Point Cloud Library (PCL) 1.14.0
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common.hpp
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37
38namespace pcl
39{
40 namespace visualization
41 {
42 template<typename PointT> void
43 Camera::cvtWindowCoordinates (const PointT& pt, Eigen::Vector4d& window_cord) const
44 {
45 Eigen::Matrix4d proj, view;
46 this->computeViewMatrix (view);
47 this->computeProjectionMatrix (proj);
48 this->cvtWindowCoordinates (pt, window_cord, proj*view);
49 return;
50 }
51
52 template<typename PointT> void
53 Camera::cvtWindowCoordinates (const PointT& pt, Eigen::Vector4d& window_cord, const Eigen::Matrix4d& composite_mat) const
54 {
55 Eigen::Vector4d pte (pt.x, pt.y, pt.z, 1);
56 window_cord = composite_mat * pte;
57 window_cord /=window_cord (3);
58 window_cord[0] = (window_cord[0]+1.0) / 2.0*window_size[0];
59 window_cord[1] = (window_cord[1]+1.0) / 2.0*window_size[1];
60 window_cord[2] = (window_cord[2]+1.0) / 2.0;
61 }
62 }
63}
void cvtWindowCoordinates(const PointT &pt, Eigen::Vector4d &window_cord) const
Converts point to window coordinates.
Definition common.hpp:43
void computeViewMatrix(Eigen::Matrix4d &view_mat) const
Computes View matrix for Camera (Based on gluLookAt)
double view[3]
Up vector of the camera.
Definition common.h:177
void computeProjectionMatrix(Eigen::Matrix4d &proj) const
Computes Projection Matrix for Camera.
A point structure representing Euclidean xyz coordinates, and the RGB color.