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Update camera.cpp #6411

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37 changes: 20 additions & 17 deletions simulation/src/camera.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6,27 +6,27 @@ using namespace pcl::simulation;
void
pcl::simulation::Camera::move(double vx, double vy, double vz)
{
Vector3d v;
v << vx, vy, vz;
const Vector3d v(vx, vy, vz);
pose_.pretranslate(pose_.rotation() * v);
x_ = pose_.translation().x();
y_ = pose_.translation().y();
z_ = pose_.translation().z();

const Vector3d& t = pose_.translation();
x_ = t.x();
y_ = t.y();
z_ = t.z();
}

void
pcl::simulation::Camera::updatePose()
{
Matrix3d m;
m = AngleAxisd(yaw_, Vector3d::UnitZ()) * AngleAxisd(pitch_, Vector3d::UnitY()) *
AngleAxisd(roll_, Vector3d::UnitX());
const Matrix3d m =
AngleAxisd(yaw_, Vector3d::UnitZ()) *
AngleAxisd(pitch_, Vector3d::UnitY()) *
AngleAxisd(roll_, Vector3d::UnitX());

pose_.setIdentity();
pose_ *= m;
pose_.linear() = m;

Vector3d v;
v << x_, y_, z_;
pose_.translation() = v;
pose_.translation() = Vector3d(x_, y_, z_);
}

void
Expand All @@ -48,12 +48,15 @@ pcl::simulation::Camera::setParameters(int width,
z_near_ = z_near;
z_far_ = z_far;

const float inv_width = 1.0f / static_cast<float>(width_);
const float inv_height = 1.0f / static_cast<float>(height_);
const float z_nf = (z_near_ - z_far_);

// clang-format off
float z_nf = (z_near_-z_far_);
projection_matrix_ << 2.0f*fx_/width_, 0, 1.0f-(2.0f*cx_/width_), 0,
0, 2.0f*fy_/height_, 1.0f-(2.0f*cy_/height_), 0,
0, 0, (z_far_+z_near_)/z_nf, 2.0f*z_near_*z_far_/z_nf,
0, 0, -1.0f, 0;
projection_matrix_ << 2.0f * fx_ * inv_width, 0, 1.0f - (2.0f * cx_ * inv_width), 0,
0, 2.0f * fy_ * inv_height, 1.0f - (2.0f * cy_ * inv_height), 0,
0, 0, (z_far_ + z_near_) / z_nf, 2.0f * z_near_ * z_far_ / z_nf,
0, 0, -1.0f, 0;
// clang-format on
}

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