Exemplo n.º 1
0
Transform3D Transform3DWidget::convertToFromExternal(const Transform3D& M) const
{
	if (mInvertAction->isChecked())
	{
		return M.inverse();
	}
	else
	{
		return M;
	}
}
Exemplo n.º 2
0
    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);
        }
    }