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;
}