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Commit a544213d authored by felix's avatar felix
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Removed unused eigenLowest33() function

parent 8b25cca2
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modules/surface_matching/src/c_utils.hpp
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......@@ -659,100 +659,6 @@ static inline void quatToDCM(double *q, double *R)
R[7] = 2.0 * (tmp1 - tmp2);
}
/**
* @brief Analytical solution to find the eigenvector corresponding to the smallest
* eigenvalue of a 3x3 matrix. As this implements the analytical solution, it's not
* really the most robust way. Whenever possible, this implementation can be replaced
* via a robust numerical scheme.
* @param [in] C The matrix
* @param [in] A The eigenvector corresponding to the lowest eigenvalue
* @author Tolga Birdal
*/
static inline void eigenLowest33(const double C[3][3], double A[3])
{
const double a = C[0][0];
const double b = C[0][1];
const double c = C[0][2];
const double d = C[1][1];
const double e = C[1][2];
const double f = C[2][2];
const double t2 = c*c;
const double t3 = e*e;
const double t4 = b*t2;
const double t5 = c*d*e;
const double t34 = b*t3;
const double t35 = a*c*e;
const double t6 = t4+t5-t34-t35;
const double t7 = 1.0/t6;
const double t8 = a+d+f;
const double t9 = b*b;
const double t23 = a*d;
const double t24 = a*f;
const double t25 = d*f;
const double t10 = t2+t3+t9-t23-t24-t25;
const double t11 = t8*t10*(1.0/6.0);
const double t12 = t8*t8;
const double t20 = t8*t12*(1.0/2.7E1);
const double t21 = b*c*e;
const double t22 = a*d*f*(1.0/2.0);
const double t26 = a*t3*(1.0/2.0);
const double t27 = d*t2*(1.0/2.0);
const double t28 = f*t9*(1.0/2.0);
const double t14 = t9*(1.0/3.0);
const double t15 = t2*(1.0/3.0);
const double t16 = t3*(1.0/3.0);
const double t17 = t12*(1.0/9.0);
const double t30 = a*d*(1.0/3.0);
const double t31 = a*f*(1.0/3.0);
const double t32 = d*f*(1.0/3.0);
const double t18 = t14+t15+t16+t17-t30-t31-t32;
const double t19 = t18*t18;
const double t36 = a*(1.0/3.0);
const double t37 = d*(1.0/3.0);
const double t38 = f*(1.0/3.0);
const double t39 = t8*(t2+t3+t9-t23-t24-t25)*(1.0/6.0);
const double t41 = t18*t19;
const double t43 = e*t2;
const double t60 = b*c*f;
const double t61 = d*e*f;
const double t44 = t43-t60-t61+e*t3;
const double t45 = t7*t44;
const double t57 = sqrt(3.0);
const double t51 = b*c;
const double t52 = d*e;
const double t53 = e*f;
const double t54 = t51+t52+t53;
const double t62 = t11+t20+t21+t22-t26-t27-t28;
const double t63 = t11+t20+t21+t22-t26-t27-t28;
const double t64 = t11+t20+t21+t22-t26-t27-t28;
const double t65 = t11+t20+t21+t22-t26-t27-t28;
const double t66 = t36+t37+t38-t18*1.0/pow(t20+t21+t22-t26-t27-t28+t39+sqrt(-t41+t62*t62),1.0/3.0)*(1.0/2.0)+t57*(t18*1.0/pow(t20+t21+t22-t26-t27-t28+t39+sqrt(-t41+t64*t64),1.0/3.0)-pow(t20+t21+t22-t26-t27-t28+t39+sqrt(-t41+t65*t65),1.0/3.0))*5.0E-1*sqrt(-1.0)-pow(t20+t21+t22-t26-t27-t28+t39+sqrt(-t41+t63*t63),1.0/3.0)*(1.0/2.0);
const double t67 = t11+t20+t21+t22-t26-t27-t28;
const double t68 = t11+t20+t21+t22-t26-t27-t28;
const double t69 = t11+t20+t21+t22-t26-t27-t28;
const double t70 = t11+t20+t21+t22-t26-t27-t28;
const double t76 = c*t3;
const double t91 = a*c*f;
const double t92 = b*e*f;
const double t77 = t76-t91-t92+c*t2;
const double t83 = a*c;
const double t84 = b*e;
const double t85 = c*f;
const double t86 = t83+t84+t85;
const double t93 = t11+t20+t21+t22-t26-t27-t28;
const double t94 = t11+t20+t21+t22-t26-t27-t28;
const double t95 = t11+t20+t21+t22-t26-t27-t28;
const double t96 = t11+t20+t21+t22-t26-t27-t28;
const double t97 = t36+t37+t38-t18*1.0/pow(t20+t21+t22-t26-t27-t28+t39+sqrt(-t41+t93*t93),1.0/3.0)*(1.0/2.0)+t57*(t18*1.0/pow(t20+t21+t22-t26-t27-t28+t39+sqrt(-t41+t95*t95),1.0/3.0)-pow(t20+t21+t22-t26-t27-t28+t39+sqrt(-t41+t96*t96),1.0/3.0))*5.0E-1*sqrt(-1.0)-pow(t20+t21+t22-t26-t27-t28+t39+sqrt(-t41+t94*t94),1.0/3.0)*(1.0/2.0);
const double t98 = t11+t20+t21+t22-t26-t27-t28;
const double t99 = t11+t20+t21+t22-t26-t27-t28;
const double t100 = t11+t20+t21+t22-t26-t27-t28;
const double t101 = t11+t20+t21+t22-t26-t27-t28;
A[0] = t45-e*t7*(t66*t66)+t7*t54*(t36+t37+t38-t18*1.0/pow(t20+t21+t22-t26-t27-t28+t39+sqrt(-t41+t67*t67),1.0/3.0)*(1.0/2.0)+t57*(t18*1.0/pow(t20+t21+t22-t26-t27-t28+t39+sqrt(-t41+t69*t69),1.0/3.0)-pow(t20+t21+t22-t26-t27-t28+t39+sqrt(-t41+t70*t70),1.0/3.0))*5.0E-1*sqrt(-1.0)-pow(t20+t21+t22-t26-t27-t28+t39+sqrt(-t41+t68*t68),1.0/3.0)*(1.0/2.0));
A[1] = -t7*t77+c*t7*(t97*t97)-t7*t86*(t36+t37+t38-t18*1.0/pow(t20+t21+t22-t26-t27-t28+t39+sqrt(-t41+t98*t98),1.0/3.0)*(1.0/2.0)+t57*(t18*1.0/pow(t20+t21+t22-t26-t27-t28+t39+sqrt(-t41+t100*t100),1.0/3.0)-pow(t20+t21+t22-t26-t27-t28+t39+sqrt(-t41+t101*t101),1.0/3.0))*5.0E-1*sqrt(-1.0)-pow(t20+t21+t22-t26-t27-t28+t39+sqrt(-t41+t99*t99),1.0/3.0)*(1.0/2.0));
A[2] = 1.0;
}
} // namespace ppf_match_3d
} // namespace cv
......
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