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kaorun55/FloorClipPlane PCL,Eigen

Created April 18, 2016 05:57
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FloorClipPlane PCL,Eigen
Eigen::Vector3f floor(floorClip.x, floorClip.y, floorClip.z);
Eigen::Quaternionf rotate = Eigen::Quaternionf::FromTwoVectors(floor, Eigen::Vector3f::UnitY());
Eigen::Translation<float, 3> translation(0, floorClip.w, 0);
Eigen::DiagonalMatrix<float, 3> scaling = Eigen::Scaling(1.0f, 1.0f, 1.0f);;
floorMatrix = translation * scaling * rotate;
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