Example for calculation of the relative transform between 2 transforms
- Author
- MIP
#include <Geometry/CoordinateTransform3D.hh>
#include <Geometry/Projection.hh>
#include <Utils/Param.hh>
#include <iostream>
using namespace std;
using namespace BIAS;
void commandHelp(char* argv) {
cout<<argv<<" [options] <projection A > <projection B>\n";
}
int main(int argc, char* argv[])
{
if(*help || argc<3) {
commandHelp(argv[0]);
return 0;
}
if(A.
Load(argv[fup])!=0) {
cerr<<"error loading projection A\n";
commandHelp(argv[0]);
return -1;
}
if(B.
Load(argv[fup+1])!=0) {
cerr<<"error loading projection B\n";
commandHelp(argv[0]);
return -1;
}
Pose poseA, poseB, result, check;
cout<<" PoseA = ";
cout<<" PoseB = ";
cout<<"calculating relative transformations between A and B:\n\n";
cout<<"making A global: A*result = B :\n";
cout<<endl;
cout<<"making B global: B*result = A :\n";
cout<<endl;
return 0;
}