C++ (Cpp) Matrix2Xd::col示例

示例#1

文件： PinholeCamera.hpp 项目： AhmadZakaria/okvis

bool PinholeCamera<DISTORTION_T>::backProjectHomogeneousBatch(
    const Eigen::Matrix2Xd & imagePoints, Eigen::Matrix4Xd * directions,
    std::vector<bool> * success) const
{
  const int numPoints = imagePoints.cols();
  directions->row(3) = Eigen::VectorXd::Ones(numPoints);
  for (int i = 0; i < numPoints; ++i) {
    Eigen::Vector2d imagePoint = imagePoints.col(i);
    Eigen::Vector3d point;
    bool suc = backProject(imagePoint, &point);
    if(success)
      success->push_back(suc);
    directions->template block<3, 1>(0, i) = point;
  }
  return true;
}