本文整理汇总了C++中WorldModel::point_colors方法的典型用法代码示例。如果您正苦于以下问题：C++ WorldModel::point_colors方法的具体用法？C++ WorldModel::point_colors怎么用？C++ WorldModel::point_colors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类WorldModel的用法示例。
在下文中一共展示了WorldModel::point_colors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: render
void Viewer::render(const WorldModel& wm)
{
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
if (!cam_initialized_)
{
if (!wm.points().empty() || !wm.vertices().empty())
{
geo::Vec3 p_total(0, 0, 0);
for(unsigned int i = 0; i < wm.points().size(); ++i)
p_total += wm.points()[i];
for(unsigned int i = 0; i < wm.vertices().size(); ++i)
p_total += wm.vertices()[i];
cam_control_.cam_lookat = p_total / (wm.points().size() + wm.vertices().size());
cam_initialized_ = true;
}
else
{
cam_control_.cam_lookat = geo::Vec3(0, 0, 0);
}
cam_control_.cam_dist = 5;
cam_control_.cam_pitch = 0.7;
cam_control_.cam_yaw = 3.1415;
}
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Calculate camera pose
cam_control_.cam_pose.t = geo::Vector3(cos(cam_control_.cam_yaw), sin(cam_control_.cam_yaw), 0)
* cos(cam_control_.cam_pitch) * cam_control_.cam_dist;
cam_control_.cam_pose.t.z = sin(cam_control_.cam_pitch) * cam_control_.cam_dist;
cam_control_.cam_pose.t += cam_control_.cam_lookat;
geo::Vec3 rz = -(cam_control_.cam_lookat - cam_control_.cam_pose.t).normalized();
geo::Vec3 rx = geo::Vector3(0, 0, 1).cross(rz).normalized();
geo::Vec3 ry = rz.cross(rx).normalized();
cam_control_.cam_pose.R = geo::Mat3(rx.x, ry.x, rz.x,
rx.y, ry.y, rz.y,
rx.z, ry.z, rz.z);
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
canvas_.setTo(cv::Vec3b(20, 20, 20));
cv::Mat depth_image(canvas_.rows, canvas_.cols, CV_32FC1, 0.0);
LightingRenderer res(depth_image, canvas_, cam_control_.cam_pose);
mwm::render::renderDepth(wm, P_, cam_control_.cam_pose, res);
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
geo::Pose3D sensor_pose_inv = cam_control_.cam_pose.inverse();
for(unsigned int i = 0; i < wm.points().size(); ++i)
{
const geo::Vec3& p = wm.points()[i];
const cv::Vec3b& color = wm.point_colors()[i];
geo::Vec3 p_sensor = sensor_pose_inv * p;
geo::Vec2i p_2d = P_.project3Dto2D(p_sensor);
double z = -p_sensor.z;
// if (z < 0)
// continue;
if (p_2d.x < 0 || p_2d.y < 0 || p_2d.x >= canvas_.cols || p_2d.y >= canvas_.rows)
continue;
float& d = depth_image.at<float>(p_2d.y, p_2d.x);
if (d == 0 || z < d)
{
d = z;
canvas_.at<cv::Vec3b>(p_2d.y, p_2d.x) = color;
// cv::circle(canvas_, cv::Point(p_2d.x, p_2d.y), 3, cv::Scalar(color[0], color[1], color[2]), CV_FILLED);
}
}
// unsigned int size = canvas_.rows * canvas_.cols;
// for(unsigned int i = 0; i < size; ++i)
// {
// float d = depth_image.at<float>(i);
// if (d == 0)
// canvas_.at<cv::Vec3b>(i) = cv::Vec3b(20, 20, 20);
// else
// canvas_.at<cv::Vec3b>(i) = (d / 10) * cv::Vec3b(255, 255, 255);
// }
}