MapPoint::MapPoint(Map * map, std::size_t index, const TMath::TVectord & position): MapResourceObject(map), m_index(index), m_position(position) { TMath_assert(position.size() == 3); }
void ARCameraCalibrator::setCameraParameters(const TMath::TVectord& parameters) { assert(parameters.size() == 5); for (int i = 0; i < 5; ++i) { if (std::isnan(parameters[i])) { qDebug() << "Camera parameters is nan!!!"; return; } } m_cameraCalibrator.camera()->setCameraParameters(parameters); emit cameraParametersChanged(); }
void MapPoint::transform(const TMath::TMatrixd & rotation, const TMath::TVectord & translation) { TMath_assert((rotation.rows() == 3) && (rotation.cols() == 3)); TMath_assert(translation.size() == 3); m_position = rotation * m_position + translation; }
void MapPoint::setPosition(const TMath::TVectord & position) { TMath_assert(position.size() == 3); m_position = position; }