public void decompose ( DMatrixRMaj E ) { if ( svd . inputModified ( ) ) { E_copy . set ( E ) ; E = E_copy ; } if ( ! svd . decompose ( E ) ) throw new RuntimeException ( "Svd some how failed" ) ; U = svd . getU ( U , false ) ; V = svd . getV ( V , false ) ; S = svd . getW ( S ) ; SingularOps_DDRM . descendingOrder ( U , false , S , V , false ) ; decompose ( U , S , V ) ; }
Computes the decomposition from an essential matrix .