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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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9
guilib/src/MainWindow.cpp
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@@ -1274,7 +1274,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
if(!t.isNull())
{
QColor color = Qt::yellow;
_cloudViewer->addOrUpdateFrustum(frustumId, _odometryCorrection*iter->second, t, _cloudViewer->getFrustumScale(), color);
_cloudViewer->addOrUpdateFrustum(frustumId, _odometryCorrection*iter->second, t, _cloudViewer->getFrustumScale(), color, model.fovX(), model.fovY());
}
}
}
@@ -2646,17 +2646,18 @@ void MainWindow::updateMapCloud(
// Supporting only one frustum per node
if(s.sensorData().cameraModels().size() == 1 || s.sensorData().stereoCameraModel().isValidForProjection())
{
Transform t = s.sensorData().stereoCameraModel().isValidForProjection()?s.sensorData().stereoCameraModel().localTransform():s.sensorData().cameraModels()[0].localTransform();
const CameraModel & model = s.sensorData().stereoCameraModel().isValidForProjection()?s.sensorData().stereoCameraModel().left():s.sensorData().cameraModels()[0];
Transform t = model.localTransform();
if(!t.isNull())
{
QColor color = (Qt::GlobalColor)((mapId+3) % 12 + 7 );
_cloudViewer->addOrUpdateFrustum(frustumId, iter->second, t, _cloudViewer->getFrustumScale(), color);
_cloudViewer->addOrUpdateFrustum(frustumId, iter->second, t, _cloudViewer->getFrustumScale(), color, model.fovX(), model.fovY());
if(_currentGTPosesMap.find(iter->first)!=_currentGTPosesMap.end())
{
std::string gtFrustumId = uFormat("f_gt_%d", iter->first);
color = Qt::gray;
_cloudViewer->addOrUpdateFrustum(gtFrustumId, _currentGTPosesMap.at(iter->first), t, _cloudViewer->getFrustumScale(), color);
_cloudViewer->addOrUpdateFrustum(gtFrustumId, _currentGTPosesMap.at(iter->first), t, _cloudViewer->getFrustumScale(), color, model.fovX(), model.fovY());
}
}
}