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3D Rendering: Added option to show graph's frustums, added option to filter floor and/or ceiling.

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matlabbe
2017-02-09 18:32:44 -05:00
parent e4629cc740
commit 0d0577a886
10 changed files with 1324 additions and 1048 deletions
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5
guilib/src/DepthCalibrationDialog.cpp
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@@ -355,11 +355,10 @@ void DepthCalibrationDialog::calibrate(
_progressDialog->appendText(tr("Viewing the cloud (%1 points and %2 poses)...").arg(map->size()).arg(sequence.size()));
_progressDialog->incrementStep();
viewer->addCloud("map", map);
Transform opticalRot(0, 0, 1, 0, -1, 0, 0, 0, 0, -1, 0, 0);
for(std::map<int, SensorData>::iterator iter=sequence.begin(); iter!=sequence.end(); ++iter)
{
Transform baseToCamera = iter->second.cameraModels()[0].localTransform()*opticalRot.inverse();
viewer->addOrUpdateFrustum(uFormat("frustum%d",iter->first), poses.at(iter->first) * baseToCamera, 0.2);
Transform baseToCamera = iter->second.cameraModels()[0].localTransform();
viewer->addOrUpdateFrustum(uFormat("frustum%d",iter->first), poses.at(iter->first), baseToCamera, 0.2);
}
_progressDialog->appendText(tr("Viewing the cloud (%1 points and %2 poses)... done.").arg(map->size()).arg(sequence.size()));