PoseCv.cc
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00001 
00008 #include <blort/Recognizer3D/PoseCv.hh>
00009 
00010 
00011 namespace P 
00012 {
00013 
00014 
00015 
00016 /***************************** PoseCv ******************************
00017  * Constructor/Destructor
00018  */
00019 PoseCv::PoseCv()
00020 {
00021   R = cvCreateMat( 3, 3, CV_32F );
00022   t = cvCreateMat( 3, 1, CV_32F );
00023   n = cvCreateMat( 3, 1, CV_32F );
00024 }
00025 
00026 //BENCE
00027 PoseCv::PoseCv(cv::Mat translation, cv::Mat rotation)
00028 {
00029     R = cvCreateMat( 3, 3, CV_32F );
00030     t = cvCreateMat( 3, 1, CV_32F );
00031     n = cvCreateMat( 3, 1, CV_32F );
00032 
00033     for(int i=0; i<rotation.rows; ++i)
00034         for(int j=0; j<rotation.cols; ++j)
00035             cvmSet(R,i,j,rotation.at<float>(i,j));
00036 
00037     for(int i=0; i<translation.rows; ++i)
00038         for(int j=0; j<translation.cols; ++j)
00039             cvmSet(t,i,j,translation.at<float>(i,j));
00040 
00041     cvmSet(n,0,0,1);
00042     cvmSet(n,1,0,0);
00043     cvmSet(n,2,0,0);
00044 }
00045 
00046 PoseCv::~PoseCv()
00047 {
00048   cvReleaseMat(&R);
00049   cvReleaseMat(&t);
00050   cvReleaseMat(&n);
00051 }
00052 
00053 /**************************** PRIVATE *************************************/
00054 
00055 
00056 
00057 /**************************** PUBLIC *************************************/
00058 void InitializePoseCv(PoseCv &pose)
00059 {
00060   cvmSet(pose.R,0,0,1); cvmSet(pose.R,0,1,0); cvmSet(pose.R,0,2,0);
00061   cvmSet(pose.R,1,0,0); cvmSet(pose.R,1,1,1); cvmSet(pose.R,1,2,0);
00062   cvmSet(pose.R,2,0,0); cvmSet(pose.R,2,1,0); cvmSet(pose.R,2,2,1);
00063 
00064   cvmSet(pose.t,0,0,0);
00065   cvmSet(pose.t,1,0,0);
00066   cvmSet(pose.t,2,0,0);
00067 
00068   cvmSet(pose.n,0,0,1);
00069   cvmSet(pose.n,1,0,0);
00070   cvmSet(pose.n,2,0,0);
00071 
00072    
00073 }
00074 
00075 void DeletePoseCv(Array<PoseCv*> &ps)
00076 {
00077   for (unsigned i=0; i<ps.Size(); i++)
00078     delete ps[i];
00079   ps.Clear();
00080 }
00081 
00082 
00083 } // --THE END--
00084 
00085 
00086 


blort
Author(s): Michael Zillich, Thomas Mörwald, Johann Prankl, Andreas Richtsfeld, Bence Magyar (ROS version)
autogenerated on Thu Jan 2 2014 11:38:25