本文整理汇总了C++中eigen::Matrix4f::determinant方法的典型用法代码示例。如果您正苦于以下问题：C++ Matrix4f::determinant方法的具体用法？C++ Matrix4f::determinant怎么用？C++ Matrix4f::determinant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::Matrix4f的用法示例。
在下文中一共展示了Matrix4f::determinant方法的1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: given
template <typename PointT> bool
pcl::SampleConsensusModelSphere<PointT>::computeModelCoefficients (
const std::vector<int> &samples, Eigen::VectorXf &model_coefficients)
{
// Need 4 samples
if (samples.size () != 4)
{
PCL_ERROR ("[pcl::SampleConsensusModelSphere::computeModelCoefficients] Invalid set of samples given (%zu)!\n", samples.size ());
return (false);
}
Eigen::Matrix4f temp;
for (int i = 0; i < 4; i++)
{
temp (i, 0) = input_->points[samples[i]].x;
temp (i, 1) = input_->points[samples[i]].y;
temp (i, 2) = input_->points[samples[i]].z;
temp (i, 3) = 1;
}
float m11 = temp.determinant ();
if (m11 == 0)
return (false); // the points don't define a sphere!
for (int i = 0; i < 4; ++i)
temp (i, 0) = (input_->points[samples[i]].x) * (input_->points[samples[i]].x) +
(input_->points[samples[i]].y) * (input_->points[samples[i]].y) +
(input_->points[samples[i]].z) * (input_->points[samples[i]].z);
float m12 = temp.determinant ();
for (int i = 0; i < 4; ++i)
{
temp (i, 1) = temp (i, 0);
temp (i, 0) = input_->points[samples[i]].x;
}
float m13 = temp.determinant ();
for (int i = 0; i < 4; ++i)
{
temp (i, 2) = temp (i, 1);
temp (i, 1) = input_->points[samples[i]].y;
}
float m14 = temp.determinant ();
for (int i = 0; i < 4; ++i)
{
temp (i, 0) = temp (i, 2);
temp (i, 1) = input_->points[samples[i]].x;
temp (i, 2) = input_->points[samples[i]].y;
temp (i, 3) = input_->points[samples[i]].z;
}
float m15 = temp.determinant ();
// Center (x , y, z)
model_coefficients.resize (4);
model_coefficients[0] = 0.5f * m12 / m11;
model_coefficients[1] = 0.5f * m13 / m11;
model_coefficients[2] = 0.5f * m14 / m11;
// Radius
model_coefficients[3] = sqrtf (
model_coefficients[0] * model_coefficients[0] +
model_coefficients[1] * model_coefficients[1] +
model_coefficients[2] * model_coefficients[2] - m15 / m11);
return (true);
}