fixed a funcrion parameter name that was equal to the template argument
This commit is contained in:
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052e774fbc
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334
vcg/math/shot.h
334
vcg/math/shot.h
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@ -137,129 +137,129 @@ namespace vcg{
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template <class S, class RotationType = Matrix44<S> >
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class Shot {
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public:
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typedef Camera<S> CameraType;
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typedef S ScalarType;
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typedef Camera<S> CameraType;
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typedef S ScalarType;
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template <class ScalarType, class RotoType >
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class ReferenceFrame {
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friend class Shot<ScalarType, RotoType>;
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RotoType rot; // rotation
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Point3<S> tra; // viewpoint
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public:
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void SetIdentity(){ rot.SetIdentity(); tra = Point3<S>(0.0,0.0,0.0);}
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void SetTra(const Point3<S> & tr) {tra = tr;}
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void SetRot(const RotoType & rt) {rot = rt;}
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Point3<ScalarType> Tra() const { return tra;}
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RotoType Rot() const { return rot;}
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};
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template <class ScalarType, class RotoType >
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class ReferenceFrame {
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friend class Shot<ScalarType, RotoType>;
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RotoType rot; // rotation
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Point3<S> tra; // viewpoint
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public:
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void SetIdentity(){ rot.SetIdentity(); tra = Point3<S>(0.0,0.0,0.0);}
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void SetTra(const Point3<S> & tr) {tra = tr;}
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void SetRot(const RotoType & rt) {rot = rt;}
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Point3<ScalarType> Tra() const { return tra;}
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RotoType Rot() const { return rot;}
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};
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Camera<S> Intrinsics; // the camera that made the shot
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ReferenceFrame<S,RotationType> Extrinsics; // the position and orientation of the camera
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Camera<S> Intrinsics; // the camera that made the shot
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ReferenceFrame<S,RotationType> Extrinsics; // the position and orientation of the camera
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Shot(Camera<S> c)
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{
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Intrinsics = c;
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Extrinsics.SetIdentity();
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}
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Shot(Camera<S> c)
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{
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Intrinsics = c;
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Extrinsics.SetIdentity();
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}
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Shot()
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{
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Extrinsics.SetIdentity();
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}
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Shot()
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{
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Extrinsics.SetIdentity();
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}
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/// GET the i-th axis of the coordinate system of the camera
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vcg::Point3<S> Axis(const int & i)const;
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/// GET the i-th axis of the coordinate system of the camera
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vcg::Point3<S> Axis(const int & i)const;
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/// GET the viewdir
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const vcg::Point3<S> GetViewDir()const;
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/// GET the viewpoint
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const vcg::Point3<S> GetViewPoint()const;
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/// SET the viewpoint
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void SetViewPoint(const vcg::Point3<S> & viewpoint);
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void SetViewPoint(const vcg::Point3<S> & viewpoint);
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/// GET fov from focal
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float GetFovFromFocal();
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/// GET fov from focal
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float GetFovFromFocal();
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/// look at (point+up)
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void LookAt(const vcg::Point3<S> & point,const vcg::Point3<S> & up);
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/// look at (point+up)
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void LookAt(const vcg::Point3<S> & point,const vcg::Point3<S> & up);
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/// look at (opengl-like)
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void LookAt(const S & eye_x,const S & eye_y,const S & eye_z,
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const S & at_x,const S & at_y,const S & at_z,
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const S & up_x,const S & up_y,const S & up_z);
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/// look at (opengl-like)
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void LookAt(const S & eye_x,const S & eye_y,const S & eye_z,
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const S & at_x,const S & at_y,const S & at_z,
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const S & up_x,const S & up_y,const S & up_z);
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/// look towards (dir+up)
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void LookTowards(const vcg::Point3<S> & z_dir,const vcg::Point3<S> & up);
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/// look towards (dir+up)
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void LookTowards(const vcg::Point3<S> & z_dir,const vcg::Point3<S> & up);
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/* Sometimes the focal is given in pixels. In this case, this function can be used to convert it in millimiters.
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* NOTE: This method should be moved in vcg::Camera.
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*/
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void ConvertFocalToMM();
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void ConvertFocalToMM();
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/* Sometimes the 3D World coordinates are known up to a scale factor. This method adjust the camera/shot parameters
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* to account for the re-scaling of the World.
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*/
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void RescalingWorld(S scalefactor);
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/* Sometimes the 3D World coordinates are known up to a scale factor. This method adjust the camera/shot parameters
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* to account for the re-scaling of the World.
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*/
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void RescalingWorld(S scalefactor);
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/// Given a pure roto-translation (4-by-4) modifies the reference frame accordingly.
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void ApplyRigidTransformation(const Matrix44<S> & M);
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void ApplyRigidTransformation(const Matrix44<S> & M);
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/// Given a similarity transformation such that p' = s R p + T modifies the reference frame accordingly.
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void ApplySimilarity(const Matrix44<S> & M);
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/// Given a similarity transformation such that p' = s R p + T modifies the reference frame accordingly.
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void ApplySimilarity(const Similarity<S> & S);
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void ApplySimilarity(const Similarity<S> & Sim);
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/// convert a 3d point from world to camera coordinates (do not confuse with the Shot reference frame)
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vcg::Point3<S> ConvertWorldToCameraCoordinates(const vcg::Point3<S> & p) const;
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/// convert a 3d point from world to camera coordinates (do not confuse with the Shot reference frame)
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vcg::Point3<S> ConvertWorldToCameraCoordinates(const vcg::Point3<S> & p) const;
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/// convert a 3d point from camera (do not confuse with the Shot reference frame) to world coordinates
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vcg::Point3<S> ConvertCameraToWorldCoordinates(const vcg::Point3<S> & p) const;
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/// convert a 3d point from camera (do not confuse with the Shot reference frame) to world coordinates
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vcg::Point3<S> ConvertCameraToWorldCoordinates(const vcg::Point3<S> & p) const;
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/* convert a 3d point from camera (do not confuse with the Shot reference frame) to world coordinates
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* it uses inverse instead of transpose for non-exactly-rigid rotation matrices (such as calculated by tsai and garcia)
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*/
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vcg::Point3<S> ConvertCameraToWorldCoordinates_Substitute(const vcg::Point3<S> & p) const;
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/* convert a 3d point from camera (do not confuse with the Shot reference frame) to world coordinates
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* it uses inverse instead of transpose for non-exactly-rigid rotation matrices (such as calculated by tsai and garcia)
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*/
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vcg::Point3<S> ConvertCameraToWorldCoordinates_Substitute(const vcg::Point3<S> & p) const;
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/// project a 3d point from world coordinates to 2d camera viewport (the value returned is in pixels)
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vcg::Point2<S> Project(const vcg::Point3<S> & p) const;
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/// project a 3d point from world coordinates to 2d camera viewport (the value returned is in pixels)
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vcg::Point2<S> Project(const vcg::Point3<S> & p) const;
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/// inverse projection from 2d camera viewport (in pixels) to 3d world coordinates (it requires the original depth of the projected point)
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vcg::Point3<S> UnProject(const vcg::Point2<S> & p, const S & d) const;
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/// inverse projection from 2d camera viewport (in pixels) to 3d world coordinates (it requires the original depth of the projected point)
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vcg::Point3<S> UnProject(const vcg::Point2<S> & p, const S & d) const;
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/* inverse projection from 2d camera viewport (in pixels) to 3d world coordinates (it requires the original depth of the projected point)
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* uses inverse instead of trranspose for non-exactly-rigid rotation matrices (such as calculated by tsai and garcia)
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*/
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vcg::Point3<S> UnProject_Substitute(const vcg::Point2<S> & p, const S & d) const;
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/* inverse projection from 2d camera viewport (in pixels) to 3d world coordinates (it requires the original depth of the projected point)
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* uses inverse instead of trranspose for non-exactly-rigid rotation matrices (such as calculated by tsai and garcia)
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*/
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vcg::Point3<S> UnProject_Substitute(const vcg::Point2<S> & p, const S & d) const;
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/// returns the distance of point p from camera plane (z depth), required for unprojection operation
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S Depth(const vcg::Point3<S> & p)const;
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/// returns the distance of point p from camera plane (z depth), required for unprojection operation
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S Depth(const vcg::Point3<S> & p)const;
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// accessors
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public:
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/// Returns the (4-by-4) matrix M such that 3dpoint_in_world_coordinates = M * 3dpoint_in_local_coordinates
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Matrix44<S> GetExtrinsicsToWorldMatrix() const
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{
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Matrix44<S> rotM;
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Extrinsics.rot.ToMatrix(rotM);
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return Matrix44<S>().SetTranslate(Extrinsics.tra) * rotM.transpose();
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}
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/// Returns the (4-by-4) matrix M such that 3dpoint_in_world_coordinates = M * 3dpoint_in_local_coordinates
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Matrix44<S> GetExtrinsicsToWorldMatrix() const
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{
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Matrix44<S> rotM;
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Extrinsics.rot.ToMatrix(rotM);
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return Matrix44<S>().SetTranslate(Extrinsics.tra) * rotM.transpose();
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}
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/// Returns the (4-by-4) matrix M such that 3dpoint_in_local_coordinates = M * 3dpoint_in_world_coordinates
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Matrix44<S> GetWorldToExtrinsicsMatrix() const
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{
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Matrix44<S> rotM;
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Extrinsics.rot.ToMatrix(rotM);
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return rotM * Matrix44<S>().SetTranslate(-Extrinsics.tra) ;
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}
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/// Returns the (4-by-4) matrix M such that 3dpoint_in_local_coordinates = M * 3dpoint_in_world_coordinates
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Matrix44<S> GetWorldToExtrinsicsMatrix() const
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{
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Matrix44<S> rotM;
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Extrinsics.rot.ToMatrix(rotM);
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return rotM * Matrix44<S>().SetTranslate(-Extrinsics.tra) ;
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}
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/* multiply the current reference frame for the matrix passed
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note: it is up to the caller to check the the matrix passed is a pure rototraslation
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*/
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/* multiply the current reference frame for the matrix passed
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note: it is up to the caller to check the the matrix passed is a pure rototraslation
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*/
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void MultMatrix( vcg::Matrix44<S> m44)
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{
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Extrinsics.tra = m44 * Extrinsics.tra;
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@ -268,15 +268,15 @@ public:
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Extrinsics.rot = Extrinsics.rot * m44.transpose() * (1/k);
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}
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/* multiply the current reference frame for the similarity passed
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note: it is up to the caller to check the the matrix passed is a pure rototraslation
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*/
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void MultSimilarity( const Similarity<S> & s){ MultMatrix(s.Matrix());}
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bool IsValid() const
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{
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return Intrinsics.PixelSizeMm[0]>0 && Intrinsics.PixelSizeMm[1]>0;
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}
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/* multiply the current reference frame for the similarity passed
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note: it is up to the caller to check the the matrix passed is a pure rototraslation
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*/
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void MultSimilarity( const Similarity<S> & s){ MultMatrix(s.Matrix());}
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bool IsValid() const
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{
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return Intrinsics.PixelSizeMm[0]>0 && Intrinsics.PixelSizeMm[1]>0;
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}
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}; // end class definition
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@ -295,13 +295,13 @@ const vcg::Point3<S> Shot<S,RotationType>::GetViewDir() const
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template <class S, class RotationType>
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const vcg::Point3<S> Shot<S,RotationType>::GetViewPoint() const
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{
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return Extrinsics.tra;
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return Extrinsics.tra;
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}
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/// SET the viewpoint
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template <class S, class RotationType>
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void Shot<S,RotationType>::SetViewPoint(const vcg::Point3<S> & viewpoint)
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{
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Extrinsics.SetTra( viewpoint );
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Extrinsics.SetTra( viewpoint );
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}
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//---
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@ -309,8 +309,8 @@ void Shot<S,RotationType>::SetViewPoint(const vcg::Point3<S> & viewpoint)
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template <class S, class RotationType>
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float Shot<S,RotationType>::GetFovFromFocal()
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{
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double viewportYMm= Intrinsics.PixelSizeMm[1]* Intrinsics.ViewportPx[1];
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return 2*(vcg::math::ToDeg(atanf(viewportYMm/(2*Intrinsics.FocalMm))));
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double viewportYMm= Intrinsics.PixelSizeMm[1]* Intrinsics.ViewportPx[1];
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return 2*(vcg::math::ToDeg(atanf(viewportYMm/(2*Intrinsics.FocalMm))));
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}
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//---
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@ -319,43 +319,43 @@ float Shot<S,RotationType>::GetFovFromFocal()
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template <class S, class RotationType>
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vcg::Point3<S> Shot<S,RotationType>::Axis(const int & i) const
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{
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vcg::Matrix44<S> m;
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Extrinsics.rot.ToMatrix(m);
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vcg::Point3<S> aa = m.GetRow3(i);
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return aa;
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vcg::Matrix44<S> m;
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Extrinsics.rot.ToMatrix(m);
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vcg::Point3<S> aa = m.GetRow3(i);
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return aa;
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}
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/// look at (point+up)
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template <class S, class RotationType>
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void Shot<S,RotationType>::LookAt(const vcg::Point3<S> & z_dir,const vcg::Point3<S> & up)
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{
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LookTowards(z_dir-GetViewPoint(),up);
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LookTowards(z_dir-GetViewPoint(),up);
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}
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/// look at (opengl-like)
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template <class S, class RotationType>
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void Shot<S,RotationType>::LookAt(const S & eye_x, const S & eye_y, const S & eye_z,
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const S & at_x, const S & at_y, const S & at_z,
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const S & up_x,const S & up_y,const S & up_z)
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const S & at_x, const S & at_y, const S & at_z,
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const S & up_x,const S & up_y,const S & up_z)
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{
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SetViewPoint(Point3<S>(eye_x,eye_y,eye_z));
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LookAt(Point3<S>(at_x,at_y,at_z),Point3<S>(up_x,up_y,up_z));
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SetViewPoint(Point3<S>(eye_x,eye_y,eye_z));
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LookAt(Point3<S>(at_x,at_y,at_z),Point3<S>(up_x,up_y,up_z));
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}
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/// look towards
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template <class S, class RotationType>
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void Shot<S,RotationType>::LookTowards(const vcg::Point3<S> & z_dir,const vcg::Point3<S> & up)
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{
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vcg::Point3<S> x_dir = up ^-z_dir;
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vcg::Point3<S> y_dir = -z_dir ^x_dir;
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vcg::Point3<S> x_dir = up ^-z_dir;
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vcg::Point3<S> y_dir = -z_dir ^x_dir;
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Matrix44<S> m;
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m.SetIdentity();
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*(vcg::Point3<S> *)&m[0][0] = x_dir/x_dir.Norm();
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*(vcg::Point3<S> *)&m[1][0] = y_dir/y_dir.Norm();
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*(vcg::Point3<S> *)&m[2][0] = -z_dir/z_dir.Norm();
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Matrix44<S> m;
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m.SetIdentity();
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*(vcg::Point3<S> *)&m[0][0] = x_dir/x_dir.Norm();
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*(vcg::Point3<S> *)&m[1][0] = y_dir/y_dir.Norm();
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*(vcg::Point3<S> *)&m[2][0] = -z_dir/z_dir.Norm();
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Extrinsics.rot.FromMatrix(m);
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Extrinsics.rot.FromMatrix(m);
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}
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//--- Space transformation methods
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@ -364,74 +364,74 @@ void Shot<S,RotationType>::LookTowards(const vcg::Point3<S> & z_dir,const vcg::P
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template <class S, class RotationType>
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vcg::Point3<S> Shot<S,RotationType>::ConvertWorldToCameraCoordinates(const vcg::Point3<S> & p) const
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{
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Matrix44<S> rotM;
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Extrinsics.rot.ToMatrix(rotM);
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vcg::Point3<S> cp = rotM * (p - GetViewPoint() );
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cp[2]=-cp[2];
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return cp;
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}
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Matrix44<S> rotM;
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Extrinsics.rot.ToMatrix(rotM);
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vcg::Point3<S> cp = rotM * (p - GetViewPoint() );
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cp[2]=-cp[2];
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return cp;
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}
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/// convert a 3d point from camera coordinates (do not confuse with the Shot reference frame) to world coordinates
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template <class S, class RotationType>
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vcg::Point3<S> Shot<S,RotationType>::ConvertCameraToWorldCoordinates(const vcg::Point3<S> & p) const
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{
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Matrix44<S> rotM;
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vcg::Point3<S> cp = p;
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cp[2]=-cp[2];
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Extrinsics.rot.ToMatrix(rotM);
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cp = rotM.transpose() * cp + GetViewPoint();
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return cp;
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Matrix44<S> rotM;
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vcg::Point3<S> cp = p;
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cp[2]=-cp[2];
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Extrinsics.rot.ToMatrix(rotM);
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cp = rotM.transpose() * cp + GetViewPoint();
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return cp;
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}
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/// convert a 3d point from camera to world coordinates, uses inverse instead of trranspose for non-exactly-rigid rotation matrices (such as calculated by tsai and garcia)
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template <class S, class RotationType>
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vcg::Point3<S> Shot<S,RotationType>::ConvertCameraToWorldCoordinates_Substitute(const vcg::Point3<S> & p) const
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{
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Matrix44<S> rotM;
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vcg::Point3<S> cp = p;
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cp[2]=-cp[2];
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Extrinsics.rot.ToMatrix(rotM);
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cp = Inverse(rotM) * cp + GetViewPoint();
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return cp;
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Matrix44<S> rotM;
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vcg::Point3<S> cp = p;
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cp[2]=-cp[2];
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Extrinsics.rot.ToMatrix(rotM);
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cp = Inverse(rotM) * cp + GetViewPoint();
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return cp;
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}
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/// project a 3d point from world coordinates to 2d camera viewport (the value returned is in pixel)
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template <class S, class RotationType>
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vcg::Point2<S> Shot<S,RotationType>::Project(const vcg::Point3<S> & p) const
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{
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Point3<S> cp = ConvertWorldToCameraCoordinates(p);
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Point2<S> pp = Intrinsics.Project(cp);
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Point2<S> vp = Intrinsics.LocalToViewportPx(pp);
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return vp;
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Point3<S> cp = ConvertWorldToCameraCoordinates(p);
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Point2<S> pp = Intrinsics.Project(cp);
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||||
Point2<S> vp = Intrinsics.LocalToViewportPx(pp);
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||||
return vp;
|
||||
}
|
||||
|
||||
/// inverse projection from 2d camera viewport (in pixels) to 3d world coordinates (it requires the original depth of the point to unproject)
|
||||
template <class S, class RotationType>
|
||||
vcg::Point3<S> Shot<S,RotationType>::UnProject(const vcg::Point2<S> & p, const S & d) const
|
||||
{
|
||||
Point2<S> lp = Intrinsics.ViewportPxToLocal(p);
|
||||
Point3<S> cp = Intrinsics.UnProject(lp,d);
|
||||
Point3<S> wp = ConvertCameraToWorldCoordinates(cp);
|
||||
return wp;
|
||||
Point2<S> lp = Intrinsics.ViewportPxToLocal(p);
|
||||
Point3<S> cp = Intrinsics.UnProject(lp,d);
|
||||
Point3<S> wp = ConvertCameraToWorldCoordinates(cp);
|
||||
return wp;
|
||||
}
|
||||
|
||||
/* inverse projection from 2d camera viewport (in pixels) to 3d world coordinates (it requires the original depth of the projected point)
|
||||
/* inverse projection from 2d camera viewport (in pixels) to 3d world coordinates (it requires the original depth of the projected point)
|
||||
* uses inverse instead of trranspose for non-exactly-rigid rotation matrices (such as calculated by tsai and garcia)
|
||||
*/
|
||||
template <class S, class RotationType>
|
||||
vcg::Point3<S> Shot<S,RotationType>::UnProject_Substitute(const vcg::Point2<S> & p, const S & d) const
|
||||
{
|
||||
Point2<S> lp = Intrinsics.ViewportPxToLocal(p);
|
||||
Point3<S> cp = Intrinsics.UnProject(lp,d);
|
||||
Point3<S> wp = ConvertCameraToWorldCoordinates_Substitute(cp);
|
||||
return wp;
|
||||
Point2<S> lp = Intrinsics.ViewportPxToLocal(p);
|
||||
Point3<S> cp = Intrinsics.UnProject(lp,d);
|
||||
Point3<S> wp = ConvertCameraToWorldCoordinates_Substitute(cp);
|
||||
return wp;
|
||||
}
|
||||
|
||||
/// returns the distance of point p from camera plane (z depth), required for unprojection operation
|
||||
template <class S, class RotationType>
|
||||
S Shot<S,RotationType>::Depth(const vcg::Point3<S> & p)const
|
||||
{
|
||||
return ConvertWorldToCameraCoordinates(p).Z();
|
||||
return ConvertWorldToCameraCoordinates(p).Z();
|
||||
}
|
||||
|
||||
/* Sometimes the focal is given in pixels. In this case, this function can be used to convert it in millimiters.
|
||||
|
|
@ -440,11 +440,11 @@ S Shot<S,RotationType>::Depth(const vcg::Point3<S> & p)const
|
|||
template <class S, class RotationType>
|
||||
void Shot<S, RotationType>::ConvertFocalToMM()
|
||||
{
|
||||
double ccd_width = 35.0; // ccd is assumed conventionally to be 35mm
|
||||
double ccd_height = (ccd_width * Intrinsics.ViewportPx[1]) / Intrinsics.ViewportPx[0];
|
||||
Intrinsics.PixelSizeMm[0] = (ccd_width / Intrinsics.ViewportPx[0]);
|
||||
Intrinsics.PixelSizeMm[1] = (ccd_height / Intrinsics.ViewportPx[1]);
|
||||
Intrinsics.FocalMm = (ccd_width * Intrinsics.FocalMm) / Intrinsics.ViewportPx[0]; // NOW FOCAL IS IN MM
|
||||
double ccd_width = 35.0; // ccd is assumed conventionally to be 35mm
|
||||
double ccd_height = (ccd_width * Intrinsics.ViewportPx[1]) / Intrinsics.ViewportPx[0];
|
||||
Intrinsics.PixelSizeMm[0] = (ccd_width / Intrinsics.ViewportPx[0]);
|
||||
Intrinsics.PixelSizeMm[1] = (ccd_height / Intrinsics.ViewportPx[1]);
|
||||
Intrinsics.FocalMm = (ccd_width * Intrinsics.FocalMm) / Intrinsics.ViewportPx[0]; // NOW FOCAL IS IN MM
|
||||
}
|
||||
|
||||
/* Sometimes the 3D World coordinates are known up to a scale factor. This method adjust the camera/shot parameters
|
||||
|
|
@ -453,39 +453,39 @@ void Shot<S, RotationType>::ConvertFocalToMM()
|
|||
template <class S, class RotationType>
|
||||
void Shot<S, RotationType>::RescalingWorld(S scalefactor)
|
||||
{
|
||||
// adjust INTRINSICS
|
||||
|
||||
Intrinsics.FocalMm = Intrinsics.FocalMm * scalefactor;
|
||||
double ccdwidth = static_cast<double>(Intrinsics.ViewportPx[0] * Intrinsics.PixelSizeMm[0]);
|
||||
double ccdheight = static_cast<double>(Intrinsics.ViewportPx[1] * Intrinsics.PixelSizeMm[1]);
|
||||
// adjust INTRINSICS
|
||||
|
||||
Intrinsics.PixelSizeMm[0] = (ccdwidth * scalefactor) / Intrinsics.ViewportPx[0];
|
||||
Intrinsics.PixelSizeMm[1] = (ccdheight * scalefactor) / Intrinsics.ViewportPx[1];
|
||||
Intrinsics.FocalMm = Intrinsics.FocalMm * scalefactor;
|
||||
double ccdwidth = static_cast<double>(Intrinsics.ViewportPx[0] * Intrinsics.PixelSizeMm[0]);
|
||||
double ccdheight = static_cast<double>(Intrinsics.ViewportPx[1] * Intrinsics.PixelSizeMm[1]);
|
||||
|
||||
// adjust EXTRINSICS
|
||||
Intrinsics.PixelSizeMm[0] = (ccdwidth * scalefactor) / Intrinsics.ViewportPx[0];
|
||||
Intrinsics.PixelSizeMm[1] = (ccdheight * scalefactor) / Intrinsics.ViewportPx[1];
|
||||
|
||||
// rotation remains the same (!)
|
||||
// nothing to do..
|
||||
// adjust EXTRINSICS
|
||||
|
||||
// the viewpoint should be modified according to the scale factor
|
||||
Extrinsics.tra *= scalefactor;
|
||||
// rotation remains the same (!)
|
||||
// nothing to do..
|
||||
|
||||
// the viewpoint should be modified according to the scale factor
|
||||
Extrinsics.tra *= scalefactor;
|
||||
}
|
||||
|
||||
/// Given a pure roto-translation matrix (4-by-4) modify the reference frame accordingly.
|
||||
template <class S, class RotationType>
|
||||
void Shot<S, RotationType>::ApplyRigidTransformation(const Matrix44<S> & M)
|
||||
{
|
||||
Matrix44<S> rotM;
|
||||
Extrinsics.rot.ToMatrix(rotM);
|
||||
Matrix44<S> rotM;
|
||||
Extrinsics.rot.ToMatrix(rotM);
|
||||
|
||||
// roto-translate the viewpoint
|
||||
Extrinsics.tra = M * Extrinsics.tra;
|
||||
// roto-translate the viewpoint
|
||||
Extrinsics.tra = M * Extrinsics.tra;
|
||||
|
||||
Extrinsics.rot = rotM * M.transpose();
|
||||
Extrinsics.rot = rotM * M.transpose();
|
||||
|
||||
Extrinsics.rot.ElementAt(3,0) = 0;
|
||||
Extrinsics.rot.ElementAt(3,1) = 0;
|
||||
Extrinsics.rot.ElementAt(3,2) = 0;
|
||||
Extrinsics.rot.ElementAt(3,0) = 0;
|
||||
Extrinsics.rot.ElementAt(3,1) = 0;
|
||||
Extrinsics.rot.ElementAt(3,2) = 0;
|
||||
}
|
||||
|
||||
/// Given a similarity transformation such that p' = s R p + T modifies the reference frame accordingly.
|
||||
|
|
|
|||
Loading…
Reference in New Issue