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C++ VO_Shape::GetHeight方法代码示例

本文整理汇总了C++中VO_Shape::GetHeight方法的典型用法代码示例。如果您正苦于以下问题:C++ VO_Shape::GetHeight方法的具体用法?C++ VO_Shape::GetHeight怎么用?C++ VO_Shape::GetHeight使用的例子?那么恭喜您, 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VO_Shape的用法示例。


在下文中一共展示了VO_Shape::GetHeight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: assert

// Estimate face absolute orientations
vector<float> CRecognitionAlgs::CalcAbsoluteOrientations(
    const VO_Shape& iShape2D,
    const VO_Shape& iShape3D,
    VO_Shape& oShape2D)
{
    assert (iShape2D.GetNbOfPoints() == iShape3D.GetNbOfPoints() );
    unsigned int NbOfPoints = iShape3D.GetNbOfPoints();
    Point3f pt3d;
    Point2f pt2d;
    float height1 = iShape2D.GetHeight();
    float height2 = iShape3D.GetHeight();
    VO_Shape tempShape2D = iShape2D;
    tempShape2D.Scale(height2/height1);

    //Create the model points
    std::vector<CvPoint3D32f> modelPoints;
    for(unsigned int i = 0; i < NbOfPoints; ++i)
    {
        pt3d = iShape3D.GetA3DPoint(i);
        modelPoints.push_back(cvPoint3D32f(pt3d.x, pt3d.y, pt3d.z));
    }

    //Create the image points
    std::vector<CvPoint2D32f> srcImagePoints;
    for(unsigned int i = 0; i < NbOfPoints; ++i)
    {
        pt2d = tempShape2D.GetA2DPoint(i);
        srcImagePoints.push_back(cvPoint2D32f(pt2d.x, pt2d.y));
    }

    //Create the POSIT object with the model points
    CvPOSITObject *positObject = cvCreatePOSITObject( &modelPoints[0], NbOfPoints );

    //Estimate the pose
    CvMatr32f rotation_matrix = new float[9];
    CvVect32f translation_vector = new float[3];
    CvTermCriteria criteria = cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 100, 1.0e-4f);
    cvPOSIT( positObject, &srcImagePoints[0], FOCAL_LENGTH, criteria, rotation_matrix, translation_vector );

    //rotation_matrix to Euler angles, refer to VO_Shape::GetRotation
    float sin_beta  = -rotation_matrix[0 * 3 + 2];
    float tan_alpha = rotation_matrix[1 * 3 + 2] / rotation_matrix[2 * 3 + 2];
    float tan_gamma = rotation_matrix[0 * 3 + 1] / rotation_matrix[0 * 3 + 0];

    //Project the model points with the estimated pose
    oShape2D = tempShape2D;
    for ( unsigned int i=0; i < NbOfPoints; ++i )
    {
        pt3d.x = rotation_matrix[0] * modelPoints[i].x +
            rotation_matrix[1] * modelPoints[i].y +
            rotation_matrix[2] * modelPoints[i].z +
            translation_vector[0];
        pt3d.y = rotation_matrix[3] * modelPoints[i].x +
            rotation_matrix[4] * modelPoints[i].y +
            rotation_matrix[5] * modelPoints[i].z +
            translation_vector[1];
        pt3d.z = rotation_matrix[6] * modelPoints[i].x +
            rotation_matrix[7] * modelPoints[i].y +
            rotation_matrix[8] * modelPoints[i].z +
            translation_vector[2];
        if ( pt3d.z != 0 )
        {
            pt2d.x = FOCAL_LENGTH * pt3d.x / pt3d.z;
            pt2d.y = FOCAL_LENGTH * pt3d.y / pt3d.z;
        }
        oShape2D.SetA2DPoint(pt2d, i);
    }

    //return Euler angles
    vector<float> pos(3);
    pos[0] = atan(tan_alpha);    // yaw
    pos[1] = asin(sin_beta);     // pitch
    pos[2] = atan(tan_gamma);    // roll
    return pos;
}
开发者ID:HVisionSensing,项目名称:mc-vosm,代码行数:76,代码来源:VO_RecognitionAlgs.cpp


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