本文整理汇总了C++中eigen::Isometry3d::pretranslate方法的典型用法代码示例。如果您正苦于以下问题：C++ Isometry3d::pretranslate方法的具体用法？C++ Isometry3d::pretranslate怎么用？C++ Isometry3d::pretranslate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eigen::Isometry3d的用法示例。
在下文中一共展示了Isometry3d::pretranslate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: cameraMatrix
Eigen::Isometry3d transformEstimation(const Mat& rgb1,const Mat& rgb2,const Mat& depth1,const Mat& depth2,const CAMERA_INTRINSIC_PARAMETERS& C)
{
vector<KeyPoint> keyPts1,keyPts2;
Mat descriptors1,descriptors2;
extractKeypointsAndDescripotrs(rgb1,rgb2,keyPts1,keyPts2,descriptors1,descriptors2);
vector<DMatch> matches;
descriptorsMatch(rgb1,rgb2,keyPts1,keyPts2,descriptors1,descriptors2,matches);
vector<Point2f> points;
vector<Point3f> objectPoints;
vector<Eigen::Vector2d> imagePoints1,imagePoints2;
getObjectPointsAndImagePoints(depth1,depth2,keyPts1,keyPts2,matches,points,objectPoints,imagePoints1,imagePoints2,C);
Mat translation,rotation;
double camera_matrix_data[3][3] = {
{C.fx, 0, C.cx},
{0, C.fy, C.cy},
{0, 0, 1} };
Mat cameraMatrix(3,3,CV_64F,camera_matrix_data);
solvePnPRansac(objectPoints,points,cameraMatrix,Mat(),rotation,translation,false, 100, 1.0, 20);
Mat rot;
Rodrigues(rotation,rot);
Eigen::Matrix3d r;
Eigen::Vector3d t;
cout<<rot<<endl;
cout<<translation<<endl;
r<< ((double*)rot.data)[0],((double*)rot.data)[1],((double*)rot.data)[2],
((double*)rot.data)[3],((double*)rot.data)[4],((double*)rot.data)[5],
((double*)rot.data)[6],((double*)rot.data)[7],((double*)rot.data)[8];
t<<((double*)translation.data)[0],((double*)translation.data)[1],((double*)translation.data)[2];
Eigen::Isometry3d T = Eigen::Isometry3d::Identity();
T.rotate(r);
T.pretranslate(t);
cout<<T.matrix()<<endl;
BundleAdjustmentOptimization(objectPoints,imagePoints1,imagePoints2);
return T;
}