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, 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::PointXYZRGB>();
 
    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);
 
    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::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::PointXYZRGB> (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::PointXYZRGB 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(0);
    visualizer->addCoordinateSystem(100, 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());
 
    // 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 at (0,0,0) pointing (0,1,0) in rotation stage frame
    cv::Vec3f O(0.0, -300.0, 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 45 → 46

Rev 45		Rev 46
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, 0);`	33	`visualizer->addCoordinateSystem(100, 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::PointXYZRGB>();`	40	`colorHandler = new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB>();`
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	`visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);`	54	`visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);`
55	`visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);`	55	`visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);`
56		56
57	`// transformation matrix in Eigen format`	57	`// transformation matrix in Eigen format`
58	`cv::Mat TransformCV(3, 4, CV_32F);`	58	`cv::Mat TransformCV(3, 4, CV_32F);`
59	`cv::Mat(pointCloud.R).copyTo(TransformCV.colRange(0, 3));`	59	`cv::Mat(pointCloud.R).copyTo(TransformCV.colRange(0, 3));`
60	`cv::Mat(pointCloud.T).copyTo(TransformCV.col(3));`	60	`cv::Mat(pointCloud.T).copyTo(TransformCV.col(3));`
61	`Eigen::Affine3f Transform;`	61	`Eigen::Affine3f Transform;`
62	`cv::cv2eigen(TransformCV, Transform.matrix());`	62	`cv::cv2eigen(TransformCV, Transform.matrix());`
63		63
64	`visualizer->updatePointCloudPose(stringId, Transform.inverse());`	64	`//visualizer->updatePointCloudPose(stringId, Transform.inverse());`
65		65
66	`this->update();`	66	`this->update();`
67	`emit pointCloudDataChanged();`	67	`emit pointCloudDataChanged();`
68		68
69	`}`	69	`}`
70		70
71	`void SMPointCloudWidget::updatePointCloud(SMPointCloud pointCloud, int id){`	71	`void SMPointCloudWidget::updatePointCloud(SMPointCloud pointCloud, int id){`
72		72
73	`//std::string stringId = QString::number(id).toStdString();`	73	`std::string stringId = QString::number(id).toStdString();`
74	`std::string stringId = QString("id%1").arg(id).toStdString();`	74	`// std::string stringId = QString("id%1").arg(id).toStdString();`
75		75
76	`// Note: using the color handler makes a copy of the rgb fields`	76	`// Note: using the color handler makes a copy of the rgb fields`
77	`colorHandler->setInputCloud(pointCloud.pointCloud);`	77	`colorHandler->setInputCloud(pointCloud.pointCloud);`
78		78
79	`if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){`	79	`if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){`
80	`visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);`	80	`visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);`
81	`visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);`	81	`visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);`
82	`}`	82	`}`
83		83
84	`this->update();`	84	`this->update();`
85	`emit pointCloudDataChanged();`	85	`emit pointCloudDataChanged();`
86		86
87	`}`	87	`}`
88		88
89	`void SMPointCloudWidget::removePointCloud(int id){`	89	`void SMPointCloudWidget::removePointCloud(int id){`
90		90
91	`//std::string stringId = QString::number(id).toStdString();`	91	`std::string stringId = QString::number(id).toStdString();`
92	`std::string stringId = QString("id%1").arg(id).toStdString();`	92	`// std::string stringId = QString("id%1").arg(id).toStdString();`
93		93
94	`visualizer->removePointCloud(stringId);`	94	`visualizer->removePointCloud(stringId);`
95		95
96	`this->update();`	96	`this->update();`
97	`emit pointCloudDataChanged();`	97	`emit pointCloudDataChanged();`
98		98
99	`}`	99	`}`
100		100
101	`//void SMPointCloudWidget::savePointCloud(){`	101	`//void SMPointCloudWidget::savePointCloud(){`
102		102
103	`// QString selectedFilter;`	103	`// QString selectedFilter;`
104	`// QString fileName = QFileDialog::getSaveFileName(this, "Save Point Cloud", QString(), ".pcd;;.ply;;.vtk;;.png;;*.txt", &selectedFilter);`	104	`// QString fileName = QFileDialog::getSaveFileName(this, "Save Point Cloud", QString(), ".pcd;;.ply;;.vtk;;.png;;*.txt", &selectedFilter);`
105	`// QFileInfo info(fileName);`	105	`// QFileInfo info(fileName);`
106	`// QString type = info.suffix();`	106	`// QString type = info.suffix();`
107	`// if(type == ""){`	107	`// if(type == ""){`
108	`// fileName.append(selectedFilter.remove(0,1));`	108	`// fileName.append(selectedFilter.remove(0,1));`
109	`// type = selectedFilter.remove(0,1);`	109	`// type = selectedFilter.remove(0,1);`
110	`// }`	110	`// }`
111		111
112	`// if(type == "pcd"){`	112	`// if(type == "pcd"){`
113	`// pcl::io::savePCDFileASCII(fileName.toStdString(), *pointCloudPCL);`	113	`// pcl::io::savePCDFileASCII(fileName.toStdString(), *pointCloudPCL);`
114	`// } else if(type == "ply"){`	114	`// } else if(type == "ply"){`
115	`// //pcl::io::savePLYFileBinary(fileName.toStdString(), *pointCloudPCL);`	115	`// //pcl::io::savePLYFileBinary(fileName.toStdString(), *pointCloudPCL);`
116	`// pcl::PLYWriter w;`	116	`// pcl::PLYWriter w;`
117	`// // Write to ply in binary without camera`	117	`// // Write to ply in binary without camera`
118	`// w.write<pcl::PointXYZRGB> (fileName.toStdString(), *pointCloudPCL, true, false);`	118	`// w.write<pcl::PointXYZRGB> (fileName.toStdString(), *pointCloudPCL, true, false);`
119	`// } else if(type == "vtk"){`	119	`// } else if(type == "vtk"){`
120	`// pcl::PCLPointCloud2 pointCloud2;`	120	`// pcl::PCLPointCloud2 pointCloud2;`
121	`// pcl::toPCLPointCloud2(*pointCloudPCL, pointCloud2);`	121	`// pcl::toPCLPointCloud2(*pointCloudPCL, pointCloud2);`
122	`// pcl::io::saveVTKFile(fileName.toStdString(), pointCloud2);`	122	`// pcl::io::saveVTKFile(fileName.toStdString(), pointCloud2);`
123		123
124	`//// vtkPolyData polyData;`	124	`//// vtkPolyData polyData;`
125	`//// pcl::io::pointCloudTovtkPolyData(*pointCloudPCL, polyData);`	125	`//// pcl::io::pointCloudTovtkPolyData(*pointCloudPCL, polyData);`
126	`//// vtkPolyDataWriter::Pointer writer = vtkPolyDataWriter::New();`	126	`//// vtkPolyDataWriter::Pointer writer = vtkPolyDataWriter::New();`
127	`//// writer->SetInput(polyData);`	127	`//// writer->SetInput(polyData);`
128	`//// writer->SetFileName(fileName.toStdString());`	128	`//// writer->SetFileName(fileName.toStdString());`
129	`//// writer->Update();`	129	`//// writer->Update();`
130	`// } else if(type == "png"){`	130	`// } else if(type == "png"){`
131	`// pcl::io::savePNGFile(fileName.toStdString(), *pointCloudPCL, "rgb");`	131	`// pcl::io::savePNGFile(fileName.toStdString(), *pointCloudPCL, "rgb");`
132	`// } else if(type == "txt"){`	132	`// } else if(type == "txt"){`
133	`// std::ofstream s(fileName.toLocal8Bit());`	133	`// std::ofstream s(fileName.toLocal8Bit());`
134	`// for(unsigned int r=0; r<pointCloudPCL->height; r++){`	134	`// for(unsigned int r=0; r<pointCloudPCL->height; r++){`
135	`// for(unsigned int c=0; c<pointCloudPCL->width; c++){`	135	`// for(unsigned int c=0; c<pointCloudPCL->width; c++){`
136	`// pcl::PointXYZRGB p = pointCloudPCL->at(c, r);`	136	`// pcl::PointXYZRGB p = pointCloudPCL->at(c, r);`
137	`// if(p.x == p.x)`	137	`// if(p.x == p.x)`
138	`// s << p.x << " " << p.y << " " << p.z << "\r\n";`	138	`// s << p.x << " " << p.y << " " << p.z << "\r\n";`
139	`// }`	139	`// }`
140	`// }`	140	`// }`
141	`// std::flush(s);`	141	`// std::flush(s);`
142	`// s.close();`	142	`// s.close();`
143	`// }`	143	`// }`
144		144
145	`//}`	145	`//}`
146		146
147	`void SMPointCloudWidget::saveScreenShot(){`	147	`void SMPointCloudWidget::saveScreenShot(){`
148		148
149	`vtkWindowToImageFilter* filter = vtkWindowToImageFilter::New();`	149	`vtkWindowToImageFilter* filter = vtkWindowToImageFilter::New();`
150	`//filter->SetInput(visualizer->getRenderWindow());`	150	`//filter->SetInput(visualizer->getRenderWindow());`
151	`filter->Modified();`	151	`filter->Modified();`
152		152
153	`QString fileName = QFileDialog::getSaveFileName(this, "Save Screen Shot", QString(), "*.png");`	153	`QString fileName = QFileDialog::getSaveFileName(this, "Save Screen Shot", QString(), "*.png");`
154	`QFileInfo info(fileName);`	154	`QFileInfo info(fileName);`
155	`QString type = info.suffix();`	155	`QString type = info.suffix();`
156	`if(type == "")`	156	`if(type == "")`
157	`fileName.append(".png");`	157	`fileName.append(".png");`
158		158
159	`vtkPNGWriter* writer = vtkPNGWriter::New();`	159	`vtkPNGWriter* writer = vtkPNGWriter::New();`
160	`writer->SetInput(filter->GetOutput());`	160	`writer->SetInput(filter->GetOutput());`
161	`writer->SetFileName(qPrintable(fileName));`	161	`writer->SetFileName(qPrintable(fileName));`
162	`writer->Write();`	162	`writer->Write();`
163	`writer->Delete();`	163	`writer->Delete();`
164	`}`	164	`}`
165		165
166	`void SMPointCloudWidget::updateCalibrationParameters(){`	166	`void SMPointCloudWidget::updateCalibrationParameters(){`
167		167
168	`QSettings settings;`	168	`QSettings settings;`
169	`SMCalibrationParameters calibration = settings.value("calibration/parameters").value<SMCalibrationParameters>();`	169	`SMCalibrationParameters calibration = settings.value("calibration/parameters").value<SMCalibrationParameters>();`
170		170
171	`// camera 0 coordinate system`	171	`// camera 0 coordinate system`
172	`visualizer->removeCoordinateSystem(0);`	172	`visualizer->removeCoordinateSystem(0);`
173	`visualizer->addCoordinateSystem(100, 0);`	173	`visualizer->addCoordinateSystem(100, 0);`
174		174
175	`// camera 1 coordinate system`	175	`// camera 1 coordinate system`
176	`cv::Mat Transform1CV(3, 4, CV_32F);`	176	`cv::Mat Transform1CV(3, 4, CV_32F);`
177	`cv::Mat(calibration.R1).copyTo(Transform1CV.colRange(0, 3));`	177	`cv::Mat(calibration.R1).copyTo(Transform1CV.colRange(0, 3));`
178	`cv::Mat(calibration.T1).copyTo(Transform1CV.col(3));`	178	`cv::Mat(calibration.T1).copyTo(Transform1CV.col(3));`
179	`Eigen::Affine3f Transform1;`	179	`Eigen::Affine3f Transform1;`
180	`cv::cv2eigen(Transform1CV, Transform1.matrix());`	180	`cv::cv2eigen(Transform1CV, Transform1.matrix());`
181		181
182	`visualizer->addCoordinateSystem(100, Transform1.inverse());`	182	`visualizer->addCoordinateSystem(100, Transform1.inverse());`
183		183
184	`// rotation axis coordinate system`	184	`// rotation axis coordinate system`
185	`// cv::Mat TransformRCV(3, 4, CV_32F);`	185	`// cv::Mat TransformRCV(3, 4, CV_32F);`
186	`// cv::Mat(calibration.Rr).copyTo(TransformRCV.colRange(0, 3));`	186	`// cv::Mat(calibration.Rr).copyTo(TransformRCV.colRange(0, 3));`
187	`// cv::Mat(calibration.Tr).copyTo(TransformRCV.col(3));`	187	`// cv::Mat(calibration.Tr).copyTo(TransformRCV.col(3));`
188	`// Eigen::Affine3f TransformR;`	188	`// Eigen::Affine3f TransformR;`
189	`// cv::cv2eigen(TransformRCV, TransformR.matrix());`	189	`// cv::cv2eigen(TransformRCV, TransformR.matrix());`
190		190
191	`// visualizer->addCoordinateSystem(100, TransformR);`	191	`// visualizer->addCoordinateSystem(100, TransformR);`
192		192
193	`// rotation axis at (0,0,0) pointing (0,1,0) in rotation stage frame`	193	`// rotation axis at (0,0,0) pointing (0,1,0) in rotation stage frame`
194	`cv::Vec3f O(0.0, -300.0, 0.0);`	194	`cv::Vec3f O(0.0, -300.0, 0.0);`
195	`cv::Vec3f v(0.0, 600.0, 0.0);`	195	`cv::Vec3f v(0.0, 600.0, 0.0);`
196		196
197	`// determine coefficients in camera 0 frame`	197	`// determine coefficients in camera 0 frame`
198	`O = calibration.Rr.t()O + -calibration.Rr.t()calibration.Tr;`	198	`O = calibration.Rr.t()O + -calibration.Rr.t()calibration.Tr;`
199	`v = calibration.Rr.t()v + -calibration.Rr.t()calibration.Tr - O;`	199	`v = calibration.Rr.t()v + -calibration.Rr.t()calibration.Tr - O;`
200		200
201	`pcl::ModelCoefficients lineCoefficients;`	201	`pcl::ModelCoefficients lineCoefficients;`
202	`lineCoefficients.values.resize(6);`	202	`lineCoefficients.values.resize(6);`
203	`lineCoefficients.values[0] = O[0];`	203	`lineCoefficients.values[0] = O[0];`
204	`lineCoefficients.values[1] = O[1];`	204	`lineCoefficients.values[1] = O[1];`
205	`lineCoefficients.values[2] = O[2];`	205	`lineCoefficients.values[2] = O[2];`
206	`lineCoefficients.values[3] = v[0];`	206	`lineCoefficients.values[3] = v[0];`
207	`lineCoefficients.values[4] = v[1];`	207	`lineCoefficients.values[4] = v[1];`
208	`lineCoefficients.values[5] = v[2];`	208	`lineCoefficients.values[5] = v[2];`
209	`visualizer->removeShape("line");`	209	`visualizer->removeShape("line");`
210	`visualizer->addLine(lineCoefficients);`	210	`visualizer->addLine(lineCoefficients);`
211		211
212		212
213	`}`	213	`}`
214		214
215	`SMPointCloudWidget::~SMPointCloudWidget(){`	215	`SMPointCloudWidget::~SMPointCloudWidget(){`
216		216
217	`//delete visualizer;`	217	`//delete visualizer;`
218		218
219	`}`	219	`}`
220		220