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



    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 139 → 148

Rev 139		Rev 148
Line 206...		Line 206...
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