// Compute the distance between the camera and the centroid
float compute_distance_from_kinect(Eigen::Matrix<float, 4, 1> p_matrix)
{
pcl::PointXYZ camera_origin(0,0,0);
pcl::PointXYZ object_position(p_matrix(0,0), p_matrix(1,0), p_matrix(3,0));
float distance = pcl::euclideanDistance(camera_origin, object_position);
return distance;
}
geom::rect game::engine::viewport() const {
return geom::rect(
camera_origin(),
viewport_size()
);
}
