本文整理汇总了C++中eigen::Matrix::topRightCorner方法的典型用法代码示例。如果您正苦于以下问题：C++ Matrix::topRightCorner方法的具体用法？C++ Matrix::topRightCorner怎么用？C++ Matrix::topRightCorner使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类eigen::Matrix的用法示例。
在下文中一共展示了Matrix::topRightCorner方法的2个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1:
/* static */ bool ocraWbiConversions::wbiToOcraCoMJacobian(const Eigen::MatrixXd &jac, Eigen::Matrix<double,3,Eigen::Dynamic> &J)
{
if(DIM_T != jac.rows() || jac.cols() != J.cols())
{
std::cout<<"ERROR: Input and output matrices dimensions should be the same" <<std::endl;
return false;
}
Eigen::MatrixXd jac3;
Eigen::Matrix3d jac1,jac2;
jac3.resize(3,jac.cols()-6);
jac1 = jac.topLeftCorner(3,3);
jac2 = jac.block<3,3>(0,3);
jac3 = jac.topRightCorner(3,jac.cols()-6);
J.topLeftCorner(3,3) = jac2;
J.block<3,3>(0,3) = jac1;
J.topRightCorner(3,jac.cols()-6) = jac3;
return true;
}示例2: getIncrementalTransformation
//.........这里部分代码省略.........
{
resultRt(x, y) = resultR(x, y);
}
}
}
for(int i = NUM_PYRS - 1; i >= 0; i--)
{
if(rgb)
{
projectToPointCloud(lastDepth[i], pointClouds[i], intr, i);
}
Eigen::Matrix<double, 3, 3, Eigen::RowMajor> K = Eigen::Matrix<double, 3, 3, Eigen::RowMajor>::Zero();
K(0, 0) = intr(i).fx;
K(1, 1) = intr(i).fy;
K(0, 2) = intr(i).cx;
K(1, 2) = intr(i).cy;
K(2, 2) = 1;
lastRGBError = std::numeric_limits<float>::max();
for(int j = 0; j < iterations[i]; j++)
{
Eigen::Matrix<double, 4, 4, Eigen::RowMajor> Rt = resultRt.inverse();
Eigen::Matrix<double, 3, 3, Eigen::RowMajor> R = Rt.topLeftCorner(3, 3);
Eigen::Matrix<double, 3, 3, Eigen::RowMajor> KRK_inv = K * R * K.inverse();
mat33 krkInv;
memcpy(&krkInv.data[0], KRK_inv.cast<float>().eval().data(), sizeof(mat33));
Eigen::Vector3d Kt = Rt.topRightCorner(3, 1);
Kt = K * Kt;
float3 kt = {(float)Kt(0), (float)Kt(1), (float)Kt(2)};
int sigma = 0;
int rgbSize = 0;
if(rgb)
{
TICK("computeRgbResidual");
computeRgbResidual(pow(minimumGradientMagnitudes[i], 2.0) / pow(sobelScale, 2.0),
nextdIdx[i],
nextdIdy[i],
lastDepth[i],
nextDepth[i],
lastImage[i],
nextImage[i],
corresImg[i],
sumResidualRGB,
maxDepthDeltaRGB,
kt,
krkInv,
sigma,
rgbSize,
GPUConfig::getInstance().rgbResThreads,
GPUConfig::getInstance().rgbResBlocks);
TOCK("computeRgbResidual");
}
float sigmaVal = std::sqrt((float)sigma / rgbSize == 0 ? 1 : rgbSize);
float rgbError = std::sqrt(sigma) / (rgbSize == 0 ? 1 : rgbSize);
if(rgbOnly && rgbError > lastRGBError)