#include <iostream>
static void help()
{
cout
<< "--------------------------------------------------------------------------" << endl
<< "This program shows how to visualize a cube rotated around (1,1,1) and shifted "
<< "using Rodrigues vector." << endl
<< "Usage:" << endl
<< "./widget_pose" << endl
<< endl;
}
int main()
{
help();
myWindow.showWidget("Line Widget", axis);
myWindow.showWidget("Cube Widget", cube_widget);
float translation_phase = 0.0, translation = 0.0;
rot_vec.
at<
float>(0, 0) += (
float)
CV_PI * 0.01f;
rot_vec.
at<
float>(0, 1) += (
float)
CV_PI * 0.01f;
rot_vec.
at<
float>(0, 2) += (
float)
CV_PI * 0.01f;
translation_phase += (float)
CV_PI * 0.01f;
translation =
sin(translation_phase);
cout << "rot_mat = " << rot_mat << endl;
Affine3f pose(rot_mat,
Vec3f(translation, translation, translation));
cout << "pose = " << pose.matrix << endl;
cout << "pose = " << pose2.matrix << endl;
while(!myWindow.wasStopped())
{
rot_vec.
at<
float>(0,0) += (
float)
CV_PI * 0.01f;
rot_vec.
at<
float>(0,1) += (
float)
CV_PI * 0.01f;
rot_vec.
at<
float>(0,2) += (
float)
CV_PI * 0.01f;
translation_phase += (float)
CV_PI * 0.01f;
translation =
sin(translation_phase);
Affine3f pose1(rot_mat1,
Vec3f(translation, translation, translation));
myWindow.setWidgetPose("Cube Widget", pose1);
myWindow.spinOnce(1, true);
}
return 0;
}
n-dimensional dense array class
Definition: mat.hpp:811
_Tp & at(int i0=0)
Returns a reference to the specified array element.
The Viz3d class represents a 3D visualizer window. This class is implicitly shared.
Definition: viz3d.hpp:68
Compound widgets.
Definition: widgets.hpp:514
This 3D Widget defines a cube.
Definition: widgets.hpp:373
Simple widgets.
Definition: widgets.hpp:236
void Rodrigues(InputArray src, OutputArray dst, OutputArray jacobian=noArray())
Converts a rotation matrix to a rotation vector or vice versa.
Point3_< float > Point3f
Definition: types.hpp:290
Vec< float, 3 > Vec3f
Definition: matx.hpp:436
#define CV_32F
Definition: interface.h:78
#define CV_PI
Definition: cvdef.h:366
Quat< T > sin(const Quat< T > &q)
"black box" representation of the file storage associated with a file on disk.
Definition: core.hpp:106
Here is the result of the program.