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CloudViewer: Added updateCameraFrustum() method (multi-cameras supported)

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matlabbe
2016-06-19 18:33:36 -04:00
parent ab991c2a7d
commit 62db5370aa
3 changed files with 94 additions and 39 deletions
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20
guilib/include/rtabmap/gui/CloudViewer.h
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@@ -30,13 +30,16 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
#include "rtabmap/core/Transform.h"
#include "rtabmap/core/StereoCameraModel.h"
#include <QVTKWidget.h>
#include <pcl/pcl_base.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/PolygonMesh.h>
#include <pcl/TextureMesh.h>
#include "rtabmap/core/Transform.h"
#include <QtCore/QMap>
#include <QtCore/QSet>
#include <QtCore/qnamespace.h>
@@ -142,8 +145,19 @@ public:
void removeOccupancyGridMap();
void updateCameraTargetPosition(
const Transform & pose,
const Transform & localTransform = Transform::getIdentity());
const Transform & pose);
void updateCameraFrustum(
const Transform & pose,
const StereoCameraModel & model);
void updateCameraFrustum(
const Transform & pose,
const CameraModel & model);
void updateCameraFrustums(
const Transform & pose,
const std::vector<CameraModel> & models);
void addOrUpdateCoordinate(
const std::string & id,