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());
 
    // Disable double buffering (which causes lag in VTK6)
    visualizer->getRenderWindow()->SetDoubleBuffer(0);
 
    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->SetFileName(qPrintable(fileName));
    writer->SetInputConnection(filter->GetOutputPort());
    writer->Write();
    writer->Delete();
}
 
void SMPointCloudWidget::updateCalibrationParameters(){
 
    QSettings settings;
    QVariant calibrationVariant = settings.value("calibration/parameters");
    SMCalibrationParameters calibration = calibrationVariant.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 169 → 172

Rev 169		Rev 172
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	`// Disable double buffering (which causes lag in VTK6)`
-		30	`visualizer->getRenderWindow()->SetDoubleBuffer(0);`
-		31
29	`visualizer->setShowFPS(false);`	32	`visualizer->setShowFPS(false);`
30		33
31	`// Create point cloud viewport`	34	`// Create point cloud viewport`
32	`visualizer->setBackgroundColor(0, 0, 0);`	35	`visualizer->setBackgroundColor(0, 0, 0);`
33	`visualizer->addCoordinateSystem(100, "camera0", 0);`	36	`visualizer->addCoordinateSystem(100, "camera0", 0);`
34	`#ifndef __APPLE__`	37	`#ifndef __APPLE__`
35	`// this leads to a segfault on OS X`	38	`// this leads to a segfault on OS X`
36	`visualizer->setCameraPosition(0,0,-50,0,0,0,0,-1,0);`	39	`visualizer->setCameraPosition(0,0,-50,0,0,0,0,-1,0);`
37	`#endif`	40	`#endif`
38		41
39	`// Initialize point cloud color handler`	42	`// Initialize point cloud color handler`
40	`colorHandler = new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGBNormal>();`	43	`colorHandler = new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGBNormal>();`
41		44
42	`updateCalibrationParameters();`	45	`updateCalibrationParameters();`
43	`//time.start();`	46	`//time.start();`
44	`}`	47	`}`
45		48
46	`void SMPointCloudWidget::addPointCloud(SMPointCloud pointCloud, int id){`	49	`void SMPointCloudWidget::addPointCloud(SMPointCloud pointCloud, int id){`
47		50
48	`std::string stringId = QString::number(id).toStdString();`	51	`std::string stringId = QString::number(id).toStdString();`
49	`// std::string stringId = QString("id%1").arg(id).toStdString();`	52	`// std::string stringId = QString("id%1").arg(id).toStdString();`
50		53
51	`// Note: using the color handler makes a copy of the rgb fields`	54	`// Note: using the color handler makes a copy of the rgb fields`
52	`colorHandler->setInputCloud(pointCloud.pointCloud);`	55	`colorHandler->setInputCloud(pointCloud.pointCloud);`
53		56
54	`if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){`	57	`if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){`
55	`visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);`	58	`visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);`
56	`visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);`	59	`visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);`
57	`}`	60	`}`
58		61
59	`// transformation matrix in Eigen format`	62	`// transformation matrix in Eigen format`
60	`cv::Mat TransformCV(3, 4, CV_32F);`	63	`cv::Mat TransformCV(3, 4, CV_32F);`
61	`cv::Mat(pointCloud.R).copyTo(TransformCV.colRange(0, 3));`	64	`cv::Mat(pointCloud.R).copyTo(TransformCV.colRange(0, 3));`
62	`cv::Mat(pointCloud.T).copyTo(TransformCV.col(3));`	65	`cv::Mat(pointCloud.T).copyTo(TransformCV.col(3));`
63	`Eigen::Affine3f Transform;`	66	`Eigen::Affine3f Transform;`
64	`cv::cv2eigen(TransformCV, Transform.matrix());`	67	`cv::cv2eigen(TransformCV, Transform.matrix());`
65		68
66	`visualizer->updatePointCloudPose(stringId, Transform.inverse());`	69	`visualizer->updatePointCloudPose(stringId, Transform.inverse());`
67		70
68	`this->update();`	71	`this->update();`
69		72
70	`emit pointCloudDataChanged();`	73	`emit pointCloudDataChanged();`
71		74
72	`}`	75	`}`
73		76
74	`void SMPointCloudWidget::updatePointCloud(SMPointCloud pointCloud, int id){`	77	`void SMPointCloudWidget::updatePointCloud(SMPointCloud pointCloud, int id){`
75		78
76	`std::string stringId = QString::number(id).toStdString();`	79	`std::string stringId = QString::number(id).toStdString();`
77	`// std::string stringId = QString("id%1").arg(id).toStdString();`	80	`// std::string stringId = QString("id%1").arg(id).toStdString();`
78		81
79	`// Note: using the color handler makes a copy of the rgb fields`	82	`// Note: using the color handler makes a copy of the rgb fields`
80	`colorHandler->setInputCloud(pointCloud.pointCloud);`	83	`colorHandler->setInputCloud(pointCloud.pointCloud);`
81		84
82	`if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){`	85	`if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){`
83	`visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);`	86	`visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);`
84	`visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);`	87	`visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);`
85	`}`	88	`}`
86		89
87	`this->update();`	90	`this->update();`
88	`emit pointCloudDataChanged();`	91	`emit pointCloudDataChanged();`
89		92
90	`}`	93	`}`
91		94
92	`void SMPointCloudWidget::removePointCloud(int id){`	95	`void SMPointCloudWidget::removePointCloud(int id){`
93		96
94	`std::string stringId = QString::number(id).toStdString();`	97	`std::string stringId = QString::number(id).toStdString();`
95	`// std::string stringId = QString("id%1").arg(id).toStdString();`	98	`// std::string stringId = QString("id%1").arg(id).toStdString();`
96		99
97	`visualizer->removePointCloud(stringId);`	100	`visualizer->removePointCloud(stringId);`
98		101
99	`this->update();`	102	`this->update();`
100	`emit pointCloudDataChanged();`	103	`emit pointCloudDataChanged();`
101		104
102	`}`	105	`}`
103		106
104	`void SMPointCloudWidget::removeAllPointClouds(){`	107	`void SMPointCloudWidget::removeAllPointClouds(){`
105		108
106	`visualizer->removeAllPointClouds();`	109	`visualizer->removeAllPointClouds();`
107		110
108	`this->update();`	111	`this->update();`
109	`emit pointCloudDataChanged();`	112	`emit pointCloudDataChanged();`
110		113
111	`}`	114	`}`
112		115
113	`//void SMPointCloudWidget::savePointCloud(){`	116	`//void SMPointCloudWidget::savePointCloud(){`
114		117
115	`// QString selectedFilter;`	118	`// QString selectedFilter;`
116	`// QString fileName = QFileDialog::getSaveFileName(this, "Save Point Cloud", QString(), ".pcd;;.ply;;.vtk;;.png;;*.txt", &selectedFilter);`	119	`// QString fileName = QFileDialog::getSaveFileName(this, "Save Point Cloud", QString(), ".pcd;;.ply;;.vtk;;.png;;*.txt", &selectedFilter);`
117	`// QFileInfo info(fileName);`	120	`// QFileInfo info(fileName);`
118	`// QString type = info.suffix();`	121	`// QString type = info.suffix();`
119	`// if(type == ""){`	122	`// if(type == ""){`
120	`// fileName.append(selectedFilter.remove(0,1));`	123	`// fileName.append(selectedFilter.remove(0,1));`
121	`// type = selectedFilter.remove(0,1);`	124	`// type = selectedFilter.remove(0,1);`
122	`// }`	125	`// }`
123		126
124	`// if(type == "pcd"){`	127	`// if(type == "pcd"){`
125	`// pcl::io::savePCDFileASCII(fileName.toStdString(), *pointCloudPCL);`	128	`// pcl::io::savePCDFileASCII(fileName.toStdString(), *pointCloudPCL);`
126	`// } else if(type == "ply"){`	129	`// } else if(type == "ply"){`
127	`// //pcl::io::savePLYFileBinary(fileName.toStdString(), *pointCloudPCL);`	130	`// //pcl::io::savePLYFileBinary(fileName.toStdString(), *pointCloudPCL);`
128	`// pcl::PLYWriter w;`	131	`// pcl::PLYWriter w;`
129	`// // Write to ply in binary without camera`	132	`// // Write to ply in binary without camera`
130	`// w.write<pcl::PointXYZRGBNormal> (fileName.toStdString(), *pointCloudPCL, true, false);`	133	`// w.write<pcl::PointXYZRGBNormal> (fileName.toStdString(), *pointCloudPCL, true, false);`
131	`// } else if(type == "vtk"){`	134	`// } else if(type == "vtk"){`
132	`// pcl::PCLPointCloud2 pointCloud2;`	135	`// pcl::PCLPointCloud2 pointCloud2;`
133	`// pcl::toPCLPointCloud2(*pointCloudPCL, pointCloud2);`	136	`// pcl::toPCLPointCloud2(*pointCloudPCL, pointCloud2);`
134	`// pcl::io::saveVTKFile(fileName.toStdString(), pointCloud2);`	137	`// pcl::io::saveVTKFile(fileName.toStdString(), pointCloud2);`
135		138
136	`//// vtkPolyData polyData;`	139	`//// vtkPolyData polyData;`
137	`//// pcl::io::pointCloudTovtkPolyData(*pointCloudPCL, polyData);`	140	`//// pcl::io::pointCloudTovtkPolyData(*pointCloudPCL, polyData);`
138	`//// vtkPolyDataWriter::Pointer writer = vtkPolyDataWriter::New();`	141	`//// vtkPolyDataWriter::Pointer writer = vtkPolyDataWriter::New();`
139	`//// writer->SetInput(polyData);`	142	`//// writer->SetInput(polyData);`
140	`//// writer->SetFileName(fileName.toStdString());`	143	`//// writer->SetFileName(fileName.toStdString());`
141	`//// writer->Update();`	144	`//// writer->Update();`
142	`// } else if(type == "png"){`	145	`// } else if(type == "png"){`
143	`// pcl::io::savePNGFile(fileName.toStdString(), *pointCloudPCL, "rgb");`	146	`// pcl::io::savePNGFile(fileName.toStdString(), *pointCloudPCL, "rgb");`
144	`// } else if(type == "txt"){`	147	`// } else if(type == "txt"){`
145	`// std::ofstream s(fileName.toLocal8Bit());`	148	`// std::ofstream s(fileName.toLocal8Bit());`
146	`// for(unsigned int r=0; r<pointCloudPCL->height; r++){`	149	`// for(unsigned int r=0; r<pointCloudPCL->height; r++){`
147	`// for(unsigned int c=0; c<pointCloudPCL->width; c++){`	150	`// for(unsigned int c=0; c<pointCloudPCL->width; c++){`
148	`// pcl::PointXYZRGBNormal p = pointCloudPCL->at(c, r);`	151	`// pcl::PointXYZRGBNormal p = pointCloudPCL->at(c, r);`
149	`// if(p.x == p.x)`	152	`// if(p.x == p.x)`
150	`// s << p.x << " " << p.y << " " << p.z << "\r\n";`	153	`// s << p.x << " " << p.y << " " << p.z << "\r\n";`
151	`// }`	154	`// }`
152	`// }`	155	`// }`
153	`// std::flush(s);`	156	`// std::flush(s);`
154	`// s.close();`	157	`// s.close();`
155	`// }`	158	`// }`
156		159
157	`//}`	160	`//}`
158		161
159	`void SMPointCloudWidget::saveScreenShot(){`	162	`void SMPointCloudWidget::saveScreenShot(){`
160		163
161	`vtkWindowToImageFilter* filter = vtkWindowToImageFilter::New();`	164	`vtkWindowToImageFilter* filter = vtkWindowToImageFilter::New();`
162	`//filter->SetInput(visualizer->getRenderWindow());`	165	`//filter->SetInput(visualizer->getRenderWindow());`
163	`filter->Modified();`	166	`filter->Modified();`
164		167
165	`QString fileName = QFileDialog::getSaveFileName(this, "Save Screen Shot", QString(), "*.png");`	168	`QString fileName = QFileDialog::getSaveFileName(this, "Save Screen Shot", QString(), "*.png");`
166	`QFileInfo info(fileName);`	169	`QFileInfo info(fileName);`
167	`QString type = info.suffix();`	170	`QString type = info.suffix();`
168	`if(type == "")`	171	`if(type == "")`
169	`fileName.append(".png");`	172	`fileName.append(".png");`
170		173
171	`vtkPNGWriter* writer = vtkPNGWriter::New();`	174	`vtkPNGWriter* writer = vtkPNGWriter::New();`
172	`writer->SetFileName(qPrintable(fileName));`	175	`writer->SetFileName(qPrintable(fileName));`
173	`writer->SetInputConnection(filter->GetOutputPort());`	176	`writer->SetInputConnection(filter->GetOutputPort());`
174	`writer->Write();`	177	`writer->Write();`
175	`writer->Delete();`	178	`writer->Delete();`
176	`}`	179	`}`
177		180
178	`void SMPointCloudWidget::updateCalibrationParameters(){`	181	`void SMPointCloudWidget::updateCalibrationParameters(){`
179		182
180	`QSettings settings;`	183	`QSettings settings;`
181	`QVariant calibrationVariant = settings.value("calibration/parameters");`	184	`QVariant calibrationVariant = settings.value("calibration/parameters");`
182	`SMCalibrationParameters calibration = calibrationVariant.value<SMCalibrationParameters>();`	185	`SMCalibrationParameters calibration = calibrationVariant.value<SMCalibrationParameters>();`
183		186
184	`// camera 0 coordinate system`	187	`// camera 0 coordinate system`
185	`visualizer->removeCoordinateSystem("camera0", 0);`	188	`visualizer->removeCoordinateSystem("camera0", 0);`
186	`visualizer->addCoordinateSystem(100, "camera0", 0);`	189	`visualizer->addCoordinateSystem(100, "camera0", 0);`
187		190
188	`// camera 1 coordinate system`	191	`// camera 1 coordinate system`
189	`cv::Mat Transform1CV(3, 4, CV_32F);`	192	`cv::Mat Transform1CV(3, 4, CV_32F);`
190	`cv::Mat(calibration.R1).copyTo(Transform1CV.colRange(0, 3));`	193	`cv::Mat(calibration.R1).copyTo(Transform1CV.colRange(0, 3));`
191	`cv::Mat(calibration.T1).copyTo(Transform1CV.col(3));`	194	`cv::Mat(calibration.T1).copyTo(Transform1CV.col(3));`
192	`Eigen::Affine3f Transform1;`	195	`Eigen::Affine3f Transform1;`
193	`cv::cv2eigen(Transform1CV, Transform1.matrix());`	196	`cv::cv2eigen(Transform1CV, Transform1.matrix());`
194		197
195	`visualizer->addCoordinateSystem(100, Transform1.inverse(), "camera1", 0);`	198	`visualizer->addCoordinateSystem(100, Transform1.inverse(), "camera1", 0);`
196		199
197	`// rotation axis coordinate system`	200	`// rotation axis coordinate system`
198	`// cv::Mat TransformRCV(3, 4, CV_32F);`	201	`// cv::Mat TransformRCV(3, 4, CV_32F);`
199	`// cv::Mat(calibration.Rr).copyTo(TransformRCV.colRange(0, 3));`	202	`// cv::Mat(calibration.Rr).copyTo(TransformRCV.colRange(0, 3));`
200	`// cv::Mat(calibration.Tr).copyTo(TransformRCV.col(3));`	203	`// cv::Mat(calibration.Tr).copyTo(TransformRCV.col(3));`
201	`// Eigen::Affine3f TransformR;`	204	`// Eigen::Affine3f TransformR;`
202	`// cv::cv2eigen(TransformRCV, TransformR.matrix());`	205	`// cv::cv2eigen(TransformRCV, TransformR.matrix());`
203		206
204	`// visualizer->addCoordinateSystem(100, TransformR);`	207	`// visualizer->addCoordinateSystem(100, TransformR);`
205		208
206	`// rotation axis pointing (0,1,0) in rotation stage frame`	209	`// rotation axis pointing (0,1,0) in rotation stage frame`
207	`cv::Vec3f O(0.0, 00.0, 0.0);`	210	`cv::Vec3f O(0.0, 00.0, 0.0);`
208	`cv::Vec3f v(0.0, 600.0, 0.0);`	211	`cv::Vec3f v(0.0, 600.0, 0.0);`
209		212
210	`// determine coefficients in camera 0 frame`	213	`// determine coefficients in camera 0 frame`
211	`O = calibration.Rr.t()O + -calibration.Rr.t()calibration.Tr;`	214	`O = calibration.Rr.t()O + -calibration.Rr.t()calibration.Tr;`
212	`v = calibration.Rr.t()v + -calibration.Rr.t()calibration.Tr - O;`	215	`v = calibration.Rr.t()v + -calibration.Rr.t()calibration.Tr - O;`
213		216
214	`pcl::ModelCoefficients lineCoefficients;`	217	`pcl::ModelCoefficients lineCoefficients;`
215	`lineCoefficients.values.resize(6);`	218	`lineCoefficients.values.resize(6);`
216	`lineCoefficients.values[0] = O[0];`	219	`lineCoefficients.values[0] = O[0];`
217	`lineCoefficients.values[1] = O[1];`	220	`lineCoefficients.values[1] = O[1];`
218	`lineCoefficients.values[2] = O[2];`	221	`lineCoefficients.values[2] = O[2];`
219	`lineCoefficients.values[3] = v[0];`	222	`lineCoefficients.values[3] = v[0];`
220	`lineCoefficients.values[4] = v[1];`	223	`lineCoefficients.values[4] = v[1];`
221	`lineCoefficients.values[5] = v[2];`	224	`lineCoefficients.values[5] = v[2];`
222	`visualizer->removeShape("line");`	225	`visualizer->removeShape("line");`
223	`visualizer->addLine(lineCoefficients);`	226	`visualizer->addLine(lineCoefficients);`
224		227
225		228
226		229
227	`}`	230	`}`
228		231
229	`SMPointCloudWidget::~SMPointCloudWidget(){`	232	`SMPointCloudWidget::~SMPointCloudWidget(){`
230		233
231	`//delete visualizer;`	234	`//delete visualizer;`
232		235
233	`}`	236	`}`
234		237