Can I ask what this is for? I am doing similar research in the attempt to make a fiducial marker.
The problem from my research is that:
lambda1 = (m20 + m02)/2 + sqrt(4*m11*m11 - (m20 - m02)*(m20 - m02));
should actually be:
lambda1 = srqt((m20 + m02)/2 + sqrt(4*m11*m11 - (m20 - m02)*(m20 - m02)));Hope this helps :)