本文整理汇总了C++中vpPoint::setWorldCoordinates方法的典型用法代码示例。如果您正苦于以下问题：C++ vpPoint::setWorldCoordinates方法的具体用法？C++ vpPoint::setWorldCoordinates怎么用？C++ vpPoint::setWorldCoordinates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vpPoint的用法示例。
在下文中一共展示了vpPoint::setWorldCoordinates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: H
/*!
\brief Carries out the camera pose the image of a rectangle and
the intrinsec parameters, the length on x axis is known but the
proprtion of the rectangle are unknown.
This method is taken from "Markerless Tracking using Planar Structures
in the Scene" by Gilles Simon. The idea is to compute the homography H
giving the image point of the rectangle by associating them with the
coordinates (0,0)(1,0)(1,1/s)(0,1/s) (the rectangle is on the Z=0 plane).
If K is the intrinsec parameters matrix, we have s = ||Kh1||/ ||Kh2||. s
gives us the proportion of the rectangle
\param p1,p2,p3,p4: the image of the corners of the rectangle
(respectively the image of (0,0),(lx,0),(lx,lx/s) and (0,lx/s)) (input)
\param cam: the camera used (input)
\param lx: the rectangle size on the x axis (input)
\param cMo: the camera pose (output)
\return int : OK if no pb occurs
*/
double
vpPose::poseFromRectangle(vpPoint &p1,vpPoint &p2,
vpPoint &p3,vpPoint &p4,
double lx, vpCameraParameters & cam,
vpHomogeneousMatrix & cMo)
{
double rectx[4] ;
double recty[4] ;
rectx[0]= 0 ;
recty[0]=0 ;
rectx[1]=1 ;
recty[1]=0 ;
rectx[2]=1 ;
recty[2]=1 ;
rectx[3]=0 ;
recty[3]=1 ;
double irectx[4] ;
double irecty[4] ;
irectx[0]=(p1.get_x()) ;
irecty[0]=(p1.get_y()) ;
irectx[1]=(p2.get_x()) ;
irecty[1]=(p2.get_y()) ;
irectx[2]=(p3.get_x()) ;
irecty[2]=(p3.get_y()) ;
irectx[3]=(p4.get_x()) ;
irecty[3]=(p4.get_y()) ;
//calcul de l'homographie
vpMatrix H(3,3);
vpHomography hom;
// vpHomography::HartleyDLT(4,rectx,recty,irectx,irecty,hom);
vpHomography::HLM(4,rectx,recty,irectx,irecty,1,hom);
for (unsigned int i=0 ; i < 3 ; i++)
for(unsigned int j=0 ; j < 3 ; j++)
H[i][j] = hom[i][j] ;
//calcul de s = ||Kh1||/ ||Kh2|| =ratio (length on x axis/ length on y axis)
vpColVector kh1(3);
vpColVector kh2(3);
vpMatrix K(3,3);
K = cam.get_K();
K.setIdentity();
vpMatrix Kinv =K.pseudoInverse();
vpMatrix KinvH =Kinv*H;
kh1=KinvH.column(1);
kh2=KinvH.column(2);
double s= sqrt(kh1.sumSquare())/sqrt(kh2.sumSquare());
vpMatrix D(3,3);
D.setIdentity();
D[1][1]=1/s;
vpMatrix cHo=H*D;
//Calcul de la rotation et de la translation
// PoseFromRectangle(p1,p2,p3,p4,1/s,lx,cam,cMo );
p1.setWorldCoordinates(0,0,0) ;
p2.setWorldCoordinates(lx,0,0) ;
p3.setWorldCoordinates(lx,lx/s,0) ;
p4.setWorldCoordinates(0,lx/s,0) ;
vpPose P ;
P.addPoint(p1) ;
P.addPoint(p2) ;
P.addPoint(p3) ;
P.addPoint(p4) ;
P.computePose(vpPose::DEMENTHON_LOWE,cMo) ;
return lx/s ;
}