将本征Affine3d转换为Affine2d [英] Convert Eigen Affine3d to Affine2d
本文介绍了将本征Affine3d转换为Affine2d的处理方法,对大家解决问题具有一定的参考价值,需要的朋友们下面随着小编来一起学习吧!
问题描述
我在3D中有一个仿射变换,我希望丢弃任何z轴信息来自。是否有方便的方法将 Affine3d
转换为 Affine2d
?
I have an affine transform in 3D and I wish to discard any z-axis information from. Is there a convenient way to convert from an Affine3d
to and Affine2d
?
推荐答案
尝试以下操作:
Affine2d S2d = Translation2d(S3d.translation().topRows<2>()) *
S3d.linear().topLeftCorner<2,2>();
演示:
#include <Eigen/Dense>
#include <iostream>
#include <string>
int main()
{
using namespace Eigen;
using namespace std;
Vector3d p3d(1.,2.,3.);
cout << p3d << endl << endl;
Affine3d S3d = Translation3d(2.,2.,2.)*Scaling(3.,2.,5.);
Vector3d scalled = S3d*p3d;
cout << S3d.matrix() << endl << endl;
cout << scalled << endl << endl;
cout << string(16,'_') << endl;
Vector2d p2d = p3d.topRows<2>();
cout << p2d << endl << endl;
Affine2d S2d = Translation2d(S3d.translation().topRows<2>()) *
S3d.linear().topLeftCorner<2,2>();
Vector2d scalled2d = S2d*p2d;
cout << S2d.matrix() << endl << endl;
cout << scalled2d << endl << endl;
}
输出:
1
2
3
3 0 0 2
0 2 0 2
0 0 5 2
0 0 0 1
5
6
17
________________
1
2
3 0 2
0 2 2
0 0 1
5
6
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