Point Cloud Library (PCL)  1.12.1-dev
common.hpp
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37 
38 namespace 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.