本文整理汇总了C++中Pose::GetMatrixGL方法的典型用法代码示例。如果您正苦于以下问题：C++ Pose::GetMatrixGL方法的具体用法？C++ Pose::GetMatrixGL怎么用？C++ Pose::GetMatrixGL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Pose的用法示例。
在下文中一共展示了Pose::GetMatrixGL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: videocallback
void videocallback(IplImage *image)
{
static IplImage *rgba;
bool flip_image = (image->origin?true:false);
if (flip_image) {
cvFlip(image);
image->origin = !image->origin;
}
if (init) {
init = false;
cout<<"Loading calibration: "<<calibrationFilename.str();
if (cam.SetCalib(calibrationFilename.str().c_str(), image->width, image->height)) {
cout<<" [Ok]"<<endl;
} else {
cam.SetRes(image->width, image->height);
cout<<" [Fail]"<<endl;
}
double p[16];
cam.GetOpenglProjectionMatrix(p,image->width,image->height);
GlutViewer::SetGlProjectionMatrix(p);
for (int i=0; i<32; i++) {
d[i].SetScale(marker_size);
}
rgba = CvTestbed::Instance().CreateImageWithProto("RGBA", image, 0, 4);
}
static MarkerDetector<MarkerData> marker_detector;
marker_detector.SetMarkerSize(marker_size); // for marker ids larger than 255, set the content resolution accordingly
//static MarkerDetector<MarkerArtoolkit> marker_detector;
//marker_detector.SetMarkerSize(2.8, 3, 1.5);
// Here we try to use RGBA just to make sure that also it works...
//cvCvtColor(image, rgba, CV_RGB2RGBA);
marker_detector.Detect(image, &cam, true, true);
GlutViewer::DrawableClear();
for (size_t i=0; i<marker_detector.markers->size(); i++) {
if (i >= 32) break;
Pose p = (*(marker_detector.markers))[i].pose;
p.GetMatrixGL(d[i].gl_mat);
int id = (*(marker_detector.markers))[i].GetId();
double r = 1.0 - double(id+1)/32.0;
double g = 1.0 - double(id*3%32+1)/32.0;
double b = 1.0 - double(id*7%32+1)/32.0;
d[i].SetColor(r, g, b);
GlutViewer::DrawableAdd(&(d[i]));
}
if (flip_image) {
cvFlip(image);
image->origin = !image->origin;
}
}示例2: videocallback
void videocallback(IplImage *image)
{
bool flip_image = (image->origin?true:false);
if (flip_image) {
cvFlip(image);
image->origin = !image->origin;
}
if (init) {
init = false;
cout << "Loading calibration: " << calibrationFilename.str();
if (fernEstimator.setCalibration(calibrationFilename.str(), image->width, image->height)) {
cout << " [Ok]" << endl;
} else {
fernEstimator.setResolution(image->width, image->height);
cout << " [Fail]" << endl;
}
double p[16];
fernEstimator.camera().GetOpenglProjectionMatrix(p, image->width, image->height);
GlutViewer::SetGlProjectionMatrix(p);
d.SetScale(10);
gray = cv::Mat(image);
}
if (image->nChannels == 3) {
cv::Mat img = cvarrToMat(image);
cv::cvtColor(img, gray, CV_RGB2GRAY);
}
else {
gray = image;
}
vector<CvPoint2D64f> ipts;
vector<CvPoint3D64f> mpts;
fernDetector.findFeatures(gray, true);
fernDetector.imagePoints(ipts);
fernDetector.modelPoints(mpts, true);
double test = fernDetector.inlierRatio();
if (test > 0.15 && mpts.size() > 4) {
fernEstimator.calculateFromPointCorrespondences(mpts, ipts);
}
GlutViewer::DrawableClear();
Pose pose = fernEstimator.pose();
pose.GetMatrixGL(d.gl_mat);
GlutViewer::DrawableAdd(&d);
if (flip_image) {
cvFlip(image);
image->origin = !image->origin;
}
}