C++ (Cpp) buildTransformation Examples

Example #1

File: IOUtils.cpp Project: lasvegasrc/Las-Vegas-Reconstruction

Eigen::Matrix4d getTransformationFromPose(boost::filesystem::path& pose)
{
    std::ifstream poseIn(pose.c_str());
    if(poseIn.good())
    {
        double rPosTheta[3];
        double rPos[3];
        double alignxf[16];

        poseIn >> rPos[0] >> rPos[1] >> rPos[2];
        poseIn >> rPosTheta[0] >> rPosTheta[1] >> rPosTheta[2];

        rPosTheta[0] *= 0.0174533;
        rPosTheta[1] *= 0.0174533;
        rPosTheta[2] *= 0.0174533;

        double sx = sin(rPosTheta[0]);
        double cx = cos(rPosTheta[0]);
        double sy = sin(rPosTheta[1]);
        double cy = cos(rPosTheta[1]);
        double sz = sin(rPosTheta[2]);
        double cz = cos(rPosTheta[2]);

        alignxf[0]  = cy*cz;
        alignxf[1]  = sx*sy*cz + cx*sz;
        alignxf[2]  = -cx*sy*cz + sx*sz;
        alignxf[3]  = 0.0;
        alignxf[4]  = -cy*sz;
        alignxf[5]  = -sx*sy*sz + cx*cz;
        alignxf[6]  = cx*sy*sz + sx*cz;
        alignxf[7]  = 0.0;
        alignxf[8]  = sy;
        alignxf[9]  = -sx*cy;
        alignxf[10] = cx*cy;

        alignxf[11] = 0.0;

        alignxf[12] = rPos[0];
        alignxf[13] = rPos[1];
        alignxf[14] = rPos[2];
        alignxf[15] = 1;

        return buildTransformation(alignxf);
    }

Example #2

File: AffineFromProjRectificator.cpp Project: dsilvavinicius/computer_vision

	AffineFromProjRectificator::AffineFromProjRectificator(vector<pair<VectorXd, VectorXd>> parallelPairs)
	{
		buildTransformation(parallelPairs);
	}