55 Eigen::Vector3f view = camera_pose_.block<3, 1> (0, 0);
56 Eigen::Vector3f
up = camera_pose_.block<3, 1> (0, 1);
57 Eigen::Vector3f right = camera_pose_.block<3, 1> (0, 2);
58 Eigen::Vector3f T = camera_pose_.block<3, 1> (0, 3);
70 Eigen::Vector3f
fp_c (T + view * fp_dist_);
76 Eigen::Vector3f
np_c (T + view * np_dist_);
88 Eigen::Vector3f a (
fp_bl - T);
89 Eigen::Vector3f b (
fp_br - T);
90 Eigen::Vector3f
c (
fp_tr - T);
91 Eigen::Vector3f d (
fp_tl - T);
106 pl_r.head<3> () = b.cross (
c);
107 pl_l.head<3> () = d.cross (a);
108 pl_t.head<3> () =
c.cross (d);
109 pl_b.head<3> () = a.cross (b);
111 pl_r (3) = -T.dot (
pl_r.head<3> ());
112 pl_l (3) = -T.dot (
pl_l.head<3> ());
113 pl_t (3) = -T.dot (
pl_t.head<3> ());
114 pl_b (3) = -T.dot (
pl_b.head<3> ());
116 if (extract_removed_indices_)
118 removed_indices_->resize (indices_->size ());
120 indices.resize (indices_->size ());
123 for (std::size_t i = 0; i < indices_->size (); i++)
125 int idx = indices_->at (i);
126 Eigen::Vector4f
pt ((*input_)[idx].x,
140 else if (extract_removed_indices_)