Subversion Repositories seema-scanner

Rev

Rev 81 | Rev 91 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 81 Rev 86
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, -300.0, 0.0);
 197 
    cv::Vec3f O(0.0, -600.0, 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;