本文整理汇总了C++中vpHomogeneousMatrix::buildFrom方法的典型用法代码示例。如果您正苦于以下问题：C++ vpHomogeneousMatrix::buildFrom方法的具体用法？C++ vpHomogeneousMatrix::buildFrom怎么用？C++ vpHomogeneousMatrix::buildFrom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vpHomogeneousMatrix的用法示例。
在下文中一共展示了vpHomogeneousMatrix::buildFrom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: readConfigVar_PoseRxyz
void readConfigVar_PoseRxyz(const string &s, vpHomogeneousMatrix &M)
{
vpColVector v(6);
vpIoTools::readConfigVar(s, v);
vpTranslationVector t(v[0], v[1], v[2]);
vpRxyzVector r(v[3], v[4], v[5]);
vpRotationMatrix R(r);
M.buildFrom(t, R);
}示例2: compute_pose
/*!
Compute the pose \e cMo from the 3D coordinates of the points \e point and
their corresponding 2D coordinates \e dot. The pose is computed using a Lowe
non linear method.
\param point : 3D coordinates of the points.
\param dot : 2D coordinates of the points.
\param ndot : Number of points or dots used for the pose estimation.
\param cam : Intrinsic camera parameters.
\param cMo : Homogeneous matrix in output describing the transformation
between the camera and object frame.
\param cto : Translation in ouput extracted from \e cMo.
\param cro : Rotation in ouput extracted from \e cMo.
\param init : Indicates if the we have to estimate an initial pose with
Lagrange or Dementhon methods.
*/
void compute_pose(vpPoint point[], vpDot2 dot[], int ndot,
vpCameraParameters cam,
vpHomogeneousMatrix &cMo,
vpTranslationVector &cto,
vpRxyzVector &cro, bool init)
{
vpHomogeneousMatrix cMo_dementhon; // computed pose with dementhon
vpHomogeneousMatrix cMo_lagrange; // computed pose with dementhon
vpRotationMatrix cRo;
vpPose pose;
vpImagePoint cog;
for (int i=0; i < ndot; i ++) {
double x=0, y=0;
cog = dot[i].getCog();
vpPixelMeterConversion::convertPoint(cam,
cog,
x, y) ; //pixel to meter conversion
point[i].set_x(x) ;//projection perspective p
point[i].set_y(y) ;
pose.addPoint(point[i]) ;
}
if (init == true) {
pose.computePose(vpPose::DEMENTHON, cMo_dementhon) ;
// Compute and return the residual expressed in meter for the pose matrix
// 'cMo'
double residual_dementhon = pose.computeResidual(cMo_dementhon);
pose.computePose(vpPose::LAGRANGE, cMo_lagrange) ;
double residual_lagrange = pose.computeResidual(cMo_lagrange);
// Select the best pose to initialize the lowe pose computation
if (residual_lagrange < residual_dementhon)
cMo = cMo_lagrange;
else
cMo = cMo_dementhon;
}
else { // init = false; use of the previous pose to initialise LOWE
cRo.buildFrom(cro);
cMo.buildFrom(cto, cRo);
}
pose.computePose(vpPose::LOWE, cMo) ;
cMo.extract(cto);
cMo.extract(cRo);
cro.buildFrom(cRo);
}