本文整理汇总了C++中eigen::Quaternionf::normalized方法的典型用法代码示例。如果您正苦于以下问题：C++ Quaternionf::normalized方法的具体用法？C++ Quaternionf::normalized怎么用？C++ Quaternionf::normalized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::Quaternionf的用法示例。
在下文中一共展示了Quaternionf::normalized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: addCameraMesh
void CPclView::addCameraMesh(const pcl::PointXYZ& position, const Eigen::Quaternionf& rotation,
const QString& id)
{
pcl::PolygonMesh cameraMesh;
initzializeCameraMeshCloud(&cameraMesh.cloud);
Eigen::Vector3f cameraShapeVertices[CAMERA_SHAPE_N_VERTICES];
cameraShapeVertices[0] = Eigen::Vector3f( 0.f, 0.f, 0.f);
cameraShapeVertices[1] = Eigen::Vector3f(-1.f, -1.f, 1.f);
cameraShapeVertices[2] = Eigen::Vector3f(-1.f, 1.f, 1.f);
cameraShapeVertices[3] = Eigen::Vector3f( 1.f, -1.f, 1.f);
cameraShapeVertices[4] = Eigen::Vector3f( 1.f, 1.f, 1.f);
Eigen::Vector3f cameraBasePos(position.x, position.y, position.z);
Eigen::Quaternionf quat = rotation.normalized();
Eigen::Matrix3f rotationMatrix = quat.toRotationMatrix();
for(int i = 0; i < CAMERA_SHAPE_N_VERTICES; i++)
{
cameraShapeVertices[i] = rotationMatrix * cameraShapeVertices[i];
cameraShapeVertices[i] += cameraBasePos;
for(unsigned int j = 0; j < 3; j++)
{
reinterpret_cast<float*>(cameraMesh.cloud.data.data())[i * 3 + j] = cameraShapeVertices[i][j];
}
}
pcl::Vertices v;
v.vertices.push_back(1);
v.vertices.push_back(2);
v.vertices.push_back(4);
v.vertices.push_back(3);
cameraMesh.polygons.push_back(v);
v.vertices.clear();
v.vertices.push_back(0);
v.vertices.push_back(1);
v.vertices.push_back(3);
v.vertices.push_back(0);
cameraMesh.polygons.push_back(v);
v.vertices.clear();
v.vertices.push_back(0);
v.vertices.push_back(2);
v.vertices.push_back(4);
v.vertices.push_back(0);
cameraMesh.polygons.push_back(v);
mpPclVisualizer->addPolylineFromPolygonMesh(cameraMesh, id.toStdString());
}