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DBViewer: added camera projection on scan option (GUI params). Fixed some deprecated warnings.

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matlabbe
2021-04-19 18:14:20 -04:00
parent 93bfad626e
commit 3b7c6cd1f4
4 changed files with 409 additions and 293 deletions
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corelib/src/util3d.cpp
+2 -3
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@@ -3294,10 +3294,9 @@ std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > projectCloudToCamera
const Transform & cam = cameraPoses.at(invertedIndex[i][j].nodeID);
Eigen::Vector4f camDir(cam.x()-pt.x, cam.y()-pt.y, cam.z()-pt.z, 0);
Eigen::Vector4f normal(pt.normal_x, pt.normal_y, pt.normal_z, 0);
float angleToCam = pcl::getAngle3D(normal, camDir);
float angleToCam = maxAngle<=0?0:pcl::getAngle3D(normal, camDir);
float distanceToCam = invertedIndex[i][j].distance;
if(camDir.dot(normal) > 0 && // is facing camera?
(maxAngle<=0 || angleToCam < maxAngle) && // is point normal perpendicular to camera?
if( (maxAngle<=0 || (camDir.dot(normal) > 0 && angleToCam < maxAngle)) && // is facing camera? is point normal perpendicular to camera?
(maxDistance<=0 || distanceToCam<maxDistance)) // is point not too far from camera?
{
float vx = invertedIndex[i][j].uv.x-0.5f;