 5 | << m.reverse()(1,0) << endl; 6 | cout << "Let us overwrite this coefficient with the value 4." << endl; 7 | m.reverse()(1,0) = 4; 8 | cout << "Now the matrix m is:" << endl << m << endl; 9 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_rightCols_int.cpp: -------------------------------------------------------------------------------- 1 | Array44i a = Array44i::Random(); 2 | cout << "Here is the array a:" << endl << a << endl; 3 | cout << "Here is a.rightCols(2):" << endl; 4 | cout << a.rightCols(2) << endl; 5 | a.rightCols(2).setZero(); 6 | cout << "Now the array a is:" << endl << a << endl; 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_row.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Identity(); 2 | m.row(1) = Vector3d(4,5,6); 3 | cout << m << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_rowwise.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is the sum of each row:" << endl << m.rowwise().sum() << endl; 4 | cout << "Here is the maximum absolute value of each row:" 5 | << endl << m.cwiseAbs().rowwise().maxCoeff() << endl; 6 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_segment_int_int.cpp: -------------------------------------------------------------------------------- 1 | RowVector4i v = RowVector4i::Random(); 2 | cout << "Here is the vector v:" << endl << v << endl; 3 | cout << "Here is v.segment(1, 2):" << endl << v.segment(1, 2) << endl; 4 | v.segment(1, 2).setZero(); 5 | cout << "Now the vector v is:" << endl << v << endl; 6 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_select.cpp: -------------------------------------------------------------------------------- 1 | MatrixXi m(3, 3); 2 | m << 1, 2, 3, 3 | 4, 5, 6, 4 | 7, 8, 9; 5 | m = (m.array() >= 5).select(-m, m); 6 | cout << m << endl; 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_selfadjointView.cpp: -------------------------------------------------------------------------------- 1 | Matrix3i m = Matrix3i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is the symmetric matrix extracted from the upper part of m:" << endl 4 | << Matrix3i(m.selfadjointView()) << endl; 5 | cout << "Here is the symmetric matrix extracted from the lower part of m:" << endl 6 | << Matrix3i(m.selfadjointView()) << endl; 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_set.cpp: -------------------------------------------------------------------------------- 1 | Matrix3i m1; 2 | m1 << 1, 2, 3, 3 | 4, 5, 6, 4 | 7, 8, 9; 5 | cout << m1 << endl << endl; 6 | Matrix3i m2 = Matrix3i::Identity(); 7 | m2.block(0,0, 2,2) << 10, 11, 12, 13; 8 | cout << m2 << endl << endl; 9 | Vector2i v1; 10 | v1 << 14, 15; 11 | m2 << v1.transpose(), 16, 12 | v1, m1.block(1,1,2,2); 13 | cout << m2 << endl; 14 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_setIdentity.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Zero(); 2 | m.block<3,3>(1,0).setIdentity(); 3 | cout << m << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_setOnes.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | m.row(1).setOnes(); 3 | cout << m << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_setRandom.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Zero(); 2 | m.col(1).setRandom(); 3 | cout << m << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_setZero.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | m.row(1).setZero(); 3 | cout << m << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_start_int.cpp: -------------------------------------------------------------------------------- 1 | RowVector4i v = RowVector4i::Random(); 2 | cout << "Here is the vector v:" << endl << v << endl; 3 | cout << "Here is v.head(2):" << endl << v.head(2) << endl; 4 | v.head(2).setZero(); 5 | cout << "Now the vector v is:" << endl << v << endl; 6 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_template_int_bottomRows.cpp: -------------------------------------------------------------------------------- 1 | Array44i a = Array44i::Random(); 2 | cout << "Here is the array a:" << endl << a << endl; 3 | cout << "Here is a.bottomRows<2>():" << endl; 4 | cout << a.bottomRows<2>() << endl; 5 | a.bottomRows<2>().setZero(); 6 | cout << "Now the array a is:" << endl << a << endl; 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_template_int_end.cpp: -------------------------------------------------------------------------------- 1 | RowVector4i v = RowVector4i::Random(); 2 | cout << "Here is the vector v:" << endl << v << endl; 3 | cout << "Here is v.tail(2):" << endl << v.tail<2>() << endl; 4 | v.tail<2>().setZero(); 5 | cout << "Now the vector v is:" << endl << v << endl; 6 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_template_int_int_block_int_int_int_int.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is the block:" << endl << m.block<2, Dynamic>(1, 1, 2, 3) << endl; 4 | m.block<2, Dynamic>(1, 1, 2, 3).setZero(); 5 | cout << "Now the matrix m is:" << endl << m << endl; 6 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_template_int_int_bottomLeftCorner.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is m.bottomLeftCorner<2,2>():" << endl; 4 | cout << m.bottomLeftCorner<2,2>() << endl; 5 | m.bottomLeftCorner<2,2>().setZero(); 6 | cout << "Now the matrix m is:" << endl << m << endl; 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_template_int_int_bottomLeftCorner_int_int.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is m.bottomLeftCorner<2,Dynamic>(2,2):" << endl; 4 | cout << m.bottomLeftCorner<2,Dynamic>(2,2) << endl; 5 | m.bottomLeftCorner<2,Dynamic>(2,2).setZero(); 6 | cout << "Now the matrix m is:" << endl << m << endl; 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_template_int_int_bottomRightCorner.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is m.bottomRightCorner<2,2>():" << endl; 4 | cout << m.bottomRightCorner<2,2>() << endl; 5 | m.bottomRightCorner<2,2>().setZero(); 6 | cout << "Now the matrix m is:" << endl << m << endl; 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_template_int_int_bottomRightCorner_int_int.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is m.bottomRightCorner<2,Dynamic>(2,2):" << endl; 4 | cout << m.bottomRightCorner<2,Dynamic>(2,2) << endl; 5 | m.bottomRightCorner<2,Dynamic>(2,2).setZero(); 6 | cout << "Now the matrix m is:" << endl << m << endl; 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_template_int_int_topLeftCorner.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is m.topLeftCorner<2,2>():" << endl; 4 | cout << m.topLeftCorner<2,2>() << endl; 5 | m.topLeftCorner<2,2>().setZero(); 6 | cout << "Now the matrix m is:" << endl << m << endl; 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_template_int_int_topLeftCorner_int_int.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is m.topLeftCorner<2,Dynamic>(2,2):" << endl; 4 | cout << m.topLeftCorner<2,Dynamic>(2,2) << endl; 5 | m.topLeftCorner<2,Dynamic>(2,2).setZero(); 6 | cout << "Now the matrix m is:" << endl << m << endl; 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_template_int_int_topRightCorner.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is m.topRightCorner<2,2>():" << endl; 4 | cout << m.topRightCorner<2,2>() << endl; 5 | m.topRightCorner<2,2>().setZero(); 6 | cout << "Now the matrix m is:" << endl << m << endl; 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_template_int_int_topRightCorner_int_int.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is m.topRightCorner<2,Dynamic>(2,2):" << endl; 4 | cout << m.topRightCorner<2,Dynamic>(2,2) << endl; 5 | m.topRightCorner<2,Dynamic>(2,2).setZero(); 6 | cout << "Now the matrix m is:" << endl << m << endl; 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_template_int_leftCols.cpp: -------------------------------------------------------------------------------- 1 | Array44i a = Array44i::Random(); 2 | cout << "Here is the array a:" << endl << a << endl; 3 | cout << "Here is a.leftCols<2>():" << endl; 4 | cout << a.leftCols<2>() << endl; 5 | a.leftCols<2>().setZero(); 6 | cout << "Now the array a is:" << endl << a << endl; 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_template_int_rightCols.cpp: -------------------------------------------------------------------------------- 1 | Array44i a = Array44i::Random(); 2 | cout << "Here is the array a:" << endl << a << endl; 3 | cout << "Here is a.rightCols<2>():" << endl; 4 | cout << a.rightCols<2>() << endl; 5 | a.rightCols<2>().setZero(); 6 | cout << "Now the array a is:" << endl << a << endl; 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_template_int_segment.cpp: -------------------------------------------------------------------------------- 1 | RowVector4i v = RowVector4i::Random(); 2 | cout << "Here is the vector v:" << endl << v << endl; 3 | cout << "Here is v.segment<2>(1):" << endl << v.segment<2>(1) << endl; 4 | v.segment<2>(2).setZero(); 5 | cout << "Now the vector v is:" << endl << v << endl; 6 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_template_int_start.cpp: -------------------------------------------------------------------------------- 1 | RowVector4i v = RowVector4i::Random(); 2 | cout << "Here is the vector v:" << endl << v << endl; 3 | cout << "Here is v.head(2):" << endl << v.head<2>() << endl; 4 | v.head<2>().setZero(); 5 | cout << "Now the vector v is:" << endl << v << endl; 6 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_template_int_topRows.cpp: -------------------------------------------------------------------------------- 1 | Array44i a = Array44i::Random(); 2 | cout << "Here is the array a:" << endl << a << endl; 3 | cout << "Here is a.topRows<2>():" << endl; 4 | cout << a.topRows<2>() << endl; 5 | a.topRows<2>().setZero(); 6 | cout << "Now the array a is:" << endl << a << endl; 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_topLeftCorner_int_int.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is m.topLeftCorner(2, 2):" << endl; 4 | cout << m.topLeftCorner(2, 2) << endl; 5 | m.topLeftCorner(2, 2).setZero(); 6 | cout << "Now the matrix m is:" << endl << m << endl; 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_topRightCorner_int_int.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is m.topRightCorner(2, 2):" << endl; 4 | cout << m.topRightCorner(2, 2) << endl; 5 | m.topRightCorner(2, 2).setZero(); 6 | cout << "Now the matrix m is:" << endl << m << endl; 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_topRows_int.cpp: -------------------------------------------------------------------------------- 1 | Array44i a = Array44i::Random(); 2 | cout << "Here is the array a:" << endl << a << endl; 3 | cout << "Here is a.topRows(2):" << endl; 4 | cout << a.topRows(2) << endl; 5 | a.topRows(2).setZero(); 6 | cout << "Now the array a is:" << endl << a << endl; 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_transpose.cpp: -------------------------------------------------------------------------------- 1 | Matrix2i m = Matrix2i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is the transpose of m:" << endl << m.transpose() << endl; 4 | cout << "Here is the coefficient (1,0) in the transpose of m:" << endl 5 | << m.transpose()(1,0) << endl; 6 | cout << "Let us overwrite this coefficient with the value 0." << endl; 7 | m.transpose()(1,0) = 0; 8 | cout << "Now the matrix m is:" << endl << m << endl; 9 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_zero.cpp: -------------------------------------------------------------------------------- 1 | cout << Matrix2d::Zero() << endl; 2 | cout << RowVector4i::Zero() << endl; 3 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_zero_int.cpp: -------------------------------------------------------------------------------- 1 | cout << RowVectorXi::Zero(4) << endl; 2 | cout << VectorXf::Zero(2) << endl; 3 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/MatrixBase_zero_int_int.cpp: -------------------------------------------------------------------------------- 1 | cout << MatrixXi::Zero(2,3) << endl; 2 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Matrix_Map_stride.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i A; 2 | A << 1, 2, 3, 4, 3 | 5, 6, 7, 8, 4 | 9, 10, 11, 12, 5 | 13, 14, 15, 16; 6 | 7 | std::cout << Matrix2i::Map(&A(1,1),Stride<8,2>()) << std::endl; 8 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Matrix_resize_NoChange_int.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd m(3,4); 2 | m.resize(NoChange, 5); 3 | cout << "m: " << m.rows() << " rows, " << m.cols() << " cols" << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Matrix_resize_int.cpp: -------------------------------------------------------------------------------- 1 | VectorXd v(10); 2 | v.resize(3); 3 | RowVector3d w; 4 | w.resize(3); // this is legal, but has no effect 5 | cout << "v: " << v.rows() << " rows, " << v.cols() << " cols" << endl; 6 | cout << "w: " << w.rows() << " rows, " << w.cols() << " cols" << endl; 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Matrix_resize_int_NoChange.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd m(3,4); 2 | m.resize(5, NoChange); 3 | cout << "m: " << m.rows() << " rows, " << m.cols() << " cols" << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Matrix_resize_int_int.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd m(2,3); 2 | m << 1,2,3,4,5,6; 3 | cout << "here's the 2x3 matrix m:" << endl << m << endl; 4 | cout << "let's resize m to 3x2. This is a conservative resizing because 2*3==3*2." << endl; 5 | m.resize(3,2); 6 | cout << "here's the 3x2 matrix m:" << endl << m << endl; 7 | cout << "now let's resize m to size 2x2. This is NOT a conservative resizing, so it becomes uninitialized:" << endl; 8 | m.resize(2,2); 9 | cout << m << endl; 10 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Matrix_setConstant_int.cpp: -------------------------------------------------------------------------------- 1 | VectorXf v; 2 | v.setConstant(3, 5); 3 | cout << v << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Matrix_setConstant_int_int.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf m; 2 | m.setConstant(3, 3, 5); 3 | cout << m << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Matrix_setIdentity_int_int.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf m; 2 | m.setIdentity(3, 3); 3 | cout << m << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Matrix_setOnes_int.cpp: -------------------------------------------------------------------------------- 1 | VectorXf v; 2 | v.setOnes(3); 3 | cout << v << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Matrix_setOnes_int_int.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf m; 2 | m.setOnes(3, 3); 3 | cout << m << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Matrix_setRandom_int.cpp: -------------------------------------------------------------------------------- 1 | VectorXf v; 2 | v.setRandom(3); 3 | cout << v << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Matrix_setRandom_int_int.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf m; 2 | m.setRandom(3, 3); 3 | cout << m << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Matrix_setZero_int.cpp: -------------------------------------------------------------------------------- 1 | VectorXf v; 2 | v.setZero(3); 3 | cout << v << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Matrix_setZero_int_int.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf m; 2 | m.setZero(3, 3); 3 | cout << m << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/PartialPivLU_solve.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd A = MatrixXd::Random(3,3); 2 | MatrixXd B = MatrixXd::Random(3,2); 3 | cout << "Here is the invertible matrix A:" << endl << A << endl; 4 | cout << "Here is the matrix B:" << endl << B << endl; 5 | MatrixXd X = A.lu().solve(B); 6 | cout << "Here is the (unique) solution X to the equation AX=B:" << endl << X << endl; 7 | cout << "Relative error: " << (A*X-B).norm() / B.norm() << endl; 8 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/PartialRedux_count.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | Matrix res = (m.array() >= 0.5).rowwise().count(); 4 | cout << "Here is the count of elements larger or equal than 0.5 of each row:" << endl; 5 | cout << res << endl; 6 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/PartialRedux_maxCoeff.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is the maximum of each column:" << endl << m.colwise().maxCoeff() << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/PartialRedux_minCoeff.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is the minimum of each column:" << endl << m.colwise().minCoeff() << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/PartialRedux_norm.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is the norm of each column:" << endl << m.colwise().norm() << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/PartialRedux_prod.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is the product of each row:" << endl << m.rowwise().prod() << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/PartialRedux_squaredNorm.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is the square norm of each row:" << endl << m.rowwise().squaredNorm() << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/PartialRedux_sum.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is the sum of each row:" << endl << m.rowwise().sum() << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/RealSchur_RealSchur_MatrixType.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd A = MatrixXd::Random(6,6); 2 | cout << "Here is a random 6x6 matrix, A:" << endl << A << endl << endl; 3 | 4 | RealSchur schur(A); 5 | cout << "The orthogonal matrix U is:" << endl << schur.matrixU() << endl; 6 | cout << "The quasi-triangular matrix T is:" << endl << schur.matrixT() << endl << endl; 7 | 8 | MatrixXd U = schur.matrixU(); 9 | MatrixXd T = schur.matrixT(); 10 | cout << "U * T * U^T = " << endl << U * T * U.transpose() << endl; 11 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/RealSchur_compute.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf A = MatrixXf::Random(4,4); 2 | RealSchur schur(4); 3 | schur.compute(A, /* computeU = */ false); 4 | cout << "The matrix T in the decomposition of A is:" << endl << schur.matrixT() << endl; 5 | schur.compute(A.inverse(), /* computeU = */ false); 6 | cout << "The matrix T in the decomposition of A^(-1) is:" << endl << schur.matrixT() << endl; 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/SelfAdjointEigenSolver_SelfAdjointEigenSolver.cpp: -------------------------------------------------------------------------------- 1 | SelfAdjointEigenSolver es; 2 | Matrix4f X = Matrix4f::Random(4,4); 3 | Matrix4f A = X + X.transpose(); 4 | es.compute(A); 5 | cout << "The eigenvalues of A are: " << es.eigenvalues().transpose() << endl; 6 | es.compute(A + Matrix4f::Identity(4,4)); // re-use es to compute eigenvalues of A+I 7 | cout << "The eigenvalues of A+I are: " << es.eigenvalues().transpose() << endl; 8 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/SelfAdjointEigenSolver_compute_MatrixType.cpp: -------------------------------------------------------------------------------- 1 | SelfAdjointEigenSolver es(4); 2 | MatrixXf X = MatrixXf::Random(4,4); 3 | MatrixXf A = X + X.transpose(); 4 | es.compute(A); 5 | cout << "The eigenvalues of A are: " << es.eigenvalues().transpose() << endl; 6 | es.compute(A + MatrixXf::Identity(4,4)); // re-use es to compute eigenvalues of A+I 7 | cout << "The eigenvalues of A+I are: " << es.eigenvalues().transpose() << endl; 8 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/SelfAdjointEigenSolver_compute_MatrixType2.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd X = MatrixXd::Random(5,5); 2 | MatrixXd A = X * X.transpose(); 3 | X = MatrixXd::Random(5,5); 4 | MatrixXd B = X * X.transpose(); 5 | 6 | GeneralizedSelfAdjointEigenSolver es(A,B,EigenvaluesOnly); 7 | cout << "The eigenvalues of the pencil (A,B) are:" << endl << es.eigenvalues() << endl; 8 | es.compute(B,A,false); 9 | cout << "The eigenvalues of the pencil (B,A) are:" << endl << es.eigenvalues() << endl; 10 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/SelfAdjointEigenSolver_eigenvalues.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd ones = MatrixXd::Ones(3,3); 2 | SelfAdjointEigenSolver es(ones); 3 | cout << "The eigenvalues of the 3x3 matrix of ones are:" 4 | << endl << es.eigenvalues() << endl; 5 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/SelfAdjointEigenSolver_eigenvectors.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd ones = MatrixXd::Ones(3,3); 2 | SelfAdjointEigenSolver es(ones); 3 | cout << "The first eigenvector of the 3x3 matrix of ones is:" 4 | << endl << es.eigenvectors().col(1) << endl; 5 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/SelfAdjointEigenSolver_operatorInverseSqrt.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd X = MatrixXd::Random(4,4); 2 | MatrixXd A = X * X.transpose(); 3 | cout << "Here is a random positive-definite matrix, A:" << endl << A << endl << endl; 4 | 5 | SelfAdjointEigenSolver es(A); 6 | cout << "The inverse square root of A is: " << endl; 7 | cout << es.operatorInverseSqrt() << endl; 8 | cout << "We can also compute it with operatorSqrt() and inverse(). That yields: " << endl; 9 | cout << es.operatorSqrt().inverse() << endl; 10 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/SelfAdjointEigenSolver_operatorSqrt.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd X = MatrixXd::Random(4,4); 2 | MatrixXd A = X * X.transpose(); 3 | cout << "Here is a random positive-definite matrix, A:" << endl << A << endl << endl; 4 | 5 | SelfAdjointEigenSolver es(A); 6 | MatrixXd sqrtA = es.operatorSqrt(); 7 | cout << "The square root of A is: " << endl << sqrtA << endl; 8 | cout << "If we square this, we get: " << endl << sqrtA*sqrtA << endl; 9 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/SelfAdjointView_eigenvalues.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd ones = MatrixXd::Ones(3,3); 2 | VectorXd eivals = ones.selfadjointView().eigenvalues(); 3 | cout << "The eigenvalues of the 3x3 matrix of ones are:" << endl << eivals << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/SelfAdjointView_operatorNorm.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd ones = MatrixXd::Ones(3,3); 2 | cout << "The operator norm of the 3x3 matrix of ones is " 3 | << ones.selfadjointView().operatorNorm() << endl; 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/SparseMatrix_coeffs.cpp: -------------------------------------------------------------------------------- 1 | SparseMatrix A(3,3); 2 | A.insert(1,2) = 0; 3 | A.insert(0,1) = 1; 4 | A.insert(2,0) = 2; 5 | A.makeCompressed(); 6 | cout << "The matrix A is:" << endl << MatrixXd(A) << endl; 7 | cout << "it has " << A.nonZeros() << " stored non zero coefficients that are: " << A.coeffs().transpose() << endl; 8 | A.coeffs() += 10; 9 | cout << "After adding 10 to every stored non zero coefficient, the matrix A is:" << endl << MatrixXd(A) << endl; 10 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/TopicAliasing_block.cpp: -------------------------------------------------------------------------------- 1 | MatrixXi mat(3,3); 2 | mat << 1, 2, 3, 4, 5, 6, 7, 8, 9; 3 | cout << "Here is the matrix mat:\n" << mat << endl; 4 | 5 | // This assignment shows the aliasing problem 6 | mat.bottomRightCorner(2,2) = mat.topLeftCorner(2,2); 7 | cout << "After the assignment, mat = \n" << mat << endl; 8 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/TopicAliasing_block_correct.cpp: -------------------------------------------------------------------------------- 1 | MatrixXi mat(3,3); 2 | mat << 1, 2, 3, 4, 5, 6, 7, 8, 9; 3 | cout << "Here is the matrix mat:\n" << mat << endl; 4 | 5 | // The eval() solves the aliasing problem 6 | mat.bottomRightCorner(2,2) = mat.topLeftCorner(2,2).eval(); 7 | cout << "After the assignment, mat = \n" << mat << endl; 8 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/TopicAliasing_mult1.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf matA(2,2); 2 | matA << 2, 0, 0, 2; 3 | matA = matA * matA; 4 | cout << matA; 5 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/TopicAliasing_mult2.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf matA(2,2), matB(2,2); 2 | matA << 2, 0, 0, 2; 3 | 4 | // Simple but not quite as efficient 5 | matB = matA * matA; 6 | cout << matB << endl << endl; 7 | 8 | // More complicated but also more efficient 9 | matB.noalias() = matA * matA; 10 | cout << matB; 11 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/TopicAliasing_mult3.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf matA(2,2); 2 | matA << 2, 0, 0, 2; 3 | matA.noalias() = matA * matA; 4 | cout << matA; 5 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/TopicAliasing_mult4.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf A(2,2), B(3,2); 2 | B << 2, 0, 0, 3, 1, 1; 3 | A << 2, 0, 0, -2; 4 | A = (B * A).cwiseAbs(); 5 | cout << A; -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/TopicAliasing_mult5.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf A(2,2), B(3,2); 2 | B << 2, 0, 0, 3, 1, 1; 3 | A << 2, 0, 0, -2; 4 | A = (B * A).eval().cwiseAbs(); 5 | cout << A; 6 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Tridiagonalization_Tridiagonalization_MatrixType.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd X = MatrixXd::Random(5,5); 2 | MatrixXd A = X + X.transpose(); 3 | cout << "Here is a random symmetric 5x5 matrix:" << endl << A << endl << endl; 4 | Tridiagonalization triOfA(A); 5 | MatrixXd Q = triOfA.matrixQ(); 6 | cout << "The orthogonal matrix Q is:" << endl << Q << endl; 7 | MatrixXd T = triOfA.matrixT(); 8 | cout << "The tridiagonal matrix T is:" << endl << T << endl << endl; 9 | cout << "Q * T * Q^T = " << endl << Q * T * Q.transpose() << endl; 10 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Tridiagonalization_compute.cpp: -------------------------------------------------------------------------------- 1 | Tridiagonalization tri; 2 | MatrixXf X = MatrixXf::Random(4,4); 3 | MatrixXf A = X + X.transpose(); 4 | tri.compute(A); 5 | cout << "The matrix T in the tridiagonal decomposition of A is: " << endl; 6 | cout << tri.matrixT() << endl; 7 | tri.compute(2*A); // re-use tri to compute eigenvalues of 2A 8 | cout << "The matrix T in the tridiagonal decomposition of 2A is: " << endl; 9 | cout << tri.matrixT() << endl; 10 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Tridiagonalization_decomposeInPlace.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd X = MatrixXd::Random(5,5); 2 | MatrixXd A = X + X.transpose(); 3 | cout << "Here is a random symmetric 5x5 matrix:" << endl << A << endl << endl; 4 | 5 | VectorXd diag(5); 6 | VectorXd subdiag(4); 7 | internal::tridiagonalization_inplace(A, diag, subdiag, true); 8 | cout << "The orthogonal matrix Q is:" << endl << A << endl; 9 | cout << "The diagonal of the tridiagonal matrix T is:" << endl << diag << endl; 10 | cout << "The subdiagonal of the tridiagonal matrix T is:" << endl << subdiag << endl; 11 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Tridiagonalization_householderCoefficients.cpp: -------------------------------------------------------------------------------- 1 | Matrix4d X = Matrix4d::Random(4,4); 2 | Matrix4d A = X + X.transpose(); 3 | cout << "Here is a random symmetric 4x4 matrix:" << endl << A << endl; 4 | Tridiagonalization triOfA(A); 5 | Vector3d hc = triOfA.householderCoefficients(); 6 | cout << "The vector of Householder coefficients is:" << endl << hc << endl; 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Tridiagonalization_packedMatrix.cpp: -------------------------------------------------------------------------------- 1 | Matrix4d X = Matrix4d::Random(4,4); 2 | Matrix4d A = X + X.transpose(); 3 | cout << "Here is a random symmetric 4x4 matrix:" << endl << A << endl; 4 | Tridiagonalization triOfA(A); 5 | Matrix4d pm = triOfA.packedMatrix(); 6 | cout << "The packed matrix M is:" << endl << pm << endl; 7 | cout << "The diagonal and subdiagonal corresponds to the matrix T, which is:" 8 | << endl << triOfA.matrixT() << endl; 9 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Tutorial_AdvancedInitialization_Block.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf matA(2, 2); 2 | matA << 1, 2, 3, 4; 3 | MatrixXf matB(4, 4); 4 | matB << matA, matA/10, matA/10, matA; 5 | std::cout << matB << std::endl; 6 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Tutorial_AdvancedInitialization_CommaTemporary.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf mat = MatrixXf::Random(2, 3); 2 | std::cout << mat << std::endl << std::endl; 3 | mat = (MatrixXf(2,2) << 0, 1, 1, 0).finished() * mat; 4 | std::cout << mat << std::endl; 5 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Tutorial_AdvancedInitialization_Join.cpp: -------------------------------------------------------------------------------- 1 | RowVectorXd vec1(3); 2 | vec1 << 1, 2, 3; 3 | std::cout << "vec1 = " << vec1 << std::endl; 4 | 5 | RowVectorXd vec2(4); 6 | vec2 << 1, 4, 9, 16; 7 | std::cout << "vec2 = " << vec2 << std::endl; 8 | 9 | RowVectorXd joined(7); 10 | joined << vec1, vec2; 11 | std::cout << "joined = " << joined << std::endl; 12 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Tutorial_AdvancedInitialization_LinSpaced.cpp: -------------------------------------------------------------------------------- 1 | ArrayXXf table(10, 4); 2 | table.col(0) = ArrayXf::LinSpaced(10, 0, 90); 3 | table.col(1) = M_PI / 180 * table.col(0); 4 | table.col(2) = table.col(1).sin(); 5 | table.col(3) = table.col(1).cos(); 6 | std::cout << " Degrees Radians Sine Cosine\n"; 7 | std::cout << table << std::endl; 8 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Tutorial_AdvancedInitialization_Zero.cpp: -------------------------------------------------------------------------------- 1 | std::cout << "A fixed-size array:\n"; 2 | Array33f a1 = Array33f::Zero(); 3 | std::cout << a1 << "\n\n"; 4 | 5 | 6 | std::cout << "A one-dimensional dynamic-size array:\n"; 7 | ArrayXf a2 = ArrayXf::Zero(3); 8 | std::cout << a2 << "\n\n"; 9 | 10 | 11 | std::cout << "A two-dimensional dynamic-size array:\n"; 12 | ArrayXXf a3 = ArrayXXf::Zero(3, 4); 13 | std::cout << a3 << "\n"; 14 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Tutorial_Map_rowmajor.cpp: -------------------------------------------------------------------------------- 1 | int array[8]; 2 | for(int i = 0; i < 8; ++i) array[i] = i; 3 | cout << "Column-major:\n" << Map >(array) << endl; 4 | cout << "Row-major:\n" << Map >(array) << endl; 5 | cout << "Row-major using stride:\n" << 6 | Map, Unaligned, Stride<1,4> >(array) << endl; 7 | 8 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Tutorial_ReshapeMat2Mat.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf M1(2,6); // Column-major storage 2 | M1 << 1, 2, 3, 4, 5, 6, 3 | 7, 8, 9, 10, 11, 12; 4 | 5 | Map M2(M1.data(), 6,2); 6 | cout << "M2:" << endl << M2 << endl; -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Tutorial_ReshapeMat2Vec.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf M1(3,3); // Column-major storage 2 | M1 << 1, 2, 3, 3 | 4, 5, 6, 4 | 7, 8, 9; 5 | 6 | Map v1(M1.data(), M1.size()); 7 | cout << "v1:" << endl << v1 << endl; 8 | 9 | Matrix M2(M1); 10 | Map v2(M2.data(), M2.size()); 11 | cout << "v2:" << endl << v2 << endl; -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Tutorial_SlicingVec.cpp: -------------------------------------------------------------------------------- 1 | RowVectorXf v = RowVectorXf::LinSpaced(20,0,19); 2 | cout << "Input:" << endl << v << endl; 3 | Map > v2(v.data(), v.size()/2); 4 | cout << "Even:" << v2 << endl; -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Tutorial_commainit_01.cpp: -------------------------------------------------------------------------------- 1 | Matrix3f m; 2 | m << 1, 2, 3, 3 | 4, 5, 6, 4 | 7, 8, 9; 5 | std::cout << m; 6 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Tutorial_commainit_01b.cpp: -------------------------------------------------------------------------------- 1 | Matrix3f m; 2 | m.row(0) << 1, 2, 3; 3 | m.block(1,0,2,2) << 4, 5, 7, 8; 4 | m.col(2).tail(2) << 6, 9; 5 | std::cout << m; 6 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Tutorial_commainit_02.cpp: -------------------------------------------------------------------------------- 1 | int rows=5, cols=5; 2 | MatrixXf m(rows,cols); 3 | m << (Matrix3f() << 1, 2, 3, 4, 5, 6, 7, 8, 9).finished(), 4 | MatrixXf::Zero(3,cols-3), 5 | MatrixXf::Zero(rows-3,3), 6 | MatrixXf::Identity(rows-3,cols-3); 7 | cout << m; 8 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Tutorial_solve_matrix_inverse.cpp: -------------------------------------------------------------------------------- 1 | Matrix3f A; 2 | Vector3f b; 3 | A << 1,2,3, 4,5,6, 7,8,10; 4 | b << 3, 3, 4; 5 | Vector3f x = A.inverse() * b; 6 | cout << "The solution is:" << endl << x << endl; 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Tutorial_solve_multiple_rhs.cpp: -------------------------------------------------------------------------------- 1 | Matrix3f A(3,3); 2 | A << 1,2,3, 4,5,6, 7,8,10; 3 | Matrix B; 4 | B << 3,1, 3,1, 4,1; 5 | Matrix X; 6 | X = A.fullPivLu().solve(B); 7 | cout << "The solution with right-hand side (3,3,4) is:" << endl; 8 | cout << X.col(0) << endl; 9 | cout << "The solution with right-hand side (1,1,1) is:" << endl; 10 | cout << X.col(1) << endl; 11 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Tutorial_solve_reuse_decomposition.cpp: -------------------------------------------------------------------------------- 1 | Matrix3f A(3,3); 2 | A << 1,2,3, 4,5,6, 7,8,10; 3 | PartialPivLU luOfA(A); // compute LU decomposition of A 4 | Vector3f b; 5 | b << 3,3,4; 6 | Vector3f x; 7 | x = luOfA.solve(b); 8 | cout << "The solution with right-hand side (3,3,4) is:" << endl; 9 | cout << x << endl; 10 | b << 1,1,1; 11 | x = luOfA.solve(b); 12 | cout << "The solution with right-hand side (1,1,1) is:" << endl; 13 | cout << x << endl; 14 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Tutorial_solve_singular.cpp: -------------------------------------------------------------------------------- 1 | Matrix3f A; 2 | Vector3f b; 3 | A << 1,2,3, 4,5,6, 7,8,9; 4 | b << 3, 3, 4; 5 | cout << "Here is the matrix A:" << endl << A << endl; 6 | cout << "Here is the vector b:" << endl << b << endl; 7 | Vector3f x; 8 | x = A.lu().solve(b); 9 | cout << "The solution is:" << endl << x << endl; 10 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Tutorial_solve_triangular.cpp: -------------------------------------------------------------------------------- 1 | Matrix3f A; 2 | Vector3f b; 3 | A << 1,2,3, 0,5,6, 0,0,10; 4 | b << 3, 3, 4; 5 | cout << "Here is the matrix A:" << endl << A << endl; 6 | cout << "Here is the vector b:" << endl << b << endl; 7 | Vector3f x = A.triangularView().solve(b); 8 | cout << "The solution is:" << endl << x << endl; 9 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/Tutorial_solve_triangular_inplace.cpp: -------------------------------------------------------------------------------- 1 | Matrix3f A; 2 | Vector3f b; 3 | A << 1,2,3, 0,5,6, 0,0,10; 4 | b << 3, 3, 4; 5 | A.triangularView().solveInPlace(b); 6 | cout << "The solution is:" << endl << b << endl; 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/VectorwiseOp_homogeneous.cpp: -------------------------------------------------------------------------------- 1 | typedef Matrix Matrix3Xd; 2 | Matrix3Xd M = Matrix3Xd::Random(3,5); 3 | Projective3d P(Matrix4d::Random()); 4 | cout << "The matrix M is:" << endl << M << endl << endl; 5 | cout << "M.colwise().homogeneous():" << endl << M.colwise().homogeneous() << endl << endl; 6 | cout << "P * M.colwise().homogeneous():" << endl << P * M.colwise().homogeneous() << endl << endl; 7 | cout << "P * M.colwise().homogeneous().hnormalized(): " << endl << (P * M.colwise().homogeneous()).colwise().hnormalized() << endl << endl; -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/tut_arithmetic_redux_minmax.cpp: -------------------------------------------------------------------------------- 1 | Matrix3f m = Matrix3f::Random(); 2 | std::ptrdiff_t i, j; 3 | float minOfM = m.minCoeff(&i,&j); 4 | cout << "Here is the matrix m:\n" << m << endl; 5 | cout << "Its minimum coefficient (" << minOfM 6 | << ") is at position (" << i << "," << j << ")\n\n"; 7 | 8 | RowVector4i v = RowVector4i::Random(); 9 | int maxOfV = v.maxCoeff(&i); 10 | cout << "Here is the vector v: " << v << endl; 11 | cout << "Its maximum coefficient (" << maxOfV 12 | << ") is at position " << i << endl; 13 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/tut_arithmetic_transpose_aliasing.cpp: -------------------------------------------------------------------------------- 1 | Matrix2i a; a << 1, 2, 3, 4; 2 | cout << "Here is the matrix a:\n" << a << endl; 3 | 4 | a = a.transpose(); // !!! do NOT do this !!! 5 | cout << "and the result of the aliasing effect:\n" << a << endl; -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/tut_arithmetic_transpose_conjugate.cpp: -------------------------------------------------------------------------------- 1 | MatrixXcf a = MatrixXcf::Random(2,2); 2 | cout << "Here is the matrix a\n" << a << endl; 3 | 4 | cout << "Here is the matrix a^T\n" << a.transpose() << endl; 5 | 6 | 7 | cout << "Here is the conjugate of a\n" << a.conjugate() << endl; 8 | 9 | 10 | cout << "Here is the matrix a^*\n" << a.adjoint() << endl; 11 | 12 | 13 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/tut_arithmetic_transpose_inplace.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf a(2,3); a << 1, 2, 3, 4, 5, 6; 2 | cout << "Here is the initial matrix a:\n" << a << endl; 3 | 4 | 5 | a.transposeInPlace(); 6 | cout << "and after being transposed:\n" << a << endl; -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/snippets/tut_matrix_assignment_resizing.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf a(2,2); 2 | std::cout << "a is of size " << a.rows() << "x" << a.cols() << std::endl; 3 | MatrixXf b(3,3); 4 | a = b; 5 | std::cout << "a is now of size " << a.rows() << "x" << a.cols() << std::endl; 6 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/doc/special_examples/random_cpp11.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | 5 | using namespace Eigen; 6 | 7 | int main() { 8 | std::default_random_engine generator; 9 | std::poisson_distribution distribution(4.1); 10 | auto poisson = [&] () {return distribution(generator);}; 11 | 12 | RowVectorXi v = RowVectorXi::NullaryExpr(10, poisson ); 13 | std::cout << v << "\n"; 14 | } 15 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/eigen3.pc.in: -------------------------------------------------------------------------------- 1 | prefix=@CMAKE_INSTALL_PREFIX@ 2 | exec_prefix=${prefix} 3 | 4 | Name: Eigen3 5 | Description: A C++ template library for linear algebra: vectors, matrices, and related algorithms 6 | Requires: 7 | Version: @EIGEN_VERSION_NUMBER@ 8 | Libs: 9 | Cflags: -I${prefix}/@INCLUDE_INSTALL_DIR@ 10 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/bdcsvd_int.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/SVD" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define SCALAR int 5 | #else 6 | #define SCALAR float 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | int main() 12 | { 13 | BDCSVD > qr(Matrix::Random(10,10)); 14 | } 15 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/block_nonconst_ctor_on_const_xpr_0.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(CV_QUALIFIER Matrix3d &m){ 12 | Block b(m,0,0); 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/block_nonconst_ctor_on_const_xpr_1.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(CV_QUALIFIER Matrix3d &m){ 12 | Block b(m,0,0,3,3); 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/block_nonconst_ctor_on_const_xpr_2.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(CV_QUALIFIER Matrix3d &m){ 12 | // row/column constructor 13 | Block b(m,0); 14 | } 15 | 16 | int main() {} 17 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/block_on_const_type_actually_const_0.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(){ 12 | Matrix3f m; 13 | Block(m, 0, 0, 3, 3).coeffRef(0, 0) = 1.0f; 14 | } 15 | 16 | int main() {} 17 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/block_on_const_type_actually_const_1.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(){ 12 | MatrixXf m; 13 | Block(m, 0, 0).coeffRef(0, 0) = 1.0f; 14 | } 15 | 16 | int main() {} 17 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/colpivqr_int.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/QR" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define SCALAR int 5 | #else 6 | #define SCALAR float 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | int main() 12 | { 13 | ColPivHouseholderQR > qr(Matrix::Random(10,10)); 14 | } 15 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/const_qualified_block_method_retval_0.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(CV_QUALIFIER Matrix3d &m){ 12 | Block b(m.block<3,3>(0,0)); 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/const_qualified_block_method_retval_1.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(CV_QUALIFIER Matrix3d &m){ 12 | Block b(m.block(0,0,3,3)); 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/const_qualified_diagonal_method_retval.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(CV_QUALIFIER Matrix3d &m){ 12 | Diagonal b(m.diagonal()); 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/const_qualified_transpose_method_retval.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(CV_QUALIFIER Matrix3d &m){ 12 | Transpose b(m.transpose()); 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/cwiseunaryview_nonconst_ctor_on_const_xpr.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(CV_QUALIFIER Matrix3d &m){ 12 | CwiseUnaryView,Matrix3d> t(m); 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/cwiseunaryview_on_const_type_actually_const.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(){ 12 | MatrixXf m; 13 | CwiseUnaryView,CV_QUALIFIER MatrixXf>(m).coeffRef(0, 0) = 1.0f; 14 | } 15 | 16 | int main() {} 17 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/diagonal_nonconst_ctor_on_const_xpr.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(CV_QUALIFIER Matrix3d &m){ 12 | Diagonal d(m); 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/diagonal_on_const_type_actually_const.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(){ 12 | MatrixXf m; 13 | Diagonal(m).coeffRef(0) = 1.0f; 14 | } 15 | 16 | int main() {} 17 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/eigensolver_cplx.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Eigenvalues" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define SCALAR std::complex 5 | #else 6 | #define SCALAR float 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | int main() 12 | { 13 | EigenSolver > eig(Matrix::Random(10,10)); 14 | } 15 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/eigensolver_int.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Eigenvalues" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define SCALAR int 5 | #else 6 | #define SCALAR float 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | int main() 12 | { 13 | EigenSolver > eig(Matrix::Random(10,10)); 14 | } 15 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/failtest_sanity_check.cpp: -------------------------------------------------------------------------------- 1 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 2 | This is just some text that won't compile as a C++ file, as a basic sanity check for failtest. 3 | #else 4 | int main() {} 5 | #endif 6 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/fullpivlu_int.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/LU" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define SCALAR int 5 | #else 6 | #define SCALAR float 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | int main() 12 | { 13 | FullPivLU > lu(Matrix::Random(10,10)); 14 | } 15 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/fullpivqr_int.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/QR" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define SCALAR int 5 | #else 6 | #define SCALAR float 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | int main() 12 | { 13 | FullPivHouseholderQR > qr(Matrix::Random(10,10)); 14 | } 15 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/jacobisvd_int.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/SVD" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define SCALAR int 5 | #else 6 | #define SCALAR float 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | int main() 12 | { 13 | JacobiSVD > qr(Matrix::Random(10,10)); 14 | } 15 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/ldlt_int.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Cholesky" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define SCALAR int 5 | #else 6 | #define SCALAR float 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | int main() 12 | { 13 | LDLT > ldlt(Matrix::Random(10,10)); 14 | } 15 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/llt_int.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Cholesky" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define SCALAR int 5 | #else 6 | #define SCALAR float 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | int main() 12 | { 13 | LLT > llt(Matrix::Random(10,10)); 14 | } 15 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/map_nonconst_ctor_on_const_ptr_0.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(CV_QUALIFIER float *ptr){ 12 | Map m(ptr); 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/map_nonconst_ctor_on_const_ptr_1.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(CV_QUALIFIER float *ptr, DenseIndex size){ 12 | Map m(ptr, size); 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/map_nonconst_ctor_on_const_ptr_2.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(CV_QUALIFIER float *ptr, DenseIndex rows, DenseIndex cols){ 12 | Map m(ptr, rows, cols); 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/map_nonconst_ctor_on_const_ptr_3.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(CV_QUALIFIER float *ptr, DenseIndex rows, DenseIndex cols){ 12 | Map > m(ptr, rows, cols, InnerStride<2>()); 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/map_nonconst_ctor_on_const_ptr_4.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER 5 | #else 6 | #define CV_QUALIFIER const 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(const float *ptr, DenseIndex rows, DenseIndex cols){ 12 | Map > m(ptr, rows, cols, OuterStride<>(2)); 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/map_on_const_type_actually_const_0.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(float *ptr){ 12 | Map(ptr, 1, 1).coeffRef(0,0) = 1.0f; 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/map_on_const_type_actually_const_1.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(float *ptr){ 12 | Map(ptr).coeffRef(0) = 1.0f; 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/partialpivlu_int.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/LU" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define SCALAR int 5 | #else 6 | #define SCALAR float 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | int main() 12 | { 13 | PartialPivLU > lu(Matrix::Random(10,10)); 14 | } 15 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/qr_int.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/QR" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define SCALAR int 5 | #else 6 | #define SCALAR float 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | int main() 12 | { 13 | HouseholderQR > qr(Matrix::Random(10,10)); 14 | } 15 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/ref_1.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void call_ref(Ref a) { } 12 | 13 | int main() 14 | { 15 | VectorXf a(10); 16 | CV_QUALIFIER VectorXf& ac(a); 17 | call_ref(ac); 18 | } 19 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/ref_2.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | using namespace Eigen; 4 | 5 | void call_ref(Ref a) { } 6 | 7 | int main() 8 | { 9 | MatrixXf A(10,10); 10 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 11 | call_ref(A.row(3)); 12 | #else 13 | call_ref(A.col(3)); 14 | #endif 15 | } 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/ref_3.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | using namespace Eigen; 4 | 5 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 6 | void call_ref(Ref a) { } 7 | #else 8 | void call_ref(const Ref &a) { } 9 | #endif 10 | 11 | int main() 12 | { 13 | VectorXf a(10); 14 | call_ref(a+a); 15 | } 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/ref_4.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | using namespace Eigen; 4 | 5 | void call_ref(Ref > a) {} 6 | 7 | int main() 8 | { 9 | MatrixXf A(10,10); 10 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 11 | call_ref(A.transpose()); 12 | #else 13 | call_ref(A); 14 | #endif 15 | } 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/ref_5.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | using namespace Eigen; 4 | 5 | void call_ref(Ref a) { } 6 | 7 | int main() 8 | { 9 | VectorXf a(10); 10 | DenseBase &ac(a); 11 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 12 | call_ref(ac); 13 | #else 14 | call_ref(ac.derived()); 15 | #endif 16 | } 17 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/selfadjointview_nonconst_ctor_on_const_xpr.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(CV_QUALIFIER Matrix3d &m){ 12 | SelfAdjointView t(m); 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/selfadjointview_on_const_type_actually_const.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(){ 12 | MatrixXf m; 13 | SelfAdjointView(m).coeffRef(0, 0) = 1.0f; 14 | } 15 | 16 | int main() {} 17 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/sparse_ref_1.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Sparse" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void call_ref(Ref > a) { } 12 | 13 | int main() 14 | { 15 | SparseMatrix a(10,10); 16 | CV_QUALIFIER SparseMatrix& ac(a); 17 | call_ref(ac); 18 | } 19 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/sparse_ref_2.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Sparse" 2 | 3 | using namespace Eigen; 4 | 5 | void call_ref(Ref > a) { } 6 | 7 | int main() 8 | { 9 | SparseMatrix A(10,10); 10 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 11 | call_ref(A.row(3)); 12 | #else 13 | call_ref(A.col(3)); 14 | #endif 15 | } 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/sparse_ref_3.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Sparse" 2 | 3 | using namespace Eigen; 4 | 5 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 6 | void call_ref(Ref > a) { } 7 | #else 8 | void call_ref(const Ref > &a) { } 9 | #endif 10 | 11 | int main() 12 | { 13 | SparseMatrix a(10,10); 14 | call_ref(a+a); 15 | } 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/sparse_ref_4.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Sparse" 2 | 3 | using namespace Eigen; 4 | 5 | void call_ref(Ref > a) {} 6 | 7 | int main() 8 | { 9 | SparseMatrix A(10,10); 10 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 11 | call_ref(A.transpose()); 12 | #else 13 | call_ref(A); 14 | #endif 15 | } 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/sparse_ref_5.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Sparse" 2 | 3 | using namespace Eigen; 4 | 5 | void call_ref(Ref > a) { } 6 | 7 | int main() 8 | { 9 | SparseMatrix a(10,10); 10 | SparseMatrixBase > &ac(a); 11 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 12 | call_ref(ac); 13 | #else 14 | call_ref(ac.derived()); 15 | #endif 16 | } 17 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/sparse_storage_mismatch.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Sparse" 2 | using namespace Eigen; 3 | 4 | typedef SparseMatrix Mat1; 5 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 6 | typedef SparseMatrix Mat2; 7 | #else 8 | typedef SparseMatrix Mat2; 9 | #endif 10 | 11 | int main() 12 | { 13 | Mat1 a(10,10); 14 | Mat2 b(10,10); 15 | a += b; 16 | } 17 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/swap_1.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | using namespace Eigen; 4 | 5 | int main() 6 | { 7 | VectorXf a(10), b(10); 8 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 9 | const DenseBase &ac(a); 10 | #else 11 | DenseBase &ac(a); 12 | #endif 13 | b.swap(ac); 14 | } 15 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/swap_2.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | using namespace Eigen; 4 | 5 | int main() 6 | { 7 | VectorXf a(10), b(10); 8 | VectorXf const &ac(a); 9 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 10 | b.swap(ac); 11 | #else 12 | b.swap(ac.const_cast_derived()); 13 | #endif 14 | } -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/ternary_1.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | using namespace Eigen; 4 | 5 | int main(int argc,char **) 6 | { 7 | VectorXf a(10), b(10); 8 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 9 | b = argc>1 ? 2*a : -a; 10 | #else 11 | b = argc>1 ? 2*a : VectorXf(-a); 12 | #endif 13 | } 14 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/ternary_2.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | using namespace Eigen; 4 | 5 | int main(int argc,char **) 6 | { 7 | VectorXf a(10), b(10); 8 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 9 | b = argc>1 ? 2*a : a+a; 10 | #else 11 | b = argc>1 ? VectorXf(2*a) : VectorXf(a+a); 12 | #endif 13 | } 14 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/transpose_nonconst_ctor_on_const_xpr.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(CV_QUALIFIER Matrix3d &m){ 12 | Transpose t(m); 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/transpose_on_const_type_actually_const.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(){ 12 | MatrixXf m; 13 | Transpose(m).coeffRef(0, 0) = 1.0f; 14 | } 15 | 16 | int main() {} 17 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/triangularview_nonconst_ctor_on_const_xpr.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(CV_QUALIFIER Matrix3d &m){ 12 | TriangularView t(m); 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/failtest/triangularview_on_const_type_actually_const.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(){ 12 | MatrixXf m; 13 | TriangularView(m).coeffRef(0, 0) = 1.0f; 14 | } 15 | 16 | int main() {} 17 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/scripts/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | get_property(EIGEN_TESTS_LIST GLOBAL PROPERTY EIGEN_TESTS_LIST) 2 | configure_file(buildtests.in ${CMAKE_BINARY_DIR}/buildtests.sh @ONLY) 3 | 4 | configure_file(check.in ${CMAKE_BINARY_DIR}/check.sh COPYONLY) 5 | configure_file(debug.in ${CMAKE_BINARY_DIR}/debug.sh COPYONLY) 6 | configure_file(release.in ${CMAKE_BINARY_DIR}/release.sh COPYONLY) 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/scripts/debug.in: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | cmake -DCMAKE_BUILD_TYPE=Debug . 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/scripts/release.in: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | cmake -DCMAKE_BUILD_TYPE=Release . 4 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/signature_of_eigen3_matrix_library: -------------------------------------------------------------------------------- 1 | This file is just there as a signature to help identify directories containing Eigen3. When writing a script looking for Eigen3, just look for this file. This is especially useful to help disambiguate with Eigen2... 2 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/unsupported/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | add_subdirectory(Eigen) 2 | add_subdirectory(doc EXCLUDE_FROM_ALL) 3 | if(BUILD_TESTING) 4 | if(EIGEN_LEAVE_TEST_IN_ALL_TARGET) 5 | add_subdirectory(test) # can't do EXCLUDE_FROM_ALL here, breaks CTest 6 | else() 7 | add_subdirectory(test EXCLUDE_FROM_ALL) 8 | endif() 9 | endif() 10 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/unsupported/Eigen/CXX11/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | set(Eigen_CXX11_HEADERS Tensor TensorSymmetry ThreadPool) 2 | 3 | install(FILES 4 | ${Eigen_CXX11_HEADERS} 5 | DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen/CXX11 COMPONENT Devel 6 | ) 7 | 8 | install(DIRECTORY src DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen/CXX11 COMPONENT Devel FILES_MATCHING PATTERN "*.h") 9 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/unsupported/Eigen/src/EulerAngles/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | FILE(GLOB Eigen_EulerAngles_SRCS "*.h") 2 | 3 | INSTALL(FILES 4 | ${Eigen_EulerAngles_SRCS} 5 | DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen/src/EulerAngles COMPONENT Devel 6 | ) 7 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/unsupported/doc/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | set_directory_properties(PROPERTIES EXCLUDE_FROM_ALL TRUE) 2 | 3 | add_subdirectory(examples) 4 | add_subdirectory(snippets) 5 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/unsupported/doc/examples/MatrixExponential.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | 6 | int main() 7 | { 8 | const double pi = std::acos(-1.0); 9 | 10 | MatrixXd A(3,3); 11 | A << 0, -pi/4, 0, 12 | pi/4, 0, 0, 13 | 0, 0, 0; 14 | std::cout << "The matrix A is:\n" << A << "\n\n"; 15 | std::cout << "The matrix exponential of A is:\n" << A.exp() << "\n\n"; 16 | } 17 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/unsupported/doc/examples/MatrixLogarithm.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | 6 | int main() 7 | { 8 | using std::sqrt; 9 | MatrixXd A(3,3); 10 | A << 0.5*sqrt(2), -0.5*sqrt(2), 0, 11 | 0.5*sqrt(2), 0.5*sqrt(2), 0, 12 | 0, 0, 1; 13 | std::cout << "The matrix A is:\n" << A << "\n\n"; 14 | std::cout << "The matrix logarithm of A is:\n" << A.log() << "\n"; 15 | } 16 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/unsupported/doc/examples/MatrixPower.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | 6 | int main() 7 | { 8 | const double pi = std::acos(-1.0); 9 | Matrix3d A; 10 | A << cos(1), -sin(1), 0, 11 | sin(1), cos(1), 0, 12 | 0 , 0 , 1; 13 | std::cout << "The matrix A is:\n" << A << "\n\n" 14 | "The matrix power A^(pi/4) is:\n" << A.pow(pi/4) << std::endl; 15 | return 0; 16 | } 17 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/unsupported/doc/examples/MatrixPower_optimal.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | 6 | int main() 7 | { 8 | Matrix4cd A = Matrix4cd::Random(); 9 | MatrixPower Apow(A); 10 | 11 | std::cout << "The matrix A is:\n" << A << "\n\n" 12 | "A^3.1 is:\n" << Apow(3.1) << "\n\n" 13 | "A^3.3 is:\n" << Apow(3.3) << "\n\n" 14 | "A^3.7 is:\n" << Apow(3.7) << "\n\n" 15 | "A^3.9 is:\n" << Apow(3.9) << std::endl; 16 | return 0; 17 | } 18 | -------------------------------------------------------------------------------- /MCVO/thirdparty/eigen/unsupported/doc/examples/MatrixSquareRoot.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | 6 | int main() 7 | { 8 | const double pi = std::acos(-1.0); 9 | 10 | MatrixXd A(2,2); 11 | A << cos(pi/3), -sin(pi/3), 12 | sin(pi/3), cos(pi/3); 13 | std::cout << "The matrix A is:\n" << A << "\n\n"; 14 | std::cout << "The matrix square root of A is:\n" << A.sqrt() << "\n\n"; 15 | std::cout << "The square of the last matrix is:\n" << A.sqrt() * A.sqrt() << "\n"; 16 | } 17 | -------------------------------------------------------------------------------- /camera_model/instruction: -------------------------------------------------------------------------------- 1 | rosrun camera_model Calibration -w 8 -h 11 -s 70 -i ~/bag/PX/calib/ 2 | -------------------------------------------------------------------------------- /pose_graph/src/utility/utility.cpp: -------------------------------------------------------------------------------- 1 | #include "utility.h" 2 | 3 | Eigen::Matrix3d Utility::g2R(const Eigen::Vector3d &g) 4 | { 5 | Eigen::Matrix3d R0; 6 | Eigen::Vector3d ng1 = g.normalized(); 7 | Eigen::Vector3d ng2{0, 0, 1.0}; 8 | R0 = Eigen::Quaterniond::FromTwoVectors(ng1, ng2).toRotationMatrix(); 9 | double yaw = Utility::R2ypr(R0).x(); 10 | R0 = Utility::ypr2R(Eigen::Vector3d{-yaw, 0, 0}) * R0; 11 | // R0 = Utility::ypr2R(Eigen::Vector3d{-90, 0, 0}) * R0; 12 | return R0; 13 | } 14 | --------------------------------------------------------------------------------