Subversion Repositories seema-scanner

Rev

Rev 34 | Rev 41 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 34 Rev 36
Line 149... Line 149...
149 
    cv::Mat(calibration.R1).copyTo(Transform1CV.colRange(0, 3));
 149 
    cv::Mat(calibration.R1).copyTo(Transform1CV.colRange(0, 3));
150 
    cv::Mat(calibration.T1).copyTo(Transform1CV.col(3));
 150 
    cv::Mat(calibration.T1).copyTo(Transform1CV.col(3));
151 
    Eigen::Affine3f Transform1;
 151 
    Eigen::Affine3f Transform1;
152 
    cv::cv2eigen(Transform1CV, Transform1.matrix());
 152 
    cv::cv2eigen(Transform1CV, Transform1.matrix());
153 
 
 153 
 
154 
    //visualizer->addCoordinateSystem(100, Transform1.inverse());
 154 
    visualizer->addCoordinateSystem(100, Transform1.inverse());
- 
 
 155 
 
- 
 
 156 
    // rotation axis coordinate system
- 
 
 157 
//    cv::Mat TransformRCV(3, 4, CV_32F);
- 
 
 158 
//    cv::Mat(calibration.Rr).copyTo(TransformRCV.colRange(0, 3));
- 
 
 159 
//    cv::Mat(calibration.Tr).copyTo(TransformRCV.col(3));
- 
 
 160 
//    Eigen::Affine3f TransformR;
- 
 
 161 
//    cv::cv2eigen(TransformRCV, TransformR.matrix());
- 
 
 162 
 
- 
 
 163 
//    visualizer->addCoordinateSystem(100, TransformR);
155 
 
 164 
 
156 
    // rotation axis at (0,0,0) pointing (0,1,0) in rotation stage frame
 165 
    // rotation axis at (0,0,0) pointing (0,1,0) in rotation stage frame
157 
    cv::Vec3f O(0.0, 0.0, 0.0);
 166 
    cv::Vec3f O(0.0, -100.0, 0.0);
158 
    cv::Vec3f v(0.0, 1.0, 0.0);
 167 
    cv::Vec3f v(0.0, 300.0, 0.0);
159 
 
 168 
 
160 
    // determine coefficients in camera 0 frame
 169 
    // determine coefficients in camera 0 frame
161 
    O = calibration.Rr*O + calibration.Tr;
 170 
    O = calibration.Rr.t()*O + -calibration.Rr.t()*calibration.Tr;
162 
    v = calibration.Rr*v + calibration.Tr;
 171 
    v = calibration.Rr.t()*v + -calibration.Rr.t()*calibration.Tr - O;
163 
 
 172 
 
164 
    pcl::ModelCoefficients lineCoefficients;
 173 
    pcl::ModelCoefficients lineCoefficients;
165 
    lineCoefficients.values.resize(6);
 174 
    lineCoefficients.values.resize(6);
166 
    lineCoefficients.values[0] = O[0];
 175 
    lineCoefficients.values[0] = O[0];
167 
    lineCoefficients.values[1] = O[1];
 176 
    lineCoefficients.values[1] = O[1];
Line 169... Line 178...
169 
    lineCoefficients.values[3] = v[0];
 178 
    lineCoefficients.values[3] = v[0];
170 
    lineCoefficients.values[4] = v[1];
 179 
    lineCoefficients.values[4] = v[1];
171 
    lineCoefficients.values[5] = v[2];
 180 
    lineCoefficients.values[5] = v[2];
172 
    visualizer->removeShape("line");
 181 
    visualizer->removeShape("line");
173 
    visualizer->addLine(lineCoefficients);
 182 
    visualizer->addLine(lineCoefficients);
- 
 
 183 
 
- 
 
 184 
 
174 
}
 185 
}
175 
 
 186 
 
176 
SMPointCloudWidget::~SMPointCloudWidget(){
 187 
SMPointCloudWidget::~SMPointCloudWidget(){
177 
 
 188 
 
178 
    //delete visualizer;
 189 
    //delete visualizer;