本文整理汇总了C++中eigen::Vector3d::noalias方法的典型用法代码示例。如果您正苦于以下问题：C++ Vector3d::noalias方法的具体用法？C++ Vector3d::noalias怎么用？C++ Vector3d::noalias使用的例子？那么, 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::Vector3d的用法示例。
在下文中一共展示了Vector3d::noalias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: K
//\fn void ExtrinsicParam::getCameraPointFrom3d(Eigen::Vector3d realP, double &x, double &y, double &z);
///\brief This function computes the coordinates of a 3D point from the real landmark to the one of the camera.
///\param realP Value of the 3D point in the real landmark.
///\param x Value of the 3D point in the camera landmark and on the x axis.
///\param y Value of the 3D point in the camera landmark and on the y axis.
///\param z Value of the distance between the camera and the 3D point (the scale).
void ExtrinsicParam::getCameraPointFrom3d(Eigen::Vector3d realP, double &x, double &y, double &z)
{
Eigen::Vector4d real;
real << realP,
1;
double fx = K(0,0), fy = K(1,1), cx = K(0,2), cy = K(1,2);
Eigen::Vector3d imgP;
Eigen::MatrixXd Rt;
Rt.resize(3,4);
Rt << rotation,translation;
imgP.noalias() = K*Rt*real;
z = imgP(2);
imgP.noalias() = imgP/imgP(2);
Eigen::Vector3d temp = imgP;
temp(0) = (temp(0)-cx)/fx;
temp(1) = (temp(1)-cy)/fy;
temp.noalias() = distortPoint(temp);
x = temp(0);
y = temp(1);
}