本文整理汇总了Java中org.opencv.calib3d.Calib3d.Rodrigues方法的典型用法代码示例。如果您正苦于以下问题：Java Calib3d.Rodrigues方法的具体用法？Java Calib3d.Rodrigues怎么用？Java Calib3d.Rodrigues使用的例子？那么, 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org.opencv.calib3d.Calib3d的用法示例。
在下文中一共展示了Calib3d.Rodrigues方法的12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Java代码示例。
示例1: rotateXAxis
import org.opencv.calib3d.Calib3d; //导入方法依赖的package包/类
protected static void rotateXAxis(Mat rotation){
// get the matrix corresponding to the rotation vector
Mat R = new Mat(3,3,CvType.CV_64FC1);
Calib3d.Rodrigues(rotation, R);
// create the matrix to rotate 90º around the X axis
// 1, 0, 0
// 0 cos -sin
// 0 sin cos
double[] rot = {
1, 0, 0,
0, 0, -1,
0, 1, 0
};
// multiply both matrix
Mat res = new Mat(3,3, CvType.CV_64FC1);
double[] prod = new double[9];
double[] a = new double[9];
R.get(0, 0, a);
for(int i=0;i<3;i++)
for(int j=0;j<3;j++){
prod[3*i+j] = 0;
for(int k=0;k<3;k++){
prod[3*i+j] += a[3*i+k]*rot[3*k+j];
}
}
// convert the matrix to a vector with rodrigues back
res.put(0, 0, prod);
Calib3d.Rodrigues(res, rotation);
}
示例2: alignToId
import org.opencv.calib3d.Calib3d; //导入方法依赖的package包/类
protected static void alignToId(Mat rotation, int codeRotation) {
//get the matrix corresponding to the rotation vector
Mat R = new Mat(3, 3, CvType.CV_64FC1);
Calib3d.Rodrigues(rotation, R);
if (codeRotation != 3) {
codeRotation += 1;
rotateZAxis(rotation, codeRotation * -90.0);
}
}
示例3: rotateZAxis
import org.opencv.calib3d.Calib3d; //导入方法依赖的package包/类
protected static void rotateZAxis(Mat rotation, double rotateDegrees) {
// get the matrix corresponding to the rotation vector
Mat R = new Mat(3,3,CvType.CV_64FC1);
Calib3d.Rodrigues(rotation, R);
// create the matrix to rotate around the Z axis
// cos -sin 0
// sin cos 0
// 0 0 1
double[] rot = {
Math.cos(Math.toRadians(rotateDegrees)), -Math.sin(Math.toRadians(rotateDegrees)), 0,
Math.sin(Math.toRadians(rotateDegrees)), Math.cos(Math.toRadians(rotateDegrees)), 0,
0,0,1
};
// multiply both matrix
Mat res = new Mat(3,3, CvType.CV_64FC1);
double[] prod = new double[9];
double[] a = new double[9];
R.get(0, 0, a);
for(int i=0;i<3;i++)
for(int j=0;j<3;j++){
prod[3*i+j] = 0;
for(int k=0;k<3;k++){
prod[3*i+j] += a[3*i+k]*rot[3*k+j];
}
}
// convert the matrix to a vector with rodrigues back
res.put(0, 0, prod);
Calib3d.Rodrigues(res, rotation);
}
示例4: rotateXAxis
import org.opencv.calib3d.Calib3d; //导入方法依赖的package包/类
/**
* Rotates a matrix around the X axis by the desired amount
* @param rotation The matrix to be rotated
* @param rotateDegrees The amount to rotate in degrees
*/
public static void rotateXAxis(Mat rotation, double rotateDegrees) {
// get the matrix corresponding to the rotation vector
Mat R = new Mat(3, 3, CvType.CV_64FC1);
Calib3d.Rodrigues(rotation, R);
// create the matrix to rotate around the X axis
// 1, 0, 0
// 0 cos -sin
// 0 sin cos
double[] rot = {
1, 0, 0,
0, Math.cos(Math.toRadians(rotateDegrees)), -Math.sin(Math.toRadians(rotateDegrees)),
0, Math.sin(Math.toRadians(rotateDegrees)), Math.cos(Math.toRadians(rotateDegrees))
};
// multiply both matrix
Mat res = new Mat(3, 3, CvType.CV_64FC1);
double[] prod = new double[9];
double[] a = new double[9];
R.get(0, 0, a);
for (int i = 0; i < 3; i++)
for (int j = 0; j < 3; j++) {
prod[3 * i + j] = 0;
for (int k = 0; k < 3; k++) {
prod[3 * i + j] += a[3 * i + k] * rot[3 * k + j];
}
}
// convert the matrix to a vector with rodrigues back
res.put(0, 0, prod);
Calib3d.Rodrigues(res, rotation);
}
示例5: rotateYAxis
import org.opencv.calib3d.Calib3d; //导入方法依赖的package包/类
/**
* Rotates a matrix around the Y axis by the desired amount
* @param rotation The matrix to be rotated
* @param rotateDegrees The amount to rotate in degrees
*/
public static void rotateYAxis(Mat rotation, double rotateDegrees) {
// get the matrix corresponding to the rotation vector
Mat R = new Mat(3,3,CvType.CV_64FC1);
Calib3d.Rodrigues(rotation, R);
// create the matrix to rotate around the Y axis
// cos 0 sin
// 0 1 0
//-sin 0 cos
double[] rot = {
Math.cos(Math.toRadians(rotateDegrees)), 0, Math.sin(Math.toRadians(rotateDegrees)),
0,1,0,
-Math.sin(Math.toRadians(rotateDegrees)), 0, Math.cos(Math.toRadians(rotateDegrees))
};
// multiply both matrix
Mat res = new Mat(3,3, CvType.CV_64FC1);
double[] prod = new double[9];
double[] a = new double[9];
R.get(0, 0, a);
for(int i=0;i<3;i++)
for(int j=0;j<3;j++){
prod[3*i+j] = 0;
for(int k=0;k<3;k++){
prod[3*i+j] += a[3*i+k]*rot[3*k+j];
}
}
// convert the matrix to a vector with rodrigues back
res.put(0, 0, prod);
Calib3d.Rodrigues(res, rotation);
}
示例6: rotateZAxis
import org.opencv.calib3d.Calib3d; //导入方法依赖的package包/类
/**
* Rotates a matrix around the Z axis by the desired amount
* @param rotation The matrix to be rotated
* @param rotateDegrees The amount to rotate in degrees
*/
public static void rotateZAxis(Mat rotation, double rotateDegrees) {
// get the matrix corresponding to the rotation vector
Mat R = new Mat(3,3,CvType.CV_64FC1);
Calib3d.Rodrigues(rotation, R);
// create the matrix to rotate around the Z axis
// cos -sin 0
// sin cos 0
// 0 0 1
double[] rot = {
Math.cos(Math.toRadians(rotateDegrees)), -Math.sin(Math.toRadians(rotateDegrees)), 0,
Math.sin(Math.toRadians(rotateDegrees)), Math.cos(Math.toRadians(rotateDegrees)), 0,
0,0,1
};
// multiply both matrix
Mat res = new Mat(3,3, CvType.CV_64FC1);
double[] prod = new double[9];
double[] a = new double[9];
R.get(0, 0, a);
for(int i=0;i<3;i++)
for(int j=0;j<3;j++){
prod[3*i+j] = 0;
for(int k=0;k<3;k++){
prod[3*i+j] += a[3*i+k]*rot[3*k+j];
}
}
// convert the matrix to a vector with rodrigues back
res.put(0, 0, prod);
Calib3d.Rodrigues(res, rotation);
}
示例7: alignToId
import org.opencv.calib3d.Calib3d; //导入方法依赖的package包/类
protected static void alignToId(Mat rotation, int codeRotation) {
//get the matrix corresponding to the rotation vector
Mat R = new Mat(3, 3, CvType.CV_64FC1);
Calib3d.Rodrigues(rotation, R);
codeRotation += 1;
rotateZAxis(rotation, codeRotation * 90);
}
示例8: rotateZAxis
import org.opencv.calib3d.Calib3d; //导入方法依赖的package包/类
/**
* Rotates around Z axis by given amount
* @param rotation Rvec to be changed
* @param rotateDegrees degrees to be rotated
*/
protected static void rotateZAxis(Mat rotation, double rotateDegrees) {
// get the matrix corresponding to the rotation vector
Mat R = new Mat(3,3,CvType.CV_64FC1);
Calib3d.Rodrigues(rotation, R);
// create the matrix to rotate around the Z axis
// cos -sin 0
// sin cos 0
// 0 0 1
double[] rot = {
Math.cos(Math.toRadians(rotateDegrees)), -Math.sin(Math.toRadians(rotateDegrees)), 0,
Math.sin(Math.toRadians(rotateDegrees)), Math.cos(Math.toRadians(rotateDegrees)), 0,
0,0,1
};
// multiply both matrix
Mat res = new Mat(3,3, CvType.CV_64FC1);
double[] prod = new double[9];
double[] a = new double[9];
R.get(0, 0, a);
for(int i=0;i<3;i++)
for(int j=0;j<3;j++){
prod[3*i+j] = 0;
for(int k=0;k<3;k++){
prod[3*i+j] += a[3*i+k]*rot[3*k+j];
}
}
// convert the matrix to a vector with rodrigues back
res.put(0, 0, prod);
Calib3d.Rodrigues(res, rotation);
}
示例9: rotateXAxis
import org.opencv.calib3d.Calib3d; //导入方法依赖的package包/类
protected static void rotateXAxis(Mat rotation){
// get the matrix corresponding to the rotation vector
Mat R = new Mat(3,3,CvType.CV_64FC1);
Calib3d.Rodrigues(rotation, R);
// create the matrix to rotate 90° around the X axis
// 1, 0, 0
// 0 cos -sin
// 0 sin cos
double[] rot = {
1, 0, 0,
0, 0, -1,
0, 1, 0
};
// multiply both matrix
Mat res = new Mat(3,3, CvType.CV_64FC1);
double[] prod = new double[9];
double[] a = new double[9];
R.get(0, 0, a);
for(int i=0;i<3;i++)
for(int j=0;j<3;j++){
prod[3*i+j] = 0;
for(int k=0;k<3;k++){
prod[3*i+j] += a[3*i+k]*rot[3*k+j];
}
}
// convert the matrix to a vector with rodrigues back
res.put(0, 0, prod);
Calib3d.Rodrigues(res, rotation);
}
示例10: glGetModelViewMatrix
import org.opencv.calib3d.Calib3d; //导入方法依赖的package包/类
public static void glGetModelViewMatrix(double[] modelview_matrix, Mat Rvec, Mat Tvec)throws ExtParamException{
//check if parameters are valid
boolean invalid=false;
double[] tvec = new double[3];
double[] rvec = new double[3];
Rvec.get(0, 0, rvec);
Tvec.get(0, 0, tvec);
for (int i=0;i<3 && !invalid ;i++){
if (tvec[i] != -999999) invalid|=false;
if (rvec[i] != -999999) invalid|=false;
}
if (invalid)
throw new ExtParamException("extrinsic parameters are not set Marker.getModelViewMatrix");
Mat Rot = new Mat(3,3,CvType.CV_32FC1);
Mat Jacob = new Mat();
Calib3d.Rodrigues(Rvec, Rot, Jacob);// TODO jacob no se vuelve a usar
double[][] para = new double[3][4];
double[] rotvec = new double[9];
Rot.get(0,0,rotvec);
for (int i=0;i<3;i++)
for (int j=0;j<3;j++)
para[i][j]=rotvec[3*i+j];
//now, add the translation
para[0][3]=tvec[0];
para[1][3]=tvec[1];
para[2][3]=tvec[2];
double scale=1;
// R1C2
modelview_matrix[0 + 0*4] = para[0][0];
modelview_matrix[0 + 1*4] = para[0][1];
modelview_matrix[0 + 2*4] = para[0][2];
modelview_matrix[0 + 3*4] = para[0][3];
// R2
modelview_matrix[1 + 0*4] = para[1][0];
modelview_matrix[1 + 1*4] = para[1][1];
modelview_matrix[1 + 2*4] = para[1][2];
modelview_matrix[1 + 3*4] = para[1][3];
// R3
modelview_matrix[2 + 0*4] = -para[2][0];
modelview_matrix[2 + 1*4] = -para[2][1];
modelview_matrix[2 + 2*4] = -para[2][2];
modelview_matrix[2 + 3*4] = -para[2][3];
modelview_matrix[3 + 0*4] = 0.0f;
modelview_matrix[3 + 1*4] = 0.0f;
modelview_matrix[3 + 2*4] = 0.0f;
modelview_matrix[3 + 3*4] = 1.0f;
if (scale != 0.0)
{
modelview_matrix[12] *= scale;
modelview_matrix[13] *= scale;
modelview_matrix[14] *= scale;
}
// rotate 90º around the x axis
// rotating around x axis in OpenGL is equivalent to
// multiply the model matrix by the matrix:
// 1, 0, 0, 0, 0, cos(a), sin(a), 0, 0, -sin(a), cos(a), 0, 0, 0, 0, 1
// double[] auxRotMat = new double[]{
// 1, 0, 0, 0,
// 0, 0, 1, 0,
// 0, -1, 0, 0,
// 0, 0, 0, 1
// };
// Utils.matrixProduct(modelview_matrix1, auxRotMat, modelview_matrix);
}
示例11: calculateCubeTvec
import org.opencv.calib3d.Calib3d; //导入方法依赖的package包/类
/**
* Calculates the CubeTvec based on the input detected markers
* @param detectedMarkers input vector of the detected markers
* @param paddingSize the size of the whitespace around the markers
* @return the Tvec of the cube
*/
private static Mat calculateCubeTvec(Vector<Marker> detectedMarkers, float paddingSize) {
//The center will be 1/2 markerSize + padding below each marker (-Z)
Mat centerPoint = new Mat(3,1,CvType.CV_64FC1);
centerPoint.put(0, 0, 0);
centerPoint.put(1, 0, 0);
centerPoint.put(2, 0, ((detectedMarkers.get(0).getSize() / 2) + paddingSize));
//Setup Matrices and Variables
Mat result = new Mat();
double x = 0;
double y = 0;
double z = 0;
for (int i = 0; i < detectedMarkers.size(); i++) {
//Get Marker Rotation Matrix
Mat rMat = new Mat(3, 3, CvType.CV_64FC1);
Calib3d.Rodrigues(detectedMarkers.get(i).getRvec(), rMat);
//Get Marker Translation Vector
Mat markerTvec = new Mat();
detectedMarkers.get(i).getTvec().convertTo(markerTvec, CvType.CV_64FC1);
//Transform CenterPoint to Cube Coordinates using Matrix Multiplication
Core.gemm(rMat, centerPoint, 1, markerTvec, 1, result, 0);
//Add Coordinate Values to Total
x += result.get(0, 0)[0];
y += result.get(1, 0)[0];
z += result.get(2, 0)[0];
}
//Average Coordinate Values
x /= detectedMarkers.size();
y /= detectedMarkers.size();
z /= detectedMarkers.size();
//Create, Populate, and Return cubeTvec
Mat cubeTvec = new Mat(3,1,CvType.CV_64FC1);
cubeTvec.put(0,0,x);
cubeTvec.put(1,0,y);
cubeTvec.put(2,0,z);
return cubeTvec;
}
示例12: glGetModelViewMatrix
import org.opencv.calib3d.Calib3d; //导入方法依赖的package包/类
protected static void glGetModelViewMatrix(double[] modelview_matrix, Mat Rvec, Mat Tvec)throws ExtParamException{
//check if parameters are valid
boolean invalid=false;
double[] tvec = new double[3];
double[] rvec = new double[3];
Rvec.get(0, 0, rvec);
Tvec.get(0, 0, tvec);
for (int i=0;i<3 && !invalid ;i++){
if (tvec[i] != -999999) invalid|=false;
if (rvec[i] != -999999) invalid|=false;
}
if (invalid)
throw new ExtParamException("extrinsic parameters are not set Marker.getModelViewMatrix");
Mat Rot = new Mat(3,3,CvType.CV_32FC1);
Mat Jacob = new Mat();
Calib3d.Rodrigues(Rvec, Rot, Jacob);// TODO jacob no se vuelve a usar
double[][] para = new double[3][4];
double[] rotvec = new double[9];
Rot.get(0,0,rotvec);
for (int i=0;i<3;i++)
for (int j=0;j<3;j++)
para[i][j]=rotvec[3*i+j];
//now, add the translation
para[0][3]=tvec[0];
para[1][3]=tvec[1];
para[2][3]=tvec[2];
double scale=1;
// R1C2
modelview_matrix[0 + 0*4] = para[0][0];
modelview_matrix[0 + 1*4] = para[0][1];
modelview_matrix[0 + 2*4] = para[0][2];
modelview_matrix[0 + 3*4] = para[0][3];
// R2
modelview_matrix[1 + 0*4] = para[1][0];
modelview_matrix[1 + 1*4] = para[1][1];
modelview_matrix[1 + 2*4] = para[1][2];
modelview_matrix[1 + 3*4] = para[1][3];
// R3
modelview_matrix[2 + 0*4] = -para[2][0];
modelview_matrix[2 + 1*4] = -para[2][1];
modelview_matrix[2 + 2*4] = -para[2][2];
modelview_matrix[2 + 3*4] = -para[2][3];
modelview_matrix[3 + 0*4] = 0.0f;
modelview_matrix[3 + 1*4] = 0.0f;
modelview_matrix[3 + 2*4] = 0.0f;
modelview_matrix[3 + 3*4] = 1.0f;
if (scale != 0.0)
{
modelview_matrix[12] *= scale;
modelview_matrix[13] *= scale;
modelview_matrix[14] *= scale;
}
// rotate 90º around the x axis
// rotating around x axis in OpenGL is equivalent to
// multiply the model matrix by the matrix:
// 1, 0, 0, 0, 0, cos(a), sin(a), 0, 0, -sin(a), cos(a), 0, 0, 0, 0, 1
// double[] auxRotMat = new double[]{
// 1, 0, 0, 0,
// 0, 0, 1, 0,
// 0, -1, 0, 0,
// 0, 0, 0, 1
// };
// Utils.matrixProduct(modelview_matrix1, auxRotMat, modelview_matrix);
}