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Daviddoria: Created page with '==ProjectPoints.cpp== <source lang="cpp"> #include <iostream> #include <vector> #include <Eigen/Geometry> #include <Eigen/Dense> // for Vector #include <Eigen/StdVector> // Requ…'
2011-08-15T16:13:03Z
<p>Created page with '==ProjectPoints.cpp== <source lang="cpp"> #include <iostream> #include <vector> #include <Eigen/Geometry> #include <Eigen/Dense> // for Vector #include <Eigen/StdVector> // Requ…'</p>
<p><b>New page</b></p><div>==ProjectPoints.cpp==<br />
<source lang="cpp"><br />
#include <iostream><br />
#include <vector><br />
<br />
#include <Eigen/Geometry><br />
#include <Eigen/Dense> // for Vector<br />
#include <Eigen/StdVector> // Required (http://eigen.tuxfamily.org/dox-devel/TopicStlContainers.html)<br />
<br />
typedef std::vector<Eigen::Vector2d,Eigen::aligned_allocator<Eigen::Vector2d> > Point2DVector;<br />
typedef std::vector<Eigen::Vector3d,Eigen::aligned_allocator<Eigen::Vector3d> > Point3DVector;<br />
<br />
Point2DVector Generate2DPoints();<br />
Point3DVector Generate3DPoints();<br />
<br />
int main(int argc, char *argv[])<br />
{<br />
// Create the known projection matrix<br />
Eigen::MatrixXd P(3,4);<br />
P(0,0) = -2.8058e-01;<br />
P(1,0) = -6.8326e-02;<br />
P(2,0) = 5.1458e-07;<br />
<br />
P(0,1) = 2.0045e-02;<br />
P(1,1) = -3.1718e-01;<br />
P(2,1) = 4.5840e-06;<br />
<br />
P(0,2) = 1.8102e-01;<br />
P(1,2) = -7.2974e-02;<br />
P(2,2) = 2.6699e-06;<br />
<br />
P(0,3) = 6.6062e-01;<br />
P(1,3) = 5.8402e-01;<br />
P(2,3) = 1.5590e-03;<br />
<br />
Point2DVector Points2D = Generate2DPoints();<br />
Point3DVector Points3D = Generate3DPoints();<br />
<br />
for(unsigned int i = 0; i < Points3D.size(); ++i)<br />
{<br />
Eigen::Vector3d projected = P * Points3D[i].homogeneous();<br />
std::cout << "Projected: " << projected.hnormalized() << " actual: " << Points2D[i] << std::endl;<br />
//std::cout << "Projected: " << (P * Points3D[i].homogeneous()).hnormalized() << " actual: " << Points2D[i] << std::endl;<br />
}<br />
<br />
return 0;<br />
}<br />
<br />
<br />
Point2DVector Generate2DPoints()<br />
{<br />
Point2DVector points;<br />
<br />
float x,y;<br />
<br />
x=282;y=274;<br />
points.push_back(Eigen::Vector2d(x,y));<br />
<br />
x=397;y=227;<br />
points.push_back(Eigen::Vector2d(x,y));<br />
<br />
x=577;y=271;<br />
points.push_back(Eigen::Vector2d(x,y));<br />
<br />
x=462;y=318;<br />
points.push_back(Eigen::Vector2d(x,y));<br />
<br />
x=270;y=479;<br />
points.push_back(Eigen::Vector2d(x,y));<br />
<br />
x=450;y=523;<br />
points.push_back(Eigen::Vector2d(x,y));<br />
<br />
x=566;y=475;<br />
points.push_back(Eigen::Vector2d(x,y));<br />
<br />
return points;<br />
}<br />
<br />
<br />
Point3DVector Generate3DPoints()<br />
{<br />
Point3DVector points;<br />
<br />
float x,y,z;<br />
<br />
x=.5;y=.5;z=-.5;<br />
points.push_back(Eigen::Vector3d(x,y,z));<br />
<br />
x=.5;y=.5;z=.5;<br />
points.push_back(Eigen::Vector3d(x,y,z));<br />
<br />
x=-.5;y=.5;z=.5;<br />
points.push_back(Eigen::Vector3d(x,y,z));<br />
<br />
x=-.5;y=.5;z=-.5;<br />
points.push_back(Eigen::Vector3d(x,y,z));<br />
<br />
x=.5;y=-.5;z=-.5;<br />
points.push_back(Eigen::Vector3d(x,y,z));<br />
<br />
x=-.5;y=-.5;z=-.5;<br />
points.push_back(Eigen::Vector3d(x,y,z));<br />
<br />
x=-.5;y=-.5;z=.5;<br />
points.push_back(Eigen::Vector3d(x,y,z));<br />
<br />
return points;<br />
}<br />
<br />
</source><br />
<br />
==CMakeLists.txt==<br />
<source lang="cmake"><br />
cmake_minimum_required(VERSION 2.6)<br />
<br />
PROJECT(ProjectPoint)<br />
<br />
# must set EIGEN3_INCLUDE_DIR to ~/src/Eigen (or where ever Eigen lives)<br />
set(CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR} ${CMAKE_MODULE_PATH})<br />
<br />
FIND_PACKAGE(Eigen3 REQUIRED)<br />
INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})<br />
<br />
ADD_EXECUTABLE(ProjectPoint ProjectPoint.cpp )<br />
<br />
</source></div>
Daviddoria