本文整理汇总了C++中eigen::Matrix4f::rightCols方法的典型用法代码示例。如果您正苦于以下问题：C++ Matrix4f::rightCols方法的具体用法？C++ Matrix4f::rightCols怎么用？C++ Matrix4f::rightCols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::rightCols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: getColorBuffer
void
pcl::simulation::RangeLikelihood::getPointCloud (pcl::PointCloud<pcl::PointXYZRGB>::Ptr pc,
bool make_global,
const Eigen::Isometry3d & pose)
{
// TODO: check if this works for for rows/cols >1 and for width&height != 640x480
// i.e. multiple tiled images
pc->width = col_width_;
pc->height = row_height_;
// Was:
//pc->width = camera_width_;
//pc->height = camera_height_;
pc->is_dense = false;
pc->points.resize (pc->width*pc->height);
int points_added = 0;
float camera_fx_reciprocal_ = 1.0f / camera_fx_;
float camera_fy_reciprocal_ = 1.0f / camera_fy_;
float zn = z_near_;
float zf = z_far_;
const uint8_t* color_buffer = getColorBuffer();
// TODO: support decimation
// Copied the format of RangeImagePlanar::setDepthImage()
// Use this as a template for decimation
for (int y = 0; y < row_height_ ; ++y) //camera_height_
{
for (int x = 0; x < col_width_ ; ++x) // camera_width_
{
// Find XYZ from normalized 0->1 mapped disparity
int idx = points_added; // y*camera_width_ + x;
float d = depth_buffer_[y*camera_width_ + x] ;
if (d < 1.0) // only add points with depth buffer less than max (20m) range
{
float z = zf*zn/((zf-zn)*(d - zf/(zf-zn)));
// TODO: add mode to ignore points with no return i.e. depth_buffer_ ==1
// NB: OpenGL uses a Right Hand system with +X right, +Y up, +Z back out of the screen,
// The Z-buffer is natively -1 (far) to 1 (near)
// But in this class we invert this to be 0 (near, 0.7m) and 1 (far, 20m)
// ... so by negating y we get to a right-hand computer vision system
// which is also used by PCL and OpenNi
pc->points[idx].z = z;
pc->points[idx].x = (static_cast<float> (x)-camera_cx_) * z * (-camera_fx_reciprocal_);
pc->points[idx].y = (static_cast<float> (y)-camera_cy_) * z * (-camera_fy_reciprocal_);
int rgb_idx = y*col_width_ + x; //camera_width_
pc->points[idx].b = color_buffer[rgb_idx*3+2]; // blue
pc->points[idx].g = color_buffer[rgb_idx*3+1]; // green
pc->points[idx].r = color_buffer[rgb_idx*3]; // red
points_added++;
}
}
}
pc->width = 1;
pc->height = points_added;
pc->points.resize (points_added);
if (make_global)
{
// Go from OpenGL to (Z-up, X-forward, Y-left)
Eigen::Matrix4f T;
T << 0, 0, -1, 0,
-1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 0, 1;
Eigen::Matrix4f m = pose.matrix ().cast<float> ();
m = m * T;
pcl::transformPointCloud (*pc, *pc, m);
}
else
{
// Go from OpenGL to Camera (Z-forward, X-right, Y-down)
Eigen::Matrix4f T;
T << 1, 0, 0, 0,
0, -1, 0, 0,
0, 0, -1, 0,
0, 0, 0, 1;
pcl::transformPointCloud (*pc, *pc, T);
// Go from Camera to body (Z-up, X-forward, Y-left)
Eigen::Matrix4f cam_to_body;
cam_to_body << 0, 0, 1, 0,
-1, 0, 0, 0,
0, -1, 0, 0,
0, 0, 0, 1;
Eigen::Matrix4f camera = pose.matrix ().cast<float> ();
camera = camera * cam_to_body;
pc->sensor_origin_ = camera.rightCols (1);
Eigen::Quaternion<float> quat (camera.block<3,3> (0,0));
pc->sensor_orientation_ = quat;
}
}