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CloudViewer: added camera Ortho mode context menu option

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This commit is contained in:
matlabbe
2018-08-28 17:07:36 -04:00
parent 7cb39f02f2
commit 3e6f14f3bd
4 changed files with 96 additions and 9 deletions
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60
guilib/src/CloudViewer.cpp
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@@ -85,6 +85,7 @@ CloudViewer::CloudViewer(QWidget *parent, CloudViewerInteractorStyle * style) :
_aFollowCamera(0),
_aResetCamera(0),
_aLockViewZ(0),
_aCameraOrtho(0),
_aShowTrajectory(0),
_aSetTrajectorySize(0),
_aClearTrajectory(0),
@@ -224,6 +225,9 @@ void CloudViewer::createMenu()
_aLockViewZ = new QAction("Lock view Z", this);
_aLockViewZ->setCheckable(true);
_aLockViewZ->setChecked(true);
_aCameraOrtho = new QAction("Ortho mode", this);
_aCameraOrtho->setCheckable(true);
_aCameraOrtho->setChecked(false);
_aResetCamera = new QAction("Reset position", this);
_aShowTrajectory= new QAction("Show trajectory", this);
_aShowTrajectory->setCheckable(true);
@@ -267,6 +271,7 @@ void CloudViewer::createMenu()
cameraMenu->addAction(freeCamera);
cameraMenu->addSeparator();
cameraMenu->addAction(_aLockViewZ);
cameraMenu->addAction(_aCameraOrtho);
cameraMenu->addAction(_aResetCamera);
QActionGroup * group = new QActionGroup(this);
group->addAction(_aLockCamera);
@@ -358,6 +363,7 @@ void CloudViewer::saveSettings(QSettings & settings, const QString & group) cons
settings.setValue("camera_target_follow", this->isCameraTargetFollow());
settings.setValue("camera_free", this->isCameraFree());
settings.setValue("camera_lockZ", this->isCameraLockZ());
settings.setValue("camera_ortho", this->isCameraOrtho());
settings.setValue("bg_color", this->getDefaultBackgroundColor());
settings.setValue("rendering_rate", this->getRenderingRate());
@@ -404,6 +410,7 @@ void CloudViewer::loadSettings(QSettings & settings, const QString & group)
this->setCameraFree();
}
this->setCameraLockZ(settings.value("camera_lockZ", this->isCameraLockZ()).toBool());
this->setCameraOrtho(settings.value("camera_ortho", this->isCameraOrtho()).toBool());
this->setDefaultBackgroundColor(settings.value("bg_color", this->getDefaultBackgroundColor()).value<QColor>());
@@ -2025,7 +2032,14 @@ void CloudViewer::resetCamera()
{
// reset relative to last current pose
cv::Point3f pt = util3d::transformPoint(cv::Point3f(_lastPose.x(), _lastPose.y(), _lastPose.z()), ( _lastPose.rotation()*Transform(-1, 0, 0)).translation());
if(_aLockViewZ->isChecked())
if(_aCameraOrtho->isChecked())
{
_visualizer->setCameraPosition(
_lastPose.x(), _lastPose.y(), _lastPose.z()+5,
_lastPose.x(), _lastPose.y(), _lastPose.z(),
1, 0, 0, 1);
}
else if(_aLockViewZ->isChecked())
{
_visualizer->setCameraPosition(
pt.x, pt.y, pt.z,
@@ -2040,6 +2054,13 @@ void CloudViewer::resetCamera()
_lastPose.r31(), _lastPose.r32(), _lastPose.r33(), 1);
}
}
else if(_aCameraOrtho->isChecked())
{
_visualizer->setCameraPosition(
0, 0, 5,
0, 0, 0,
1, 0, 0, 1);
}
else
{
_visualizer->setCameraPosition(
@@ -2371,7 +2392,7 @@ void CloudViewer::updateCameraTargetPosition(const Transform & pose)
std::vector<pcl::visualization::Camera> cameras;
_visualizer->getCameras(cameras);
if(_aLockCamera->isChecked())
if(_aLockCamera->isChecked() || _aCameraOrtho->isChecked())
{
//update camera position
Eigen::Vector3f diff = pos - Eigen::Vector3f(_lastPose.x(), _lastPose.y(), _lastPose.z());
@@ -2599,6 +2620,17 @@ void CloudViewer::setCameraLockZ(bool enabled)
_lastCameraOrientation= _lastCameraPose = cv::Vec3f(0,0,0);
_aLockViewZ->setChecked(enabled);
}
void CloudViewer::setCameraOrtho(bool enabled)
{
_lastCameraOrientation= _lastCameraPose = cv::Vec3f(0,0,0);
CloudViewerInteractorStyle * interactor = CloudViewerInteractorStyle::SafeDownCast(this->GetInteractor()->GetInteractorStyle());
if(interactor)
{
interactor->setOrthoMode(enabled);
this->update();
}
_aCameraOrtho->setChecked(enabled);
}
bool CloudViewer::isCameraTargetLocked() const
{
return _aLockCamera->isChecked();
@@ -2615,6 +2647,10 @@ bool CloudViewer::isCameraLockZ() const
{
return _aLockViewZ->isChecked();
}
bool CloudViewer::isCameraOrtho() const
{
return _aCameraOrtho->isChecked();
}
double CloudViewer::getRenderingRate() const
{
return _renderingRate;
@@ -2934,7 +2970,7 @@ void CloudViewer::mouseMoveEvent(QMouseEvent * event)
QVTKWidget::mouseMoveEvent(event);
// camera view up z locked?
if(_aLockViewZ->isChecked())
if(_aLockViewZ->isChecked() && !_aCameraOrtho->isChecked())
{
std::vector<pcl::visualization::Camera> cameras;
_visualizer->getCameras(cameras);
@@ -2955,6 +2991,18 @@ void CloudViewer::mouseMoveEvent(QMouseEvent * event)
_lastCameraOrientation = newCameraOrientation;
_lastCameraPose = cv::Vec3d(cameras.front().pos);
}
else
{
if(cameras.front().view[2] == 0)
{
cameras.front().pos[0] -= 0.00001*cameras.front().view[0];
cameras.front().pos[1] -= 0.00001*cameras.front().view[1];
}
else
{
cameras.front().pos[0] -= 0.00001;
}
}
cameras.front().view[0] = 0;
cameras.front().view[1] = 0;
cameras.front().view[2] = 1;
@@ -2973,7 +3021,7 @@ void CloudViewer::mouseMoveEvent(QMouseEvent * event)
void CloudViewer::wheelEvent(QWheelEvent * event)
{
QVTKWidget::wheelEvent(event);
if(_aLockViewZ->isChecked())
if(_aLockViewZ->isChecked() && !_aCameraOrtho->isChecked())
{
std::vector<pcl::visualization::Camera> cameras;
_visualizer->getCameras(cameras);
@@ -3112,6 +3160,10 @@ void CloudViewer::handleAction(QAction * a)
this->update();
}
}
else if(a == _aCameraOrtho)
{
this->setCameraOrtho(_aCameraOrtho->isChecked());
}
else if(a == _aSetLighting)
{
this->setLighting(_aSetLighting->isChecked());