40 namespace visualization
48 template<
typename Po
intT>
void
51 Eigen::Matrix4d proj,
view;
68 template<
typename Po
intT>
void
71 Eigen::Vector4d pte (pt.x, pt.y, pt.z, 1);
72 window_cord = composite_mat * pte;
73 window_cord = window_cord/window_cord (3);
74 window_cord[0] = (window_cord[0]+1.0) / 2.0*
window_size[0];
75 window_cord[1] = (window_cord[1]+1.0) / 2.0*
window_size[1];
76 window_cord[2] = (window_cord[2]+1.0) / 2.0;
void computeProjectionMatrix(Eigen::Matrix4d &proj) const
Computes Projection Matrix for Camera.
void computeViewMatrix(Eigen::Matrix4d &view_mat) const
Computes View matrix for Camera (Based on gluLookAt)
void cvtWindowCoordinates(const PointT &pt, Eigen::Vector4d &window_cord) const
converts point to window coordiantes
double view[3]
Up vector of the camera.
A point structure representing Euclidean xyz coordinates, and the RGB color.