Transform3D Transform3DWidget::convertToFromExternal(const Transform3D& M) const
{
if (mInvertAction->isChecked())
{
return M.inverse();
}
else
{
return M;
}
}
GenerateTestData()
{
// Instantiate a pinhole camera model.
PinholeCameraModel<double> camera_model;
// Set the intrinsic camera parameters.
camera_model.setFocalLengths(80, 79);
camera_model.setImageCenter(250, 251);
camera_model.setSkew(0.1);
// Set the extrinsic camera parameters.
Transform3D<double> T;
T.rotateAxis(40, Point3D(1, 2, 3), Transform3D<double>::DEGREES);
T.translate(130, 135, 90);
camera_model.setExtrinsicParameters(T.getTransformationMatrix());
// Generate some test data.
const int number_of_points = 6;
for (int i = 0; i < number_of_points; ++i) // generate points in the world COS
{
auto x = randn(0.0, 30.0); // in the camera COS
auto y = randn(0.0, 30.0); // in the camera COS
auto z = randn(600.0, 10.0); // in the camera COS
Point3D p = T.inverse() * Point3D(x, y, z); // in the world COS
points_world.emplace_back(p);
}
for (auto const & p_W : points_world) // generate points in the camera COS
{
Point2D p_D = camera_model.transform(p_W);
points_display.push_back(p_D);
}
}