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CloudViewer: adjust frustum fov based on camera model (https://github.com/introlab/rtabmap_ros/issues/419)

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matlabbe
2020-05-24 11:13:13 -04:00
parent eb9999d7b1
commit 6acfc62196
6 changed files with 33 additions and 19 deletions
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3
corelib/include/rtabmap/core/CameraModel.h
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@@ -113,6 +113,9 @@ public:
int imageWidth() const {return imageSize_.width;}
int imageHeight() const {return imageSize_.height;}
double fovX() const {return imageSize_.width>0 && fx()>0?2.0*atan(imageSize_.width/(fx()*2.0)):0.0;}
double fovY() const {return imageSize_.height>0 && fy()>0?2.0*atan(imageSize_.height/(fy()*2.0)):0.0;}
bool load(const std::string & directory, const std::string & cameraName);
bool save(const std::string & directory) const;
std::vector<unsigned char> serialize() const;