Daviddoria: Created page with '==Homogeneous.cpp== #include #include #include // for Vector void CreateHomeogeneous(); void ConvertToHomeogeneous…'

2011-08-15T15:59:40Z

Created page with '==Homogeneous.cpp== <source lang="cpp"> #include <iostream> #include <Eigen/Geometry> #include <Eigen/Dense> // for Vector void CreateHomeogeneous(); void ConvertToHomeogeneous…'

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==Homogeneous.cpp==
<source lang="cpp">
#include <iostream>

#include <Eigen/Geometry>
#include <Eigen/Dense> // for Vector

void CreateHomeogeneous();
void ConvertToHomeogeneous();
void ConvertFromHomeogeneous();

int main(int argc, char *argv[])
{
//CreateHomeogeneous();
ConvertToHomeogeneous();
ConvertFromHomeogeneous();

return 0;
}

void CreateHomeogeneous()
{
/*
Eigen::Homogeneous<Eigen::Vector3d, Eigen::Vertical> h;
h(0,0) = 3;
h(1,0) = 2.5;

std::cout << h << std::endl;
*/
}

void ConvertToHomeogeneous()
{
std::cout << "ConvertToHomeogeneous()" << std::endl;

// Create a 3D vector
Eigen::Vector3d v;
v(0) = 0;
v(1) = 1;
v(2) = 2;

std::cout << "Original 3D vector: " << v << std::endl;

// Get the homogeneous version of the vector
Eigen::Vector4d h = v.homogeneous();
std::cout << "Homogeneous version (4D): " << h << std::endl;

}

void ConvertFromHomeogeneous()
{
std::cout << "ConvertFromHomeogeneous()" << std::endl;

// Create a 4D vector
Eigen::Vector4d v;
v(0) = 0;
v(1) = 1;
v(2) = 2;
v(3) = .5;

std::cout << "Original 4D homogeneous vector: " << v << std::endl;

// Divide the vector by the last entry
Eigen::Vector3d unhomog = v.hnormalized();
std::cout << "Un-homogeneous vector: " << unhomog << std::endl;
}

</source>

==CMakeLists.txt==
<source lang="cmake">
cmake_minimum_required(VERSION 2.6)

PROJECT(Homogeneous)

# must set EIGEN3_INCLUDE_DIR to ~/src/Eigen (or where ever Eigen lives)

#set(EIGEN3_INCLUDE_DIR ~/src/eigen)

#SET(CMAKE_MODULE_PATH /media/portable/src/Eigen/cmake)
#SET(CMAKE_MODULE_PATH .)
set(CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR} ${CMAKE_MODULE_PATH})
#set(CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR})

FIND_PACKAGE(Eigen3 REQUIRED)
INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})

ADD_EXECUTABLE(Homogeneous Homogeneous.cpp )

</source>

CPP/Eigen/Homogeneous - Revision history

Daviddoria: Created page with '==Homogeneous.cpp== #include #include #include // for Vector void CreateHomeogeneous(); void ConvertToHomeogeneous…'