Point Cloud Library (PCL)  1.9.1
common.hpp
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37 
38 namespace pcl
39 {
40  namespace visualization
41  {
42  /** \brief Converts point to window coordinates
43  * \param[in] pt xyz point to be converted
44  * \param[out] window_cord vector containing the pts' window X,Y, Z and 1
45  * \note This function computes the projection and view matrix every time.
46  * It is very inefficient to use this for every point in the point cloud!
47  */
48  template<typename PointT> void
49  Camera::cvtWindowCoordinates (const PointT& pt, Eigen::Vector4d& window_cord) const
50  {
51  Eigen::Matrix4d proj, view;
52  this->computeViewMatrix (view);
53  this->computeProjectionMatrix (proj);
54  this->cvtWindowCoordinates (pt, window_cord, proj*view);
55  return;
56  }
57 
58 
59  /** \brief converts point to window coordiantes
60  * \param[in] pt xyz point to be converted
61  * \param[out] window_cord vector containing the pts' window X,Y, Z and 1
62  * \param[in] composite_mat composite transformation matrix (proj*view)
63  *
64  * \note Use this function to compute window coordinates with a pre-computed transformation function.
65  * The typical composite matrix will be the projection matrix * the view matrix. However, additional matrices like
66  * a camera distortion matrix can also be added.
67  */
68  template<typename PointT> void
69  Camera::cvtWindowCoordinates (const PointT& pt, Eigen::Vector4d& window_cord, const Eigen::Matrix4d& composite_mat) const
70  {
71  Eigen::Vector4d pte (pt.x, pt.y, pt.z, 1);
72  window_cord = composite_mat * pte;
73  window_cord = window_cord/window_cord (3);
74  window_cord[0] = (window_cord[0]+1.0) / 2.0*window_size[0];
75  window_cord[1] = (window_cord[1]+1.0) / 2.0*window_size[1];
76  window_cord[2] = (window_cord[2]+1.0) / 2.0;
77  }
78  }
79 }
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
void computeProjectionMatrix(Eigen::Matrix4d &proj) const
Computes Projection Matrix for Camera.
double view[3]
Up vector of the camera.
Definition: common.h:161
void cvtWindowCoordinates(const PointT &pt, Eigen::Vector4d &window_cord) const
converts point to window coordiantes
Definition: common.hpp:49
void computeViewMatrix(Eigen::Matrix4d &view_mat) const
Computes View matrix for Camera (Based on gluLookAt)
A point structure representing Euclidean xyz coordinates, and the RGB color.