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);
 
 
    visualizer->setCameraPosition(0,0,-50,0,0,0,0,-1,0);
 
 
    // 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->removeCoordinateSystem("camera1", 0);
    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->removeCoordinateSystem("camera1", 0);
//    visualizer->addCoordinateSystem(100, TransformR.inverse(), "rotation", 0);
 
    // rotation axis pointing (0,1,0) in rotation stage frame
    cv::Vec3f O(0.0, 0.0, 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 176 → 185

Rev 176		Rev 185
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)`	29	`// Disable double buffering (which causes lag in VTK6)`
30	`visualizer->getRenderWindow()->SetDoubleBuffer(0);`	30	`visualizer->getRenderWindow()->SetDoubleBuffer(0);`
31		31
32	`visualizer->setShowFPS(false);`	32	`visualizer->setShowFPS(false);`
33		33
34	`// Create point cloud viewport`	34	`// Create point cloud viewport`
35	`visualizer->setBackgroundColor(0, 0, 0);`	35	`visualizer->setBackgroundColor(0, 0, 0);`
36	`visualizer->addCoordinateSystem(100, "camera0", 0);`	36	`visualizer->addCoordinateSystem(100, "camera0", 0);`
37	`#ifndef __APPLE__`	-
38	`// this leads to a segfault on OS X`	-
39	`visualizer->setCameraPosition(0,0,-50,0,0,0,0,-1,0);`	37	`visualizer->setCameraPosition(0,0,-50,0,0,0,0,-1,0);`
40	`#endif`	38
41		39
42	`// Initialize point cloud color handler`	40	`// Initialize point cloud color handler`
43	`colorHandler = new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGBNormal>();`	41	`colorHandler = new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGBNormal>();`
44		42
45	`updateCalibrationParameters();`	43	`updateCalibrationParameters();`
46	`//time.start();`	44	`//time.start();`
47	`}`	45	`}`
48		46
49	`void SMPointCloudWidget::addPointCloud(SMPointCloud pointCloud, int id){`	47	`void SMPointCloudWidget::addPointCloud(SMPointCloud pointCloud, int id){`
50		48
51	`std::string stringId = QString::number(id).toStdString();`	49	`std::string stringId = QString::number(id).toStdString();`
52	`// std::string stringId = QString("id%1").arg(id).toStdString();`	50	`// std::string stringId = QString("id%1").arg(id).toStdString();`
53		51
54	`// Note: using the color handler makes a copy of the rgb fields`	52	`// Note: using the color handler makes a copy of the rgb fields`
55	`colorHandler->setInputCloud(pointCloud.pointCloud);`	53	`colorHandler->setInputCloud(pointCloud.pointCloud);`
56		54
57	`if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){`	55	`if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){`
58	`visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);`	56	`visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);`
59	`visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);`	57	`visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);`
60	`}`	58	`}`
61		59
62	`// transformation matrix in Eigen format`	60	`// transformation matrix in Eigen format`
63	`cv::Mat TransformCV(3, 4, CV_32F);`	61	`cv::Mat TransformCV(3, 4, CV_32F);`
64	`cv::Mat(pointCloud.R).copyTo(TransformCV.colRange(0, 3));`	62	`cv::Mat(pointCloud.R).copyTo(TransformCV.colRange(0, 3));`
65	`cv::Mat(pointCloud.T).copyTo(TransformCV.col(3));`	63	`cv::Mat(pointCloud.T).copyTo(TransformCV.col(3));`
66	`Eigen::Affine3f Transform;`	64	`Eigen::Affine3f Transform;`
67	`cv::cv2eigen(TransformCV, Transform.matrix());`	65	`cv::cv2eigen(TransformCV, Transform.matrix());`
68		66
69	`visualizer->updatePointCloudPose(stringId, Transform.inverse());`	67	`visualizer->updatePointCloudPose(stringId, Transform.inverse());`
70		68
71	`this->update();`	69	`this->update();`
72		70
73	`emit pointCloudDataChanged();`	71	`emit pointCloudDataChanged();`
74		72
75	`}`	73	`}`
76		74
77	`void SMPointCloudWidget::updatePointCloud(SMPointCloud pointCloud, int id){`	75	`void SMPointCloudWidget::updatePointCloud(SMPointCloud pointCloud, int id){`
78		76
79	`std::string stringId = QString::number(id).toStdString();`	77	`std::string stringId = QString::number(id).toStdString();`
80	`// std::string stringId = QString("id%1").arg(id).toStdString();`	78	`// std::string stringId = QString("id%1").arg(id).toStdString();`
81		79
82	`// Note: using the color handler makes a copy of the rgb fields`	80	`// Note: using the color handler makes a copy of the rgb fields`
83	`colorHandler->setInputCloud(pointCloud.pointCloud);`	81	`colorHandler->setInputCloud(pointCloud.pointCloud);`
84		82
85	`if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){`	83	`if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){`
86	`visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);`	84	`visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);`
87	`visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);`	85	`visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);`
88	`}`	86	`}`
89		87
90	`this->update();`	88	`this->update();`
91	`emit pointCloudDataChanged();`	89	`emit pointCloudDataChanged();`
92		90
93	`}`	91	`}`
94		92
95	`void SMPointCloudWidget::removePointCloud(int id){`	93	`void SMPointCloudWidget::removePointCloud(int id){`
96		94
97	`std::string stringId = QString::number(id).toStdString();`	95	`std::string stringId = QString::number(id).toStdString();`
98	`// std::string stringId = QString("id%1").arg(id).toStdString();`	96	`// std::string stringId = QString("id%1").arg(id).toStdString();`
99		97
100	`visualizer->removePointCloud(stringId);`	98	`visualizer->removePointCloud(stringId);`
101		99
102	`this->update();`	100	`this->update();`
103	`emit pointCloudDataChanged();`	101	`emit pointCloudDataChanged();`
104		102
105	`}`	103	`}`
106		104
107	`void SMPointCloudWidget::removeAllPointClouds(){`	105	`void SMPointCloudWidget::removeAllPointClouds(){`
108		106
109	`visualizer->removeAllPointClouds();`	107	`visualizer->removeAllPointClouds();`
110		108
111	`this->update();`	109	`this->update();`
112	`emit pointCloudDataChanged();`	110	`emit pointCloudDataChanged();`
113		111
114	`}`	112	`}`
115		113
116	`//void SMPointCloudWidget::savePointCloud(){`	114	`//void SMPointCloudWidget::savePointCloud(){`
117		115
118	`// QString selectedFilter;`	116	`// QString selectedFilter;`
119	`// QString fileName = QFileDialog::getSaveFileName(this, "Save Point Cloud", QString(), ".pcd;;.ply;;.vtk;;.png;;*.txt", &selectedFilter);`	117	`// QString fileName = QFileDialog::getSaveFileName(this, "Save Point Cloud", QString(), ".pcd;;.ply;;.vtk;;.png;;*.txt", &selectedFilter);`
120	`// QFileInfo info(fileName);`	118	`// QFileInfo info(fileName);`
121	`// QString type = info.suffix();`	119	`// QString type = info.suffix();`
122	`// if(type == ""){`	120	`// if(type == ""){`
123	`// fileName.append(selectedFilter.remove(0,1));`	121	`// fileName.append(selectedFilter.remove(0,1));`
124	`// type = selectedFilter.remove(0,1);`	122	`// type = selectedFilter.remove(0,1);`
125	`// }`	123	`// }`
126		124
127	`// if(type == "pcd"){`	125	`// if(type == "pcd"){`
128	`// pcl::io::savePCDFileASCII(fileName.toStdString(), *pointCloudPCL);`	126	`// pcl::io::savePCDFileASCII(fileName.toStdString(), *pointCloudPCL);`
129	`// } else if(type == "ply"){`	127	`// } else if(type == "ply"){`
130	`// //pcl::io::savePLYFileBinary(fileName.toStdString(), *pointCloudPCL);`	128	`// //pcl::io::savePLYFileBinary(fileName.toStdString(), *pointCloudPCL);`
131	`// pcl::PLYWriter w;`	129	`// pcl::PLYWriter w;`
132	`// // Write to ply in binary without camera`	130	`// // Write to ply in binary without camera`
133	`// w.write<pcl::PointXYZRGBNormal> (fileName.toStdString(), *pointCloudPCL, true, false);`	131	`// w.write<pcl::PointXYZRGBNormal> (fileName.toStdString(), *pointCloudPCL, true, false);`
134	`// } else if(type == "vtk"){`	132	`// } else if(type == "vtk"){`
135	`// pcl::PCLPointCloud2 pointCloud2;`	133	`// pcl::PCLPointCloud2 pointCloud2;`
136	`// pcl::toPCLPointCloud2(*pointCloudPCL, pointCloud2);`	134	`// pcl::toPCLPointCloud2(*pointCloudPCL, pointCloud2);`
137	`// pcl::io::saveVTKFile(fileName.toStdString(), pointCloud2);`	135	`// pcl::io::saveVTKFile(fileName.toStdString(), pointCloud2);`
138		136
139	`//// vtkPolyData polyData;`	137	`//// vtkPolyData polyData;`
140	`//// pcl::io::pointCloudTovtkPolyData(*pointCloudPCL, polyData);`	138	`//// pcl::io::pointCloudTovtkPolyData(*pointCloudPCL, polyData);`
141	`//// vtkPolyDataWriter::Pointer writer = vtkPolyDataWriter::New();`	139	`//// vtkPolyDataWriter::Pointer writer = vtkPolyDataWriter::New();`
142	`//// writer->SetInput(polyData);`	140	`//// writer->SetInput(polyData);`
143	`//// writer->SetFileName(fileName.toStdString());`	141	`//// writer->SetFileName(fileName.toStdString());`
144	`//// writer->Update();`	142	`//// writer->Update();`
145	`// } else if(type == "png"){`	143	`// } else if(type == "png"){`
146	`// pcl::io::savePNGFile(fileName.toStdString(), *pointCloudPCL, "rgb");`	144	`// pcl::io::savePNGFile(fileName.toStdString(), *pointCloudPCL, "rgb");`
147	`// } else if(type == "txt"){`	145	`// } else if(type == "txt"){`
148	`// std::ofstream s(fileName.toLocal8Bit());`	146	`// std::ofstream s(fileName.toLocal8Bit());`
149	`// for(unsigned int r=0; r<pointCloudPCL->height; r++){`	147	`// for(unsigned int r=0; r<pointCloudPCL->height; r++){`
150	`// for(unsigned int c=0; c<pointCloudPCL->width; c++){`	148	`// for(unsigned int c=0; c<pointCloudPCL->width; c++){`
151	`// pcl::PointXYZRGBNormal p = pointCloudPCL->at(c, r);`	149	`// pcl::PointXYZRGBNormal p = pointCloudPCL->at(c, r);`
152	`// if(p.x == p.x)`	150	`// if(p.x == p.x)`
153	`// s << p.x << " " << p.y << " " << p.z << "\r\n";`	151	`// s << p.x << " " << p.y << " " << p.z << "\r\n";`
154	`// }`	152	`// }`
155	`// }`	153	`// }`
156	`// std::flush(s);`	154	`// std::flush(s);`
157	`// s.close();`	155	`// s.close();`
158	`// }`	156	`// }`
159		157
160	`//}`	158	`//}`
161		159
162	`void SMPointCloudWidget::saveScreenShot(){`	160	`void SMPointCloudWidget::saveScreenShot(){`
163		161
164	`vtkWindowToImageFilter* filter = vtkWindowToImageFilter::New();`	162	`vtkWindowToImageFilter* filter = vtkWindowToImageFilter::New();`
165	`//filter->SetInput(visualizer->getRenderWindow());`	163	`//filter->SetInput(visualizer->getRenderWindow());`
166	`filter->Modified();`	164	`filter->Modified();`
167		165
168	`QString fileName = QFileDialog::getSaveFileName(this, "Save Screen Shot", QString(), "*.png");`	166	`QString fileName = QFileDialog::getSaveFileName(this, "Save Screen Shot", QString(), "*.png");`
169	`QFileInfo info(fileName);`	167	`QFileInfo info(fileName);`
170	`QString type = info.suffix();`	168	`QString type = info.suffix();`
171	`if(type == "")`	169	`if(type == "")`
172	`fileName.append(".png");`	170	`fileName.append(".png");`
173		171
174	`vtkPNGWriter* writer = vtkPNGWriter::New();`	172	`vtkPNGWriter* writer = vtkPNGWriter::New();`
175	`writer->SetFileName(qPrintable(fileName));`	173	`writer->SetFileName(qPrintable(fileName));`
176	`writer->SetInputConnection(filter->GetOutputPort());`	174	`writer->SetInputConnection(filter->GetOutputPort());`
177	`writer->Write();`	175	`writer->Write();`
178	`writer->Delete();`	176	`writer->Delete();`
179	`}`	177	`}`
180		178
181	`void SMPointCloudWidget::updateCalibrationParameters(){`	179	`void SMPointCloudWidget::updateCalibrationParameters(){`
182		180
183	`QSettings settings;`	181	`QSettings settings;`
184	`QVariant calibrationVariant = settings.value("calibration/parameters");`	182	`QVariant calibrationVariant = settings.value("calibration/parameters");`
185	`SMCalibrationParameters calibration = calibrationVariant.value<SMCalibrationParameters>();`	183	`SMCalibrationParameters calibration = calibrationVariant.value<SMCalibrationParameters>();`
186		184
187	`// camera 0 coordinate system`	185	`// camera 0 coordinate system`
188	`//visualizer->removeCoordinateSystem("camera0", 0);`	186	`//visualizer->removeCoordinateSystem("camera0", 0);`
189	`visualizer->addCoordinateSystem(100, "camera0", 0);`	187	`visualizer->addCoordinateSystem(100, "camera0", 0);`
190		188
191	`// camera 1 coordinate system`	189	`// camera 1 coordinate system`
192	`cv::Mat Transform1CV(3, 4, CV_32F);`	190	`cv::Mat Transform1CV(3, 4, CV_32F);`
193	`cv::Mat(calibration.R1).copyTo(Transform1CV.colRange(0, 3));`	191	`cv::Mat(calibration.R1).copyTo(Transform1CV.colRange(0, 3));`
194	`cv::Mat(calibration.T1).copyTo(Transform1CV.col(3));`	192	`cv::Mat(calibration.T1).copyTo(Transform1CV.col(3));`
195	`Eigen::Affine3f Transform1;`	193	`Eigen::Affine3f Transform1;`
196	`cv::cv2eigen(Transform1CV, Transform1.matrix());`	194	`cv::cv2eigen(Transform1CV, Transform1.matrix());`
197		195
198	`//visualizer->removeCoordinateSystem("camera1", 0);`	196	`//visualizer->removeCoordinateSystem("camera1", 0);`
199	`visualizer->addCoordinateSystem(100, Transform1.inverse(), "camera1", 0);`	197	`visualizer->addCoordinateSystem(100, Transform1.inverse(), "camera1", 0);`
200		198
201	`// // rotation axis coordinate system`	199	`// // rotation axis coordinate system`
202	`// cv::Mat TransformRCV(3, 4, CV_32F);`	200	`// cv::Mat TransformRCV(3, 4, CV_32F);`
203	`// cv::Mat(calibration.Rr).copyTo(TransformRCV.colRange(0, 3));`	201	`// cv::Mat(calibration.Rr).copyTo(TransformRCV.colRange(0, 3));`
204	`// cv::Mat(calibration.Tr).copyTo(TransformRCV.col(3));`	202	`// cv::Mat(calibration.Tr).copyTo(TransformRCV.col(3));`
205	`// Eigen::Affine3f TransformR;`	203	`// Eigen::Affine3f TransformR;`
206		204
207	`// cv::cv2eigen(TransformRCV, TransformR.matrix());`	205	`// cv::cv2eigen(TransformRCV, TransformR.matrix());`
208	`// visualizer->removeCoordinateSystem("camera1", 0);`	206	`// visualizer->removeCoordinateSystem("camera1", 0);`
209	`// visualizer->addCoordinateSystem(100, TransformR.inverse(), "rotation", 0);`	207	`// visualizer->addCoordinateSystem(100, TransformR.inverse(), "rotation", 0);`
210		208
211	`// rotation axis pointing (0,1,0) in rotation stage frame`	209	`// rotation axis pointing (0,1,0) in rotation stage frame`
212	`cv::Vec3f O(0.0, 0.0, 0.0);`	210	`cv::Vec3f O(0.0, 0.0, 0.0);`
213	`cv::Vec3f v(0.0, 600.0, 0.0);`	211	`cv::Vec3f v(0.0, 600.0, 0.0);`
214		212
215	`// determine coefficients in camera 0 frame`	213	`// determine coefficients in camera 0 frame`
216	`O = calibration.Rr.t()O + -calibration.Rr.t()calibration.Tr;`	214	`O = calibration.Rr.t()O + -calibration.Rr.t()calibration.Tr;`
217	`v = calibration.Rr.t()v + -calibration.Rr.t()calibration.Tr - O;`	215	`v = calibration.Rr.t()v + -calibration.Rr.t()calibration.Tr - O;`
218		216
219	`pcl::ModelCoefficients lineCoefficients;`	217	`pcl::ModelCoefficients lineCoefficients;`
220	`lineCoefficients.values.resize(6);`	218	`lineCoefficients.values.resize(6);`
221	`lineCoefficients.values[0] = O[0];`	219	`lineCoefficients.values[0] = O[0];`
222	`lineCoefficients.values[1] = O[1];`	220	`lineCoefficients.values[1] = O[1];`
223	`lineCoefficients.values[2] = O[2];`	221	`lineCoefficients.values[2] = O[2];`
224	`lineCoefficients.values[3] = v[0];`	222	`lineCoefficients.values[3] = v[0];`
225	`lineCoefficients.values[4] = v[1];`	223	`lineCoefficients.values[4] = v[1];`
226	`lineCoefficients.values[5] = v[2];`	224	`lineCoefficients.values[5] = v[2];`
227	`visualizer->removeShape("line");`	225	`visualizer->removeShape("line");`
228	`visualizer->addLine(lineCoefficients);`	226	`visualizer->addLine(lineCoefficients);`
229		227
230		228
231		229
232	`}`	230	`}`
233		231
234	`SMPointCloudWidget::~SMPointCloudWidget(){`	232	`SMPointCloudWidget::~SMPointCloudWidget(){`
235		233
236	`//delete visualizer;`	234	`//delete visualizer;`
237		235
238	`}`	236	`}`
239		237