public void setRigid ( int which , boolean fixed , Se3_F64 worldToObject , int totalPoints ) { Rigid r = rigids [ which ] = new Rigid ( ) ; r . known = fixed ; r . objectToWorld . set ( worldToObject ) ; r . points = new Point [ totalPoints ] ; for ( int i = 0 ; i < totalPoints ; i ++ ) { r . points [ i ] = new Point ( pointSize ) ; } }
Declares the data structure for a rigid object . Location of points are set by accessing the object directly . Rigid objects are useful in known scenes with calibration targets .