C++ Vector4d::x方法代码示例

 Eigen::Vector3d PointcloudProc::projectPoint(Eigen::Vector4d& point, CamParams cam) const
 {
   Eigen::Vector3d keypoint;
   
   keypoint(0) = (cam.fx*point.x()) / point.z() + cam.cx;
   keypoint(1) = (cam.fy*point.y()) / point.z() + cam.cy;
   keypoint(2) = (cam.fx*(point.x()-cam.tx)/point.z() + cam.cx);
   
   return keypoint;
 }

Eigen::Vector2i
pcl::visualization::worldToView (const Eigen::Vector4d &world_pt, const Eigen::Matrix4d &view_projection_matrix, int width, int height)
{
  // Transform world to clipping coordinates
  Eigen::Vector4d world (view_projection_matrix * world_pt);
  // Normalize w-component
  world /= world.w ();

  // X/Y screen space coordinate
  int screen_x = int (floor (double (((world.x () + 1) / 2.0) * width) + 0.5));
  int screen_y = int (floor (double (((world.y () + 1) / 2.0) * height) + 0.5));

  // Calculate -world_pt.y () because the screen Y axis is oriented top->down, ie 0 is top-left
  //int winY = (int) floor ( (double) (((1 - world_pt.y ()) / 2.0) * height) + 0.5); // top left

  return (Eigen::Vector2i (screen_x, screen_y));
}

    void cloudCallback(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud)
    {
        if( ( !cloud_updated ) && ( goal_completion_time + ros::Duration(2.0) < cloud->header.stamp ) )
        {
            try
            {
                // update the pose
                listener.waitForTransform( "/arm_kinect_frame", "/map", cloud->header.stamp, ros::Duration(5.0));
                listener.lookupTransform( "/map", "/arm_kinect_frame", cloud->header.stamp, kinect2map);

                listener.waitForTransform( "/arm_kinect_optical_frame", "/map", cloud->header.stamp, ros::Duration(5.0));
                listener.lookupTransform( "/map", "/arm_kinect_optical_frame", cloud->header.stamp, optical2map);

                tf::Vector3 position_( kinect2map.getOrigin() );
                position.x() = position_.x();
                position.y() = position_.y();
                position.z() = position_.z();

                tf::Quaternion orientation_( kinect2map.getRotation() );
                orientation.x() = orientation_.x();
                orientation.y() = orientation_.y();
                orientation.z() = orientation_.z();
                orientation.w() = orientation_.w();

                ROS_INFO_STREAM("position = " << position.transpose() );
                ROS_INFO_STREAM("orientation = " << orientation.transpose() );

                // update the cloud
                pcl::copyPointCloud(*cloud, *xyz_cld_ptr);	// Do I need to copy it?
                //xyz_cld_ptr = cloud;
                cloud_updated = true;
            }
            catch (tf::TransformException ex) {
                ROS_ERROR("%s", ex.what());
            }

        }
    }

void publishPointMarker(ros::Publisher &vis_pub, const Eigen::Vector4d &p, int ID)
{


    visualization_msgs::Marker marker;
        // Set the frame ID and timestamp.  See the TF tutorials for information on these.
    marker.header.frame_id = "base_link";
    marker.header.stamp = ros::Time::now();

    marker.ns = "point";
    marker.id = ID;

    // Set the marker type.  Initially this is CUBE, and cycles between that and SPHERE, ARROW, and CYLINDE

    marker.type = visualization_msgs::Marker::SPHERE;
    marker.action = visualization_msgs::Marker::ADD;
    marker.pose.position.x = p.x();
    marker.pose.position.y = p.y();
    marker.pose.position.z = p.z();
    marker.pose.orientation.x = 0.0;
    marker.pose.orientation.y = 0.0;
    marker.pose.orientation.z = 0.0;
    marker.pose.orientation.w = 1.0;
    marker.scale.x = 0.05;
    marker.scale.y = 0.05;
    marker.scale.z = 0.05;
    marker.color.a = 1.0;
    marker.color.r = 1.0;
    marker.color.g = 0.0;
    marker.color.b = 0.0;

    marker.lifetime = ros::Duration();

    vis_pub.publish(marker);

}

int main(int /*argc*/, char** /*argv*/) {
  Line3D l0;
  std::cout << "l0: " << std::endl;
  printPlueckerLine(std::cout, l0);
  std::cout << std::endl;

  Vector6d v;
  v << 1.0, 1.0, -0.3, 0.5, 0.2, 0.3;
  Line3D l1(v);
  l1.normalize();
  std::cout << "v: ";
  printVector(std::cout, v);
  std::cout << std::endl;
  std::cout << "l1: " << std::endl;
  printPlueckerLine(std::cout, l1);
  std::cout << "azimuth: " << g2o::internal::getAzimuth(l1.d()) << std::endl;
  std::cout << "elevation: " << g2o::internal::getElevation(l1.d()) << std::endl;
  std::cout << std::endl;

  Line3D l2(l1);
  std::cout << "l2: " << std::endl;
  printPlueckerLine(std::cout, l2);
  std::cout << std::endl;

  Eigen::Vector4d mv = l2.ominus(l1);
  Eigen::Quaterniond q(sqrt(1 - mv.head<3>().squaredNorm()), mv.x(), mv.y(), mv.z());
  Eigen::Vector3d euler_angles = q.toRotationMatrix().eulerAngles(2, 1, 0);
  double yaw = euler_angles[0];
  double pitch = euler_angles[1];
  double roll = euler_angles[2];  
  std::cout << "l1 ominus l2: " << roll << " " << pitch << " " << yaw << " " << mv[3] << std::endl;
  std::cout << std::endl;

  v << 0.0, 0.0, 1.0, 0.5, 0.5, 0.0;
  l1 = Line3D(v);
  l1.normalize();
  std::cout << "l1: " << std::endl;
  printPlueckerLine(std::cout, l1);
  std::cout << "azimuth: " << g2o::internal::getAzimuth(l1.d()) << std::endl;
  std::cout << "elevation: " << g2o::internal::getElevation(l1.d()) << std::endl;
  std::cout << std::endl;
  
  v << 0.0, 0.0, 1.0, 0.5, -0.5, 0.0;
  l2 = Line3D(v);
  l2.normalize();
  std::cout << "l2: " << std::endl;
  printPlueckerLine(std::cout, l2);
  std::cout << "azimuth: " << g2o::internal::getAzimuth(l2.d()) << std::endl;
  std::cout << "elevation: " << g2o::internal::getElevation(l2.d()) << std::endl;
  std::cout << std::endl;

  mv = l2.ominus(l1);
  q = Eigen::Quaterniond(sqrt(1 - mv.head<3>().squaredNorm()), mv.x(), mv.y(), mv.z());
  euler_angles = q.toRotationMatrix().eulerAngles(2, 1, 0);
  yaw = euler_angles[0];
  pitch = euler_angles[1];
  roll = euler_angles[2];  
  std::cout << "l1 ominus l2: " << roll << " " << pitch << " " << yaw << " " << mv[3] << std::endl;
  std::cout << std::endl;
  
  Line3D l3 = Line3D(l1);
  std::cout << "l3: " << std::endl;
  printPlueckerLine(std::cout, l3);
  l3.oplus(mv);
  std::cout << "l3 oplus mv: " << std::endl;
  printPlueckerLine(std::cout, l3);
  std::cout << std::endl;

  std::vector<Line3D> l;
  v << 0.0, 0.0, 1.0, 1.0, 0.0, 0.0;
  Line3D ll = Line3D(v);
  ll.normalize();
  l.push_back(ll);
  v << 0.0, 0.0, 1.0, 0.0, 1.0, 0.0;
  ll = Line3D(v);
  ll.normalize();
  l.push_back(ll);
  v << 0.0, 0.0, 1.0, 0.0, 0.0, 1.0;
  ll = Line3D(v);
  ll.normalize();
  l.push_back(ll);

  for(size_t i = 0; i < l.size(); ++i) {
    Line3D& line = l[i];
    std::cout << "line: "
	      << line.d()[0] << " " << line.d()[1] << " "  << line.d()[2] << " "
	      << line.w()[0] << " " << line.w()[1] << " "  << line.w()[2] << std::endl;
  }
  std::cout << std::endl;

  Eigen::Isometry3d T = Eigen::Isometry3d::Identity();
  T.translation().x() = 0.9;
  std::cout << "R: " << std::endl << T.linear() << std::endl;
  std::cout << "t: " << std::endl << T.translation() << std::endl;
  std::cout << std::endl;
  
  for(size_t i = 0; i < l.size(); ++i) {
    Line3D& line = l[i];
    line = T * line;
    std::cout << "line: "
//.........这里部分代码省略.........