64 lines
2.5 KiB
C++
64 lines
2.5 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2012, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*
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*/
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namespace pcl
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{
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namespace visualization
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{
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template<typename PointT> void
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Camera::cvtWindowCoordinates (const PointT& pt, Eigen::Vector4d& window_cord) const
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{
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Eigen::Matrix4d proj, view;
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this->computeViewMatrix (view);
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this->computeProjectionMatrix (proj);
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this->cvtWindowCoordinates (pt, window_cord, proj*view);
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return;
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}
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template<typename PointT> void
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Camera::cvtWindowCoordinates (const PointT& pt, Eigen::Vector4d& window_cord, const Eigen::Matrix4d& composite_mat) const
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{
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Eigen::Vector4d pte (pt.x, pt.y, pt.z, 1);
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window_cord = composite_mat * pte;
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window_cord /=window_cord (3);
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window_cord[0] = (window_cord[0]+1.0) / 2.0*window_size[0];
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window_cord[1] = (window_cord[1]+1.0) / 2.0*window_size[1];
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window_cord[2] = (window_cord[2]+1.0) / 2.0;
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}
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}
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}
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