本文整理汇总了C++中LTimer::getSeconds方法的典型用法代码示例。如果您正苦于以下问题：C++ LTimer::getSeconds方法的具体用法？C++ LTimer::getSeconds怎么用？C++ LTimer::getSeconds使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类LTimer的用法示例。
在下文中一共展示了LTimer::getSeconds方法的2个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: icp_outlierRemoval
Mat icp_outlierRemoval(Pixel3DSet & src, Pixel3DSet & _dst, Pixel3DSet & out,
double & error_out, double & time, int & iterations,
double outlierRemovalTimesMean, double minError,
int maxIterations)
{
time = 0.0;
LTimer clock; clock.start();
out.clear();
Mat ret = Mat::eye(Size(4,4), CV_32FC1);
vector<double> dl;
vector<int> ind;
out = src;
Pixel3DSet dst = _dst;
iterations = 0;
double best_distance = DBL_MAX;
error_out = best_distance;
Mat T = ret.clone();
while(true)
{
dl.clear(); ind.clear();
double current_distance = Licp::closestPointsf(out, dst, ind, dl);
if(current_distance >= best_distance) break; //cannot do any better
ret = T * ret;
error_out = current_distance;
if(minError > 0.0 && current_distance < minError) break;
if(maxIterations >= 0 && iterations >= maxIterations) break;
best_distance = current_distance;
if(best_distance <= 0.0) break;
//outlier removal
//cout << current_distance << " is current, or is: " << outlierRemovalTimesMean << endl;
vector<R3> srcTest, dstTest;
vector<int> indTest;
for(int i = 0; i < dl.size(); i++)
{
double test = dl[i] / best_distance;
//cout << dl[i] << " : " << best_distance << " : " << test << " <= " << outlierRemovalTimesMean << endl;
if(dl[i]/best_distance < outlierRemovalTimesMean)
{
srcTest.push_back(out[i]);
dstTest.push_back(dst[ind[i]]);
indTest.push_back(i);
}
}
//cout << "i/o(" << out.size() << "/" << srcTest.size() << ")\n";
T = Licp::leastSquaresTransform(srcTest, dstTest, indTest);
for(int i = 0; i < out.size(); i++) ll_pix3d::Pixel3DSet::transform_point(T, out[i]);
iterations++;
}
clock.stop();
time = clock.getSeconds();
return ret.clone();
}示例2: icp
Mat icp(Pixel3DSet & src, Pixel3DSet & dst, Pixel3DSet & out,
double & error_out, double & time, int & iterations,
double minError, int maxIterations)
{
time = 0.0;
LTimer clock; clock.start();
out.clear();
Mat ret = Mat::eye(Size(4,4), CV_32FC1);
vector<double> dl;
vector<int> ind;
out = src;
iterations = 0;
double best_distance = DBL_MAX;
error_out = best_distance;
Mat T = ret.clone();
while(true)
{
dl.clear(); ind.clear();
double current_distance = closestPointsf(out, dst, ind, dl);
if(current_distance >= best_distance) break; //cannot do any better
ret = T * ret;
error_out = current_distance;
if(minError > 0.0 && current_distance < minError) break;
if(maxIterations >= 0 && iterations >= maxIterations) break;
best_distance = current_distance;
T = leastSquaresTransform(out.points, dst.points, ind);
for(int i = 0; i < out.size(); i++) ll_pix3d::Pixel3DSet::transform_point(T, out[i]);
iterations++;
}
clock.stop();
time = clock.getSeconds();
return ret.clone();
}