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



//    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(){
 

Subversion Repositories seema-scanner

(root)/src/SMPointCloudWidget.cpp – Rev 86 → 91

Rev 86		Rev 91
Line 192...		Line 192...
192	`// cv::cv2eigen(TransformRCV, TransformR.matrix());`	192	`// cv::cv2eigen(TransformRCV, TransformR.matrix());`
193		193
194	`// visualizer->addCoordinateSystem(100, TransformR);`	194	`// visualizer->addCoordinateSystem(100, TransformR);`
195		195
196	`// rotation axis pointing (0,1,0) in rotation stage frame`	196	`// rotation axis pointing (0,1,0) in rotation stage frame`
197	`cv::Vec3f O(0.0, -600.0, 0.0);`	197	`cv::Vec3f O(0.0, 00.0, 0.0);`
198	`cv::Vec3f v(0.0, 600.0, 0.0);`	198	`cv::Vec3f v(0.0, 600.0, 0.0);`
199		199
200	`// determine coefficients in camera 0 frame`	200	`// determine coefficients in camera 0 frame`
201	`O = calibration.Rr.t()O + -calibration.Rr.t()calibration.Tr;`	201	`O = calibration.Rr.t()O + -calibration.Rr.t()calibration.Tr;`
202	`v = calibration.Rr.t()v + -calibration.Rr.t()calibration.Tr - O;`	202	`v = calibration.Rr.t()v + -calibration.Rr.t()calibration.Tr - O;`
203		203
204	`pcl::ModelCoefficients lineCoefficients;`	204	`pcl::ModelCoefficients lineCoefficients;`
205	`lineCoefficients.values.resize(6);`	205	`lineCoefficients.values.resize(6);`
206	`lineCoefficients.values[0] = O[0];`	206	`lineCoefficients.values[0] = O[0];`
207	`lineCoefficients.values[1] = O[1];`	207	`lineCoefficients.values[1] = O[1];`
208	`lineCoefficients.values[2] = O[2];`	208	`lineCoefficients.values[2] = O[2];`
209	`lineCoefficients.values[3] = v[0];`	209	`lineCoefficients.values[3] = v[0];`
210	`lineCoefficients.values[4] = v[1];`	210	`lineCoefficients.values[4] = v[1];`
211	`lineCoefficients.values[5] = v[2];`	211	`lineCoefficients.values[5] = v[2];`
212	`visualizer->removeShape("line");`	212	`visualizer->removeShape("line");`
213	`visualizer->addLine(lineCoefficients);`	213	`visualizer->addLine(lineCoefficients);`
214		214
215	`}`	215	`}`
216		216
217	`SMPointCloudWidget::~SMPointCloudWidget(){`	217	`SMPointCloudWidget::~SMPointCloudWidget(){`
218		218