本文整理汇总了C++中Pose::setPose方法的典型用法代码示例。如果您正苦于以下问题：C++ Pose::setPose方法的具体用法？C++ Pose::setPose怎么用？C++ Pose::setPose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::setPose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: main
int main(int argc, char** argv)
{
unsigned int ii;
CrangeScan2D *myLaserScanner;
CrangeImage *myDepthCamera;
Pose pose;
vector<float> myScan;
vector<double> myImage;
timeval t1,t2;
double dTscan = 0;
double dTimage = 0;
unsigned int nTrials = 100;
//glut initialization
glutInit(&argc, argv);
//set devices
//myLaserScanner = new CrangeScan2D(LEUZE_RS4);
myLaserScanner = new CrangeScan2D(HOKUYO_UTM30LX);
//myDepthCamera = new CrangeImage(SR4000);
myDepthCamera = new CrangeImage(KINECT);
//load 3D models
//myLaserScanner->loadHardModel("../models/campusNordUPC.obj");
myLaserScanner->loadHardModel(SPHERE);
//myDepthCamera->loadHardModel("../models/campusNordUPC.obj");
myDepthCamera->loadHardModel(SPHERE);
//main loop
for (int jj=0; jj<5; jj++)
{
dTscan = 0;
dTimage = 0;
for (ii = 0 ; ii<nTrials; ii++)
{
pose.setPose(1.0+ii*1e-2, 1.0-ii*1e-2, 1.0, 30*M_PI/180., 0.0, 0.0);//just to modify a little bit the view point
myScan.clear(); //clear vector results
myImage.clear(); //clear vector results
//laser scan
gettimeofday(&t1, NULL);
myLaserScanner->computeScan(pose,myScan);
gettimeofday(&t2, NULL);
dTscan += (double) ( (t2.tv_sec + t2.tv_usec/1e6) - (t1.tv_sec + t1.tv_usec/1e6) );
//depth image
gettimeofday(&t1, NULL);
myDepthCamera->depthImage(pose,myImage);
gettimeofday(&t2, NULL);
dTimage += (double) ( (t2.tv_sec + t2.tv_usec/1e6) - (t1.tv_sec + t1.tv_usec/1e6) );
}
cout << "dTscan = " << (dTscan/nTrials)*1000 << " ms" << endl;
cout << "dTimage = " << (dTimage/nTrials)*1000 << " ms" << endl;
cout << endl;
}
//delete objects
delete myLaserScanner;
delete myDepthCamera;
return 0;
}