C++ (Cpp) Pose::R示例

示例#1

文件： initincrementalpose.cpp 项目： ttnguyenUBP/T3DV_backup

void InitIncrementalPose::initPose(const Matrix33& R, const Vector31& T, Pose& pose) const {
	pose.sett(RealPoint3D<double>(T.GetX(), T.GetY(), T.GetZ()));

	Matrix<double>& pR = pose.R();
	pR[0][0] = R.Get00(); pR[1][0] = R.Get01(); pR[2][0] = R.Get02();
	pR[0][1] = R.Get10(); pR[1][1] = R.Get11(); pR[2][1] = R.Get12();
	pR[0][2] = R.Get20(); pR[1][2] = R.Get21(); pR[2][2] = R.Get22();

	pose.calcEulerAngles();

	pose.setorientationSynchronWithAngles(true);
	pose.setderivationsSynchronWithAngles(false);
}