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Transform.cpp
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Transform.cpp
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#include "Transform.h"
#include <iterator>
#include <list>
#include<iostream>
#include<iomanip>
#include <math.h>
using namespace std;
Transform::~Transform() // destructor fonksiyonu
{
}
void Transform::setAngles(double gama, double beta, double alpha)
{
using namespace Eigen;
(*angles)(0) = gama;
(*angles)(1) = beta;
(*angles)(2) = alpha;
}
double* Transform::getAngles()
{
// Bu fonksiyon al�nan a�� de�erlerini g�rd���m�z fonksiyon.
double* ptr_angles = new double[3];
for (int i = 0; i < 3; ++i)
{
ptr_angles[i] = (*angles)(i);
}
return ptr_angles;
}
void Transform::setTrans(double transitionx, double transitiony, double transitionz)
{
// Bu fonksiyon iki koordinat merkezinin orjinleri arasindaki uzakliklari
// degisken olarak alip, trans array'inin icine atar.
using namespace Eigen;
(* trans)(0) = transitionx;
(*trans)(1) = transitiony;
(*trans)(2) = transitionz;
}
double* Transform::getTrans()
{
// Burada iki kordinat d�zlemi aras�nda uzakl�k de�erlerini veren x y z de�erlerini al�r�z.
// Trans dizisindeki x y z de�erlerini g�rd���m�z fonksiyondur.
double* ptr_trans = new double[3];
for (int i = 0; i < 3; i++)
{
ptr_trans[i] = (*trans)(i);
}
return ptr_trans;
}
void Transform::setRotation(Eigen::Matrix3d ang)
{
// ang[0] = gama , ang[1] = beta , ang[2] = alpha
// Bu fonksiyon set edilen angle degerlerini kullanarak
// rotationMatrix'i doldurur.
(*rotationMatrix)(0, 0) = ang(0, 0);
(*rotationMatrix)(0, 1) = ang(0, 1);
(*rotationMatrix)(0, 2) = ang(0, 2);
(*rotationMatrix)(1, 0) = ang(1, 0);
(*rotationMatrix)(1, 1) = ang(1, 1);
(*rotationMatrix)(1, 2) = ang(1, 2);
(*rotationMatrix)(2, 0) = ang(2, 0);
(*rotationMatrix)(2, 1) = ang(2, 1);
(*rotationMatrix)(2, 2) = ang(2, 2);
}
void Transform::setRotation(double ang[3])
{
// Bu fonksiyon bize verilen rotasyon matrisini rotationmatrixe set eder .
(*rotationMatrix)(0, 0) = cos(ang[2]) * cos(ang[1]);
(*rotationMatrix)(0, 1) = (cos(ang[2]) * sin(ang[1]) * sin(ang[0])) - (sin(ang[2]) * cos(ang[0]));
(*rotationMatrix)(0, 2) = (cos(ang[2]) * sin(ang[1]) * cos(ang[0])) + (sin(ang[2]) * sin(ang[0]));
(*rotationMatrix)(1, 0) = sin(ang[2]) * cos(ang[1]);
(*rotationMatrix)(1, 1) = (sin(ang[2]) * sin(ang[1]) * sin(ang[0])) + (cos(ang[2]) * cos(ang[0]));
(*rotationMatrix)(1, 2) = (sin(ang[2]) * sin(ang[1]) * cos(ang[0])) - (cos(ang[2]) * sin(ang[0]));
(*rotationMatrix)(2, 0) = -sin(ang[1]);
(*rotationMatrix)(2, 1) = cos(ang[1]) * sin(ang[0]);
(*rotationMatrix)(2, 2) = cos(ang[1]) * cos(ang[0]);
}
void Transform::setTranslation(Eigen::Vector3d tr)
{
// bu fonksiyon transform nesnemizin i�indeki x y z de�erlerini alarak translation matrisi olu�turur
// translation matrisinin 3x3 l�k k�sm� ratasyon matrisidir burda ilk �nce translation matrisine rotasyon matrisini ekliyoruz.
for(int i=0; i<3; i++)
{
for (int j = 0; j < 3; j++)
{
(* this->transMatrix)(i, j) = (*rotationMatrix)(i, j);
}
}
(*this->transMatrix)(3, 0) = 0;
(*this->transMatrix)(3, 1) = 0;
(*this->transMatrix)(3, 2) = 0;
(*this->transMatrix)(3, 3) = 1;
for (int k = 0; k < 3; k++)
{
(*transMatrix)(k, 3) = tr(k);
}
}
void Transform::setTranslation(double tra[3])
{
(*this->transMatrix)(3, 0) = 0;
(*this->transMatrix)(3, 1) = 0;
(*this->transMatrix)(3, 2) = 0;
(*this->transMatrix)(3, 3) = 1;
//Burda 3 e 3 luk rotasyon matrix ini transMatrix e yerlestircez.
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
(*transMatrix)(i, j) = (* rotationMatrix)(i, j);
}
}
//Son olarak da trans matrixini son sutuna yerlestiriyoruz.
for (int k = 0; k < 3; k++)
{
(*transMatrix)(k, 3) = tra[k];
}
}
PointCloud Transform::doTransform(PointCloud& pc)
{
PointCloud new_pointCloud;
list<Point>pTemp;
pTemp = pc.getPointCloud();
new_pointCloud.setPointCloud(doTransform(pTemp));
return new_pointCloud;
}
list<Point> Transform::doTransform(list<Point> lp)
{
list<Point> new_list;
list<Point>::iterator iter;
//list teki her bir pointe transform islemi uygulanir
for (iter = lp.begin(); iter != lp.end(); iter++)
{
new_list.push_back(doTransform(*iter));
}
return new_list;
}
Point Transform::doTransform(Point p)
{
Point new_point;
double p_cord[3];
p_cord[0] = p.getX();
p_cord[1] = p.getY();
p_cord[2] = p.getZ();
using namespace Eigen;
Vector4d point1, point2;
point2(0) = p_cord[0];
point2(1) = p_cord[1];
point2(2) = p_cord[2];
point2(3) = 1;
//Donusum matrisiyle point in noktalarinin carpim islemi
point1 = (* transMatrix) * point2;
//Donusturlmus noktanin koord set edilir.
new_point.setPoint(point1(0), point1(1), point1(2));
return new_point;
}
//
//void Transform::displayTranslation() const
//{
// int i, j;
// for (i = 0; i < 4; i++) {
// for (j = 0; j < 4; j++) {
// cout << setw(10) << right << this->transMatrix[i][j];
// }
// cout << endl;
// }
//}
//
//void Transform::displayRotation() const
//{
//
// for (int i = 0; i < 3; i++)
// {
// for (int j = 0; j < 3; j++)
// {
// cout << setw(10) << right << this->rotationmatrix[i][j];
// }
// cout << endl;
// }
//}