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//////////////////////////////////////////////////////////////////////////////////////////template <typename Scalar> boolpcl::transformBetween2CoordinateSystems (const Eigen::Matrix<Scalar,...

#include <vector>#include <Eigen/Geometry>#include <stdio.h>#include <iostream>#define Scalar double Eigen::Transform<Scalar, 3, Eigen::Affine&

#include <iostream>#include <GTEngine/Mathematics/GteConvertCoordinates.h>using namespace gte;// #define Vector4<double> Vector<4, double>int main(int argc, char c

包含平移和旋转变换：#include <iostream>#include <GTEngine/Mathematics/GteConvertCoordinates.h>using namespace gte;// #define Vector4<double> Vector<4, double>int main(int argc, cha...

https://www.geometrictools.com/GTEngine/Include/Mathematics/GteContScribeCircle3Sphere3.h

#include <iostream>#include <GTEngine/Mathematics/GteConvertCoordinates.h>using namespace gte;int main(int argc, char const *argv[]){// // Affine change of basis. ConvertCoordinates...