kinect/codes/Azure-Kinect-Sensor-SDK/examples/green_screen/transformation.h

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2024-03-06 18:05:53 +00:00
// Copyright (c) Microsoft Corporation. All rights reserved.
// Licensed under the MIT License.
#pragma once
#include <opencv2/core.hpp>
struct Transformation
{
cv::Matx33d R;
cv::Vec3d t;
// Construct an identity transformation.
Transformation() : R(cv::Matx33d::eye()), t(0., 0., 0.) {}
// Construct from H
Transformation(const cv::Matx44d &H) : R(H.get_minor<3, 3>(0, 0)), t(H(0, 3), H(1, 3), H(2, 3)) {}
// Create homogeneous matrix from this transformation
cv::Matx44d to_homogeneous() const
{
return cv::Matx44d(
// row 1
R(0, 0),
R(0, 1),
R(0, 2),
t(0),
// row 2
R(1, 0),
R(1, 1),
R(1, 2),
t(1),
// row 3
R(2, 0),
R(2, 1),
R(2, 2),
t(2),
// row 4
0,
0,
0,
1);
}
// Construct a transformation equivalent to this transformation followed by the second transformation
Transformation compose_with(const Transformation &second_transformation) const
{
// get this transform
cv::Matx44d H_1 = to_homogeneous();
// get the transform to be composed with this one
cv::Matx44d H_2 = second_transformation.to_homogeneous();
// get the combined transform
cv::Matx44d H_3 = H_1 * H_2;
return Transformation(H_3);
}
};