将数学函数从 Python 转换为 c++

Converting Math functions from Python to c++

本文关键字：转换 c++ Python 函数      更新时间：2023-10-16

我正在尝试将一些opencv代码从python转换为c ++，但有点迷茫。蟒蛇是：

if 0 < R[1,1] < 1:
# If it gets here, the pose is flipped.
# Flip the axes. E.g., Y axis becomes [-y0, -y1, y2].
R *= np.array([
[ 1, -1,  1],
[ 1, -1,  1],
[-1,  1, -1],
])
# Fixup: rotate along the plane spanned by camera's forward (Z) axis and vector to marker's position
forward = np.array([0, 0, 1])
tnorm = T / np.linalg.norm(T)
axis = np.cross(tnorm, forward)
angle = -2*math.acos(tnorm @ forward)
R = cv2.Rodrigues(angle * axis)[0] @ R

到目前为止，我有：

cv::Mat R;
if (0 < R.at<double>(1, 1) < 1) {
// Flip the axes.E.g., Y axis becomes[-y0, -y1, y2].
float mult[9] = { 1, -1, 1, 1, -1, 1,-1, 1, -1 };
cv::Mat FlipAxes = cv::Mat(3, 3, CV_32F, mult);
R *= FlipAxes;
//# Fixup: rotate along the plane spanned by camera's forward (Z) axis and vector to marker's position
cv::Vec3d forward(0, 0, 1);
double tnorm = tvecBest / np.linalg.norm(T)
axis = np.cross(tnorm, forward)
angle = -2 * math.acos(tnorm @ forward)
R = cv2.Rodrigues(angle * axis)[0] * R

}

我迷失在这些方面：

double tnorm = tvecBest / np.linalg.norm(T)
axis = np.cross(tnorm, forward)
angle = -2 * math.acos(tnorm @ forward)

C++ OpenCV 中的np.linalg.norm相当于什么？

np.linalg.norm(T( 只是 L2 范数：

sqrt(T[0]*T[0]+T[1]*T[1]+T[2]*T[2])

np.cross(tnorm， forward( 是交叉乘积：

axis[0] = tnorm[1]*forward[2]-tnorm[2]*forward[1]
axis[1] = -tnorm[0]*forward[2]+tnorm[2]*forward[0]
axis[2] = tnorm[0]*forward[1]-tnorm[1]*forward[0]
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