Exemple #1
0
template <typename PointT> inline void
pcl::getMinMax3D (const pcl::PointCloud<PointT> &cloud, const std::vector<int> &indices,
                  Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt)
{
  min_pt.setConstant (FLT_MAX);
  max_pt.setConstant (-FLT_MAX);

  // If the data is dense, we don't need to check for NaN
  if (cloud.is_dense)
  {
    for (size_t i = 0; i < indices.size (); ++i)
    {
      pcl::Array4fMapConst pt = cloud.points[indices[i]].getArray4fMap ();
      min_pt = min_pt.array ().min (pt);
      max_pt = max_pt.array ().max (pt);
    }
  }
  // NaN or Inf values could exist => check for them
  else
  {
    for (size_t i = 0; i < indices.size (); ++i)
    {
      // Check if the point is invalid
      if (!pcl_isfinite (cloud.points[indices[i]].x) || 
          !pcl_isfinite (cloud.points[indices[i]].y) || 
          !pcl_isfinite (cloud.points[indices[i]].z))
        continue;
      pcl::Array4fMapConst pt = cloud.points[indices[i]].getArray4fMap ();
      min_pt = min_pt.array ().min (pt);
      max_pt = max_pt.array ().max (pt);
    }
  }
}
Exemple #2
0
Eigen::Vector3f unproject(const Eigen::Vector3f &win,
                          const Eigen::Matrix4f &model,
                          const Eigen::Matrix4f &proj,
                          const Vector2i &viewportSize) {
    Eigen::Matrix4f Inverse = (proj * model).inverse();

    Eigen::Vector4f tmp;
    tmp << win, 1;
    tmp(0) = tmp(0) / viewportSize.x();
    tmp(1) = tmp(1) / viewportSize.y();
    tmp = tmp.array() * 2.0f - 1.0f;

    Eigen::Vector4f obj = Inverse * tmp;
    obj /= obj(3);

    return obj.head(3);
}
Exemple #3
0
Eigen::Vector3f project(const Eigen::Vector3f &obj,
                        const Eigen::Matrix4f &model,
                        const Eigen::Matrix4f &proj,
                        const Vector2i &viewportSize) {
    Eigen::Vector4f tmp;
    tmp << obj, 1;

    tmp = model * tmp;

    tmp = proj * tmp;

    tmp = tmp.array() / tmp(3);
    tmp = tmp.array() * 0.5f + 0.5f;
    tmp(0) = tmp(0) * viewportSize.x();
    tmp(1) = tmp(1) * viewportSize.y();

    return tmp.head(3);
}
Exemple #4
0
Eigen::Vector3f igl::unproject(
  const Eigen::Vector3f& win,
  const Eigen::Matrix4f& model,
  const Eigen::Matrix4f& proj,
  const Eigen::Vector4f& viewport)
{
  Eigen::Matrix4f Inverse = (proj * model).inverse();

  Eigen::Vector4f tmp;
  tmp << win, 1;
  tmp(0) = (tmp(0) - viewport(0)) / viewport(2);
  tmp(1) = (tmp(1) - viewport(1)) / viewport(3);
  tmp = tmp.array() * 2.0f - 1.0f;

  Eigen::Vector4f obj = Inverse * tmp;
  obj /= obj(3);

  return obj.head(3);
}