| 43 | } |
| 44 | |
| 45 | void EigenSolver::compute_batch_symmetric_3x3(const VectorF& matrices) { |
| 46 | const size_t dim = 3; |
| 47 | const size_t flatten_size = 6; |
| 48 | const size_t num_matrices = matrices.size() / flatten_size; |
| 49 | m_eigen_values = VectorF(num_matrices * dim); |
| 50 | m_eigen_vectors = MatrixF(num_matrices * dim, dim); |
| 51 | for (size_t i=0; i<num_matrices; i++) { |
| 52 | const VectorF& entries = matrices.segment(i*flatten_size, flatten_size); |
| 53 | MatrixF M(dim, dim); |
| 54 | size_t base_idx = i*flatten_size; |
| 55 | M << matrices[base_idx ], matrices[base_idx+5], matrices[base_idx+4], |
| 56 | matrices[base_idx+5], matrices[base_idx+1], matrices[base_idx+3], |
| 57 | matrices[base_idx+4], matrices[base_idx+3], matrices[base_idx+2]; |
| 58 | m_solver.compute(M); |
| 59 | m_eigen_values.segment(i*dim, dim) = m_solver.eigenvalues().real(); |
| 60 | m_eigen_vectors.block(i*dim, 0, dim, dim) = |
| 61 | m_solver.eigenvectors().real(); |
| 62 | } |
| 63 | } |
| 64 | |