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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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40
guilib/src/CloudViewerInteractorStyle.cpp
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@@ -11,6 +11,7 @@
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UConversion.h"
#include "rtabmap/utilite/UMath.h"
#include <vtkRenderer.h>
#include <vtkRenderWindow.h>
@@ -28,7 +29,8 @@ CloudViewerInteractorStyle::CloudViewerInteractorStyle() :
viewer_(0),
NumberOfClicks(0),
ResetPixelDistance(0),
pointsHolder_(new pcl::PointCloud<pcl::PointXYZRGB>)
pointsHolder_(new pcl::PointCloud<pcl::PointXYZRGB>),
orthoMode_(false)
{
PreviousPosition[0] = PreviousPosition[1] = 0;
PreviousMeasure[0] = PreviousMeasure[1] = PreviousMeasure[2] = 0.0f;
@@ -46,7 +48,7 @@ void CloudViewerInteractorStyle::Rotate()
vtkRenderWindowInteractor *rwi = this->Interactor;
int dx = rwi->GetEventPosition()[0] - rwi->GetLastEventPosition()[0];
int dy = rwi->GetEventPosition()[1] - rwi->GetLastEventPosition()[1];
int dy = orthoMode_?0:rwi->GetEventPosition()[1] - rwi->GetLastEventPosition()[1];
int *size = this->CurrentRenderer->GetRenderWindow()->GetSize();
@@ -58,9 +60,16 @@ void CloudViewerInteractorStyle::Rotate()
vtkCamera *camera = this->CurrentRenderer->GetActiveCamera();
UASSERT(camera);
camera->Azimuth(rxf);
camera->Elevation(ryf);
camera->OrthogonalizeViewUp();
if(!orthoMode_)
{
camera->Azimuth(rxf);
camera->Elevation(ryf);
camera->OrthogonalizeViewUp();
}
else
{
camera->Roll(-rxf);
}
if (this->AutoAdjustCameraClippingRange)
{
@@ -75,6 +84,27 @@ void CloudViewerInteractorStyle::Rotate()
//rwi->Render();
}
void CloudViewerInteractorStyle::setOrthoMode(bool enabled)
{
if (this->CurrentRenderer == NULL)
{
return;
}
vtkSmartPointer<vtkCamera> cam = CurrentRenderer->GetActiveCamera ();
UASSERT(cam.Get());
cam->SetParallelProjection (enabled);
if(enabled)
{
double x,y,z;
cam->GetFocalPoint(x, y, z);
cam->SetPosition(x, y, z+(cam->GetDistance()<=5?5:cam->GetDistance()));
cam->SetViewUp(1, 0, 0);
}
CurrentRenderer->SetActiveCamera (cam);
orthoMode_ = enabled;
}
void CloudViewerInteractorStyle::OnMouseMove()
{
if(this->CurrentRenderer &&