#include <iostream>
using namespace std;
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();
viz::Viz3d myWindow("Coordinate Frame");
myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
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);
Mat rot_mat;
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);
Mat rot_mat1;
Affine3f pose1(rot_mat1,
Vec3f(translation, translation, translation));
myWindow.setWidgetPose("Cube Widget", pose1);
myWindow.spinOnce(1, true);
}
return 0;
}
static MatExpr zeros(int rows, int cols, int type)
Returns a zero array of the specified size and type.
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:271
Vec< float, 3 > Vec3f
Definition: matx.hpp:428
#define CV_32F
Definition: interface.h:78
#define CV_PI
Definition: cvdef.h:360
Quat< T > sin(const Quat< T > &q)
Affine3< float > Affine3f
Definition: affine.hpp:290
"black box" representation of the file storage associated with a file on disk.
Definition: affine.hpp:52
Here is the result of the program.