| 24 | } |
| 25 | |
| 26 | void EigenSolver::compute_batch_symmetric_2x2(const VectorF& matrices) { |
| 27 | const size_t dim = 2; |
| 28 | const size_t flatten_size = 3; |
| 29 | const size_t num_matrices = matrices.size() / flatten_size; |
| 30 | m_eigen_values = VectorF(num_matrices * dim); |
| 31 | m_eigen_vectors = MatrixF(num_matrices * dim, dim); |
| 32 | for (size_t i=0; i<num_matrices; i++) { |
| 33 | const VectorF& entries = matrices.segment(i*flatten_size, flatten_size); |
| 34 | MatrixF M(dim, dim); |
| 35 | size_t base_idx = i*flatten_size; |
| 36 | M << matrices[base_idx ], matrices[base_idx+2], |
| 37 | matrices[base_idx+2], matrices[base_idx+1], |
| 38 | m_solver.compute(M); |
| 39 | m_eigen_values.segment(i*dim, dim) = m_solver.eigenvalues().real(); |
| 40 | m_eigen_vectors.block(i*dim, 0, dim, dim) = |
| 41 | m_solver.eigenvectors().real(); |
| 42 | } |
| 43 | } |
| 44 | |
| 45 | void EigenSolver::compute_batch_symmetric_3x3(const VectorF& matrices) { |
| 46 | const size_t dim = 3; |