void
StereoCalibration::initialize()
{
Eigen::Quaterniond rotation_quat(_parameters.right_to_left_rotation[0],
_parameters.right_to_left_rotation[1],
_parameters.right_to_left_rotation[2],
_parameters.right_to_left_rotation[3]);
Eigen::Vector3d translation(_parameters.right_to_left_translation[0],
_parameters.right_to_left_translation[1],
_parameters.right_to_left_translation[2]);
Eigen::Matrix3d left_rotation, right_rotation;
stereo_rectify(_parameters.left_parameters, _parameters.right_parameters,
rotation_quat,
translation,
&left_rotation, &right_rotation, &_rectified_parameters);
_left_rectification = new Rectification(_parameters.left_parameters,
left_rotation,
_rectified_parameters);
_right_rectification = new Rectification(_parameters.right_parameters,
right_rotation,
_rectified_parameters);
}
Node *Model::node_map_create(Scene &scene, const aiNode &node, Node *parent, int level, unsigned int options)
{
glm::mat4 transform_local;
std::string key(node.mName.data);
Node *node_internal = scene.node_create(key, parent);
{
aiVector3t<float> scaling;
aiQuaterniont<float> rotation;
aiVector3t<float> position;
node.mTransformation.Decompose(scaling, rotation, position);
glm::vec3 scale_vec(scaling.x, scaling.y, scaling.z);
glm::vec3 position_vec(position.x, position.y, position.z);
glm::quat rotation_quat(rotation.x, rotation.y, rotation.z, rotation.w);
ai_mat_copy(&node.mTransformation, transform_local);
// node_internal->transform_local_original_set(transform_local);
// node_internal->transform_local_current_set(scene, transform_local);
node_internal->import_options = options;
{
// glm::vec3 v(scaling.x, scaling.z, scaling.y);
glm::vec3 v(scaling.x, scaling.y, scaling.z);
node_internal->transform_scale_set(scale_vec);
}
{
// glm::quat q(rotation_quat.w, rotation_quat.x, rotation_quat.y, rotation_quat.z);
glm::quat q(rotation_quat.x, rotation_quat.y, rotation_quat.z, rotation_quat.w);
node_internal->transform_rotate_set(q);
}
{
// glm::vec3 v(position.x, position.z, position.y);
glm::vec3 v(position.x, position.y, position.z);
node_internal->transform_translate_set(v);
POLL_DEBUG(std::cout, "model transform " << node_internal->name_get() << " = " << glm::to_string(v));
}
}
nodes[key] = node_internal;
for (size_t i = 0; i < node.mNumChildren; i++) {
node_map_create(scene, *node.mChildren[i], node_internal, level + 1, options);
}
return node_internal;
}