本文整理汇总了C++中Matrix34::topLeftCorner方法的典型用法代码示例。如果您正苦于以下问题：C++ Matrix34::topLeftCorner方法的具体用法？C++ Matrix34::topLeftCorner怎么用？C++ Matrix34::topLeftCorner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Matrix34的用法示例。
在下文中一共展示了Matrix34::topLeftCorner方法的1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: simpleCamera
SimpleCamera simpleCamera(const Matrix34& P) {
// P = [A|a] = s K cRw [I|-T], with s the unknown scale
Matrix3 A = P.topLeftCorner(3, 3);
Vector3 a = P.col(3);
// do RQ decomposition to get s*K and cRw angles
Matrix3 sK;
Vector3 xyz;
boost::tie(sK, xyz) = RQ(A);
// Recover scale factor s and K
double s = sK(2, 2);
Matrix3 K = sK / s;
// Recover cRw itself, and its inverse
Rot3 cRw = Rot3::RzRyRx(xyz);
Rot3 wRc = cRw.inverse();
// Now, recover T from a = - s K cRw T = - A T
Vector3 T = -(A.inverse() * a);
return SimpleCamera(Pose3(wRc, T),
Cal3_S2(K(0, 0), K(1, 1), K(0, 1), K(0, 2), K(1, 2)));
}