WebSVN – seema-scanner – Diff – /src/SMPointCloudWidget.cpp


#include "SMPointCloudWidget.h"
 
#include <opencv2/opencv.hpp>
#include <opencv2/core/eigen.hpp>
 
#include <vtkWindowToImageFilter.h>
#include <vtkPNGWriter.h>
#include <vtkRenderWindow.h>
 
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/common/io.h>
#include <pcl/visualization/point_cloud_color_handlers.h>
#include <pcl/geometry/quad_mesh.h>
 
#include <fstream>
 
 
#include <QFileDialog>
#include <QSettings>
 
#include "SMCalibrationParameters.h"
 
SMPointCloudWidget::SMPointCloudWidget(QWidget *parent) : QVTKWidget(parent) {
 
    visualizer = new pcl::visualization::PCLVisualizer("PCLVisualizer", false);
    this->SetRenderWindow(visualizer->getRenderWindow());
 
    visualizer->setShowFPS(false);
 
    // Create point cloud viewport
    visualizer->setBackgroundColor(0, 0, 0);
    visualizer->addCoordinateSystem(100, "camera0", 0);
#ifndef __APPLE__
    // this leads to a segfault on OS X
    visualizer->setCameraPosition(0,0,-50,0,0,0,0,-1,0);
#endif
 
    // Initialize point cloud color handler
    colorHandler = new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGBNormal>();
 
    updateCalibrationParameters();
    //time.start();
}
 
void SMPointCloudWidget::addPointCloud(SMPointCloud pointCloud, int id){
 
    std::string stringId = QString::number(id).toStdString();
//    std::string stringId = QString("id%1").arg(id).toStdString();
 
    // Note: using the color handler makes a copy of the rgb fields
    colorHandler->setInputCloud(pointCloud.pointCloud);
 
    if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){
        visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);
        visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);
     }
 
    // transformation matrix in Eigen format
    cv::Mat TransformCV(3, 4, CV_32F);
    cv::Mat(pointCloud.R).copyTo(TransformCV.colRange(0, 3));
    cv::Mat(pointCloud.T).copyTo(TransformCV.col(3));
    Eigen::Affine3f Transform;
    cv::cv2eigen(TransformCV, Transform.matrix());
 
    visualizer->updatePointCloudPose(stringId, Transform.inverse());
 
    this->update();
 
    emit pointCloudDataChanged();
 
}
 
void SMPointCloudWidget::updatePointCloud(SMPointCloud pointCloud, int id){
 
    std::string stringId = QString::number(id).toStdString();
//    std::string stringId = QString("id%1").arg(id).toStdString();
 
    // Note: using the color handler makes a copy of the rgb fields
    colorHandler->setInputCloud(pointCloud.pointCloud);
 
    if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){
        visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);
        visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);
     }
 
    this->update();
    emit pointCloudDataChanged();
 
}
 
void SMPointCloudWidget::removePointCloud(int id){
 
    std::string stringId = QString::number(id).toStdString();
//    std::string stringId = QString("id%1").arg(id).toStdString();
 
    visualizer->removePointCloud(stringId);
 
    this->update();
    emit pointCloudDataChanged();
 
}
 
void SMPointCloudWidget::removeAllPointClouds(){
 
    visualizer->removeAllPointClouds();
 
    this->update();
    emit pointCloudDataChanged();
 
}
 
//void SMPointCloudWidget::savePointCloud(){
 
//    QString selectedFilter;
//    QString fileName = QFileDialog::getSaveFileName(this, "Save Point Cloud", QString(), "*.pcd;;*.ply;;*.vtk;;*.png;;*.txt", &selectedFilter);
//    QFileInfo info(fileName);
//    QString type = info.suffix();
//    if(type == ""){
//        fileName.append(selectedFilter.remove(0,1));
//        type = selectedFilter.remove(0,1);
//    }
 
//    if(type == "pcd"){
//        pcl::io::savePCDFileASCII(fileName.toStdString(), *pointCloudPCL);
//    } else if(type == "ply"){
//        //pcl::io::savePLYFileBinary(fileName.toStdString(), *pointCloudPCL);
//        pcl::PLYWriter w;
//        // Write to ply in binary without camera
//        w.write<pcl::PointXYZRGBNormal> (fileName.toStdString(), *pointCloudPCL, true, false);
//    } else if(type == "vtk"){
//        pcl::PCLPointCloud2 pointCloud2;
//        pcl::toPCLPointCloud2(*pointCloudPCL, pointCloud2);
//        pcl::io::saveVTKFile(fileName.toStdString(), pointCloud2);
 
////        vtkPolyData polyData;
////        pcl::io::pointCloudTovtkPolyData(*pointCloudPCL, polyData);
////        vtkPolyDataWriter::Pointer writer = vtkPolyDataWriter::New();
////        writer->SetInput(polyData);
////        writer->SetFileName(fileName.toStdString());
////        writer->Update();
//    } else if(type == "png"){
//        pcl::io::savePNGFile(fileName.toStdString(), *pointCloudPCL, "rgb");
//    } else if(type == "txt"){
//        std::ofstream s(fileName.toLocal8Bit());
//        for(unsigned int r=0; r<pointCloudPCL->height; r++){
//            for(unsigned int c=0; c<pointCloudPCL->width; c++){
//                pcl::PointXYZRGBNormal p = pointCloudPCL->at(c, r);
//                if(p.x == p.x)
//                    s << p.x << " " << p.y << " " << p.z << "\r\n";
//            }
//        }
//        std::flush(s);
//        s.close();
//    }
 
//}
 
void SMPointCloudWidget::saveScreenShot(){
 
    vtkWindowToImageFilter* filter = vtkWindowToImageFilter::New();
    //filter->SetInput(visualizer->getRenderWindow());
    filter->Modified();
 
    QString fileName = QFileDialog::getSaveFileName(this, "Save Screen Shot", QString(), "*.png");
    QFileInfo info(fileName);
    QString type = info.suffix();
    if(type == "")
        fileName.append(".png");
 
    vtkPNGWriter* writer = vtkPNGWriter::New();
    writer->SetInput(filter->GetOutput());
    writer->SetFileName(qPrintable(fileName));
    writer->Write();
    writer->Delete();
}
 
void SMPointCloudWidget::updateCalibrationParameters(){
 
    QSettings settings;
    SMCalibrationParameters calibration = settings.value("calibration/parameters").value<SMCalibrationParameters>();
 
    // camera 0 coordinate system
    visualizer->removeCoordinateSystem("camera0", 0);
    visualizer->addCoordinateSystem(100, "camera0", 0);
 
    // camera 1 coordinate system
    cv::Mat Transform1CV(3, 4, CV_32F);
    cv::Mat(calibration.R1).copyTo(Transform1CV.colRange(0, 3));
    cv::Mat(calibration.T1).copyTo(Transform1CV.col(3));
    Eigen::Affine3f Transform1;
    cv::cv2eigen(Transform1CV, Transform1.matrix());
 
    visualizer->addCoordinateSystem(100, Transform1.inverse(), "camera1", 0);
 
    // rotation axis coordinate system
//    cv::Mat TransformRCV(3, 4, CV_32F);
//    cv::Mat(calibration.Rr).copyTo(TransformRCV.colRange(0, 3));
//    cv::Mat(calibration.Tr).copyTo(TransformRCV.col(3));
//    Eigen::Affine3f TransformR;
//    cv::cv2eigen(TransformRCV, TransformR.matrix());
 
//    visualizer->addCoordinateSystem(100, TransformR);
 
    // rotation axis pointing (0,1,0) in rotation stage frame
    cv::Vec3f O(0.0, 00.0, 0.0);
    cv::Vec3f v(0.0, 600.0, 0.0);
 
    // determine coefficients in camera 0 frame
    O = calibration.Rr.t()*O + -calibration.Rr.t()*calibration.Tr;
    v = calibration.Rr.t()*v + -calibration.Rr.t()*calibration.Tr - O;
 
    pcl::ModelCoefficients lineCoefficients;
    lineCoefficients.values.resize(6);
    lineCoefficients.values[0] = O[0];
    lineCoefficients.values[1] = O[1];
    lineCoefficients.values[2] = O[2];
    lineCoefficients.values[3] = v[0];
    lineCoefficients.values[4] = v[1];
    lineCoefficients.values[5] = v[2];
    visualizer->removeShape("line");
    visualizer->addLine(lineCoefficients);
 
 
 
}
 
SMPointCloudWidget::~SMPointCloudWidget(){
 
    //delete visualizer;
 
}
 

Subversion Repositories seema-scanner

(root)/src/SMPointCloudWidget.cpp – Rev 139 → 148

Rev 139		Rev 148
1	`#include "SMPointCloudWidget.h"`	1	`#include "SMPointCloudWidget.h"`
2		2
3	`#include <opencv2/opencv.hpp>`	3	`#include <opencv2/opencv.hpp>`
4	`#include <opencv2/core/eigen.hpp>`	4	`#include <opencv2/core/eigen.hpp>`
5		5
6	`#include <vtkWindowToImageFilter.h>`	6	`#include <vtkWindowToImageFilter.h>`
7	`#include <vtkPNGWriter.h>`	7	`#include <vtkPNGWriter.h>`
8	`#include <vtkRenderWindow.h>`	8	`#include <vtkRenderWindow.h>`
9		9
10	`#include <pcl/point_cloud.h>`	10	`#include <pcl/point_cloud.h>`
11	`#include <pcl/point_types.h>`	11	`#include <pcl/point_types.h>`
12	`#include <pcl/common/io.h>`	12	`#include <pcl/common/io.h>`
13	`#include <pcl/visualization/point_cloud_color_handlers.h>`	13	`#include <pcl/visualization/point_cloud_color_handlers.h>`
14	`#include <pcl/geometry/quad_mesh.h>`	14	`#include <pcl/geometry/quad_mesh.h>`
15		15
16	`#include <fstream>`	16	`#include <fstream>`
17		17
18		18
19	`#include <QFileDialog>`	19	`#include <QFileDialog>`
20	`#include <QSettings>`	20	`#include <QSettings>`
21		21
22	`#include "SMCalibrationParameters.h"`	22	`#include "SMCalibrationParameters.h"`
23		23
24	`SMPointCloudWidget::SMPointCloudWidget(QWidget *parent) : QVTKWidget(parent) {`	24	`SMPointCloudWidget::SMPointCloudWidget(QWidget *parent) : QVTKWidget(parent) {`
25		25
26	`visualizer = new pcl::visualization::PCLVisualizer("PCLVisualizer", false);`	26	`visualizer = new pcl::visualization::PCLVisualizer("PCLVisualizer", false);`
27	`this->SetRenderWindow(visualizer->getRenderWindow());`	27	`this->SetRenderWindow(visualizer->getRenderWindow());`
28		28
29	`visualizer->setShowFPS(false);`	29	`visualizer->setShowFPS(false);`
30		30
31	`// Create point cloud viewport`	31	`// Create point cloud viewport`
32	`visualizer->setBackgroundColor(0, 0, 0);`	32	`visualizer->setBackgroundColor(0, 0, 0);`
33	`visualizer->addCoordinateSystem(100, "camera0", 0);`	33	`visualizer->addCoordinateSystem(100, "camera0", 0);`
34	`#ifndef __APPLE__`	34	`#ifndef __APPLE__`
35	`// this leads to a segfault on OS X`	35	`// this leads to a segfault on OS X`
36	`visualizer->setCameraPosition(0,0,-50,0,0,0,0,-1,0);`	36	`visualizer->setCameraPosition(0,0,-50,0,0,0,0,-1,0);`
37	`#endif`	37	`#endif`
38		38
39	`// Initialize point cloud color handler`	39	`// Initialize point cloud color handler`
40	`colorHandler = new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGBNormal>();`	40	`colorHandler = new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGBNormal>();`
41		41
42	`updateCalibrationParameters();`	42	`updateCalibrationParameters();`
43	`//time.start();`	43	`//time.start();`
44	`}`	44	`}`
45		45
46	`void SMPointCloudWidget::addPointCloud(SMPointCloud pointCloud, int id){`	46	`void SMPointCloudWidget::addPointCloud(SMPointCloud pointCloud, int id){`
47		47
48	`std::string stringId = QString::number(id).toStdString();`	48	`std::string stringId = QString::number(id).toStdString();`
49	`// std::string stringId = QString("id%1").arg(id).toStdString();`	49	`// std::string stringId = QString("id%1").arg(id).toStdString();`
50		50
51	`// Note: using the color handler makes a copy of the rgb fields`	51	`// Note: using the color handler makes a copy of the rgb fields`
52	`colorHandler->setInputCloud(pointCloud.pointCloud);`	52	`colorHandler->setInputCloud(pointCloud.pointCloud);`
53		53
54	`if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){`	54	`if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){`
55	`visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);`	55	`visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);`
56	`visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);`	56	`visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);`
57	`}`	57	`}`
58		58
59	`// transformation matrix in Eigen format`	59	`// transformation matrix in Eigen format`
60	`cv::Mat TransformCV(3, 4, CV_32F);`	60	`cv::Mat TransformCV(3, 4, CV_32F);`
61	`cv::Mat(pointCloud.R).copyTo(TransformCV.colRange(0, 3));`	61	`cv::Mat(pointCloud.R).copyTo(TransformCV.colRange(0, 3));`
62	`cv::Mat(pointCloud.T).copyTo(TransformCV.col(3));`	62	`cv::Mat(pointCloud.T).copyTo(TransformCV.col(3));`
63	`Eigen::Affine3f Transform;`	63	`Eigen::Affine3f Transform;`
64	`cv::cv2eigen(TransformCV, Transform.matrix());`	64	`cv::cv2eigen(TransformCV, Transform.matrix());`
65		65
66	`visualizer->updatePointCloudPose(stringId, Transform.inverse());`	66	`visualizer->updatePointCloudPose(stringId, Transform.inverse());`
67		67
68	`this->update();`	68	`this->update();`
69		69
70	`emit pointCloudDataChanged();`	70	`emit pointCloudDataChanged();`
71		71
72	`}`	72	`}`
73		73
74	`void SMPointCloudWidget::updatePointCloud(SMPointCloud pointCloud, int id){`	74	`void SMPointCloudWidget::updatePointCloud(SMPointCloud pointCloud, int id){`
75		75
76	`std::string stringId = QString::number(id).toStdString();`	76	`std::string stringId = QString::number(id).toStdString();`
77	`// std::string stringId = QString("id%1").arg(id).toStdString();`	77	`// std::string stringId = QString("id%1").arg(id).toStdString();`
78		78
79	`// Note: using the color handler makes a copy of the rgb fields`	79	`// Note: using the color handler makes a copy of the rgb fields`
80	`colorHandler->setInputCloud(pointCloud.pointCloud);`	80	`colorHandler->setInputCloud(pointCloud.pointCloud);`
81		81
82	`if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){`	82	`if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){`
83	`visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);`	83	`visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);`
84	`visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);`	84	`visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);`
85	`}`	85	`}`
86		86
87	`this->update();`	87	`this->update();`
88	`emit pointCloudDataChanged();`	88	`emit pointCloudDataChanged();`
89		89
90	`}`	90	`}`
91		91
92	`void SMPointCloudWidget::removePointCloud(int id){`	92	`void SMPointCloudWidget::removePointCloud(int id){`
93		93
94	`std::string stringId = QString::number(id).toStdString();`	94	`std::string stringId = QString::number(id).toStdString();`
95	`// std::string stringId = QString("id%1").arg(id).toStdString();`	95	`// std::string stringId = QString("id%1").arg(id).toStdString();`
96		96
97	`visualizer->removePointCloud(stringId);`	97	`visualizer->removePointCloud(stringId);`
98		98
99	`this->update();`	99	`this->update();`
100	`emit pointCloudDataChanged();`	100	`emit pointCloudDataChanged();`
101		101
102	`}`	102	`}`
103		103
104	`void SMPointCloudWidget::removeAllPointClouds(){`	104	`void SMPointCloudWidget::removeAllPointClouds(){`
105		105
106	`visualizer->removeAllPointClouds();`	106	`visualizer->removeAllPointClouds();`
107		107
108	`this->update();`	108	`this->update();`
109	`emit pointCloudDataChanged();`	109	`emit pointCloudDataChanged();`
110		110
111	`}`	111	`}`
112		112
113	`//void SMPointCloudWidget::savePointCloud(){`	113	`//void SMPointCloudWidget::savePointCloud(){`
114		114
115	`// QString selectedFilter;`	115	`// QString selectedFilter;`
116	`// QString fileName = QFileDialog::getSaveFileName(this, "Save Point Cloud", QString(), ".pcd;;.ply;;.vtk;;.png;;*.txt", &selectedFilter);`	116	`// QString fileName = QFileDialog::getSaveFileName(this, "Save Point Cloud", QString(), ".pcd;;.ply;;.vtk;;.png;;*.txt", &selectedFilter);`
117	`// QFileInfo info(fileName);`	117	`// QFileInfo info(fileName);`
118	`// QString type = info.suffix();`	118	`// QString type = info.suffix();`
119	`// if(type == ""){`	119	`// if(type == ""){`
120	`// fileName.append(selectedFilter.remove(0,1));`	120	`// fileName.append(selectedFilter.remove(0,1));`
121	`// type = selectedFilter.remove(0,1);`	121	`// type = selectedFilter.remove(0,1);`
122	`// }`	122	`// }`
123		123
124	`// if(type == "pcd"){`	124	`// if(type == "pcd"){`
125	`// pcl::io::savePCDFileASCII(fileName.toStdString(), *pointCloudPCL);`	125	`// pcl::io::savePCDFileASCII(fileName.toStdString(), *pointCloudPCL);`
126	`// } else if(type == "ply"){`	126	`// } else if(type == "ply"){`
127	`// //pcl::io::savePLYFileBinary(fileName.toStdString(), *pointCloudPCL);`	127	`// //pcl::io::savePLYFileBinary(fileName.toStdString(), *pointCloudPCL);`
128	`// pcl::PLYWriter w;`	128	`// pcl::PLYWriter w;`
129	`// // Write to ply in binary without camera`	129	`// // Write to ply in binary without camera`
130	`// w.write<pcl::PointXYZRGBNormal> (fileName.toStdString(), *pointCloudPCL, true, false);`	130	`// w.write<pcl::PointXYZRGBNormal> (fileName.toStdString(), *pointCloudPCL, true, false);`
131	`// } else if(type == "vtk"){`	131	`// } else if(type == "vtk"){`
132	`// pcl::PCLPointCloud2 pointCloud2;`	132	`// pcl::PCLPointCloud2 pointCloud2;`
133	`// pcl::toPCLPointCloud2(*pointCloudPCL, pointCloud2);`	133	`// pcl::toPCLPointCloud2(*pointCloudPCL, pointCloud2);`
134	`// pcl::io::saveVTKFile(fileName.toStdString(), pointCloud2);`	134	`// pcl::io::saveVTKFile(fileName.toStdString(), pointCloud2);`
135		135
136	`//// vtkPolyData polyData;`	136	`//// vtkPolyData polyData;`
137	`//// pcl::io::pointCloudTovtkPolyData(*pointCloudPCL, polyData);`	137	`//// pcl::io::pointCloudTovtkPolyData(*pointCloudPCL, polyData);`
138	`//// vtkPolyDataWriter::Pointer writer = vtkPolyDataWriter::New();`	138	`//// vtkPolyDataWriter::Pointer writer = vtkPolyDataWriter::New();`
139	`//// writer->SetInput(polyData);`	139	`//// writer->SetInput(polyData);`
140	`//// writer->SetFileName(fileName.toStdString());`	140	`//// writer->SetFileName(fileName.toStdString());`
141	`//// writer->Update();`	141	`//// writer->Update();`
142	`// } else if(type == "png"){`	142	`// } else if(type == "png"){`
143	`// pcl::io::savePNGFile(fileName.toStdString(), *pointCloudPCL, "rgb");`	143	`// pcl::io::savePNGFile(fileName.toStdString(), *pointCloudPCL, "rgb");`
144	`// } else if(type == "txt"){`	144	`// } else if(type == "txt"){`
145	`// std::ofstream s(fileName.toLocal8Bit());`	145	`// std::ofstream s(fileName.toLocal8Bit());`
146	`// for(unsigned int r=0; r<pointCloudPCL->height; r++){`	146	`// for(unsigned int r=0; r<pointCloudPCL->height; r++){`
147	`// for(unsigned int c=0; c<pointCloudPCL->width; c++){`	147	`// for(unsigned int c=0; c<pointCloudPCL->width; c++){`
148	`// pcl::PointXYZRGBNormal p = pointCloudPCL->at(c, r);`	148	`// pcl::PointXYZRGBNormal p = pointCloudPCL->at(c, r);`
149	`// if(p.x == p.x)`	149	`// if(p.x == p.x)`
150	`// s << p.x << " " << p.y << " " << p.z << "\r\n";`	150	`// s << p.x << " " << p.y << " " << p.z << "\r\n";`
151	`// }`	151	`// }`
152	`// }`	152	`// }`
153	`// std::flush(s);`	153	`// std::flush(s);`
154	`// s.close();`	154	`// s.close();`
155	`// }`	155	`// }`
156		156
157	`//}`	157	`//}`
158		158
159	`void SMPointCloudWidget::saveScreenShot(){`	159	`void SMPointCloudWidget::saveScreenShot(){`
160		160
161	`vtkWindowToImageFilter* filter = vtkWindowToImageFilter::New();`	161	`vtkWindowToImageFilter* filter = vtkWindowToImageFilter::New();`
162	`//filter->SetInput(visualizer->getRenderWindow());`	162	`//filter->SetInput(visualizer->getRenderWindow());`
163	`filter->Modified();`	163	`filter->Modified();`
164		164
165	`QString fileName = QFileDialog::getSaveFileName(this, "Save Screen Shot", QString(), "*.png");`	165	`QString fileName = QFileDialog::getSaveFileName(this, "Save Screen Shot", QString(), "*.png");`
166	`QFileInfo info(fileName);`	166	`QFileInfo info(fileName);`
167	`QString type = info.suffix();`	167	`QString type = info.suffix();`
168	`if(type == "")`	168	`if(type == "")`
169	`fileName.append(".png");`	169	`fileName.append(".png");`
170		170
171	`vtkPNGWriter* writer = vtkPNGWriter::New();`	171	`vtkPNGWriter* writer = vtkPNGWriter::New();`
172	`writer->SetInput(filter->GetOutput());`	172	`writer->SetInput(filter->GetOutput());`
173	`writer->SetFileName(qPrintable(fileName));`	173	`writer->SetFileName(qPrintable(fileName));`
174	`writer->Write();`	174	`writer->Write();`
175	`writer->Delete();`	175	`writer->Delete();`
176	`}`	176	`}`
177		177
178	`void SMPointCloudWidget::updateCalibrationParameters(){`	178	`void SMPointCloudWidget::updateCalibrationParameters(){`
179		179
180	`QSettings settings;`	180	`QSettings settings;`
181	`SMCalibrationParameters calibration = settings.value("calibration/parameters").value<SMCalibrationParameters>();`	181	`SMCalibrationParameters calibration = settings.value("calibration/parameters").value<SMCalibrationParameters>();`
182		182
183	`// camera 0 coordinate system`	183	`// camera 0 coordinate system`
184	`visualizer->removeCoordinateSystem("camera0", 0);`	184	`visualizer->removeCoordinateSystem("camera0", 0);`
185	`visualizer->addCoordinateSystem(100, "camera0", 0);`	185	`visualizer->addCoordinateSystem(100, "camera0", 0);`
186		186
187	`// camera 1 coordinate system`	187	`// camera 1 coordinate system`
188	`cv::Mat Transform1CV(3, 4, CV_32F);`	188	`cv::Mat Transform1CV(3, 4, CV_32F);`
189	`cv::Mat(calibration.R1).copyTo(Transform1CV.colRange(0, 3));`	189	`cv::Mat(calibration.R1).copyTo(Transform1CV.colRange(0, 3));`
190	`cv::Mat(calibration.T1).copyTo(Transform1CV.col(3));`	190	`cv::Mat(calibration.T1).copyTo(Transform1CV.col(3));`
191	`Eigen::Affine3f Transform1;`	191	`Eigen::Affine3f Transform1;`
192	`cv::cv2eigen(Transform1CV, Transform1.matrix());`	192	`cv::cv2eigen(Transform1CV, Transform1.matrix());`
193		193
194	`visualizer->addCoordinateSystem(100, Transform1.inverse(), "camera1", 0);`	194	`visualizer->addCoordinateSystem(100, Transform1.inverse(), "camera1", 0);`
195		195
196	`// rotation axis coordinate system`	196	`// rotation axis coordinate system`
197	`// cv::Mat TransformRCV(3, 4, CV_32F);`	197	`// cv::Mat TransformRCV(3, 4, CV_32F);`
198	`// cv::Mat(calibration.Rr).copyTo(TransformRCV.colRange(0, 3));`	198	`// cv::Mat(calibration.Rr).copyTo(TransformRCV.colRange(0, 3));`
199	`// cv::Mat(calibration.Tr).copyTo(TransformRCV.col(3));`	199	`// cv::Mat(calibration.Tr).copyTo(TransformRCV.col(3));`
200	`// Eigen::Affine3f TransformR;`	200	`// Eigen::Affine3f TransformR;`
201	`// cv::cv2eigen(TransformRCV, TransformR.matrix());`	201	`// cv::cv2eigen(TransformRCV, TransformR.matrix());`
202		202
203	`// visualizer->addCoordinateSystem(100, TransformR);`	203	`// visualizer->addCoordinateSystem(100, TransformR);`
204		204
205	`// rotation axis pointing (0,1,0) in rotation stage frame`	205	`// rotation axis pointing (0,1,0) in rotation stage frame`
206	`cv::Vec3f O(0.0, 00.0, 0.0);`	206	`cv::Vec3f O(0.0, 00.0, 0.0);`
207	`cv::Vec3f v(0.0, 600.0, 0.0);`	207	`cv::Vec3f v(0.0, 600.0, 0.0);`
208		208
209	`// determine coefficients in camera 0 frame`	209	`// determine coefficients in camera 0 frame`
210	`O = calibration.Rr.t()O + -calibration.Rr.t()calibration.Tr;`	210	`O = calibration.Rr.t()O + -calibration.Rr.t()calibration.Tr;`
211	`v = calibration.Rr.t()v + -calibration.Rr.t()calibration.Tr - O;`	211	`v = calibration.Rr.t()v + -calibration.Rr.t()calibration.Tr - O;`
212		212
213	`pcl::ModelCoefficients lineCoefficients;`	213	`pcl::ModelCoefficients lineCoefficients;`
214	`lineCoefficients.values.resize(6);`	214	`lineCoefficients.values.resize(6);`
215	`lineCoefficients.values[0] = O[0];`	215	`lineCoefficients.values[0] = O[0];`
216	`lineCoefficients.values[1] = O[1];`	216	`lineCoefficients.values[1] = O[1];`
217	`lineCoefficients.values[2] = O[2];`	217	`lineCoefficients.values[2] = O[2];`
218	`lineCoefficients.values[3] = v[0];`	218	`lineCoefficients.values[3] = v[0];`
219	`lineCoefficients.values[4] = v[1];`	219	`lineCoefficients.values[4] = v[1];`
220	`lineCoefficients.values[5] = v[2];`	220	`lineCoefficients.values[5] = v[2];`
221	`visualizer->removeShape("line");`	221	`visualizer->removeShape("line");`
222	`visualizer->addLine(lineCoefficients);`	222	`visualizer->addLine(lineCoefficients);`
-		223
-		224
223		225
224	`}`	226	`}`
225		227
226	`SMPointCloudWidget::~SMPointCloudWidget(){`	228	`SMPointCloudWidget::~SMPointCloudWidget(){`
227		229
228	`//delete visualizer;`	230	`//delete visualizer;`
229		231
230	`}`	232	`}`
231		233