8 #include <pcl/outofcore/visualization/object.h>
9 #include <pcl/common/eigen.h>
15 #include <vtkCamera.h>
16 #include <vtkCameraActor.h>
17 #include <vtkPolyData.h>
18 #include <vtkSmartPointer.h>
63 this->display_ = display;
69 for (
int i = 0; i < 24; i++)
70 frustum[i] = frustum_[i];
76 projection_matrix_ = projection_matrix;
82 return projection_matrix_;
88 model_view_matrix_ = model_view_matrix;
94 return model_view_matrix_;
100 return Eigen::Matrix4d (projection_matrix_ * model_view_matrix_);
107 Eigen::Matrix4d inverse_model_view_matrix = model_view_matrix_.inverse ();
108 Eigen::Vector3d position;
109 for (
int i = 0; i < 3; i++)
111 position (i) = inverse_model_view_matrix (i, 3);
120 camera_->SetClippingRange (near_value, far_value);
124 render (vtkRenderer* renderer)
override;
149 Eigen::Matrix4d projection_matrix_;
150 Eigen::Matrix4d model_view_matrix_;
153 double prevFocal_[3];