i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed reset camera orientation

Browse Source
This commit is contained in:
matlabbe
2017-10-24 12:33:50 +02:00
parent 303f315b3e
commit 6b9d4fe7c5
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
guilib/src/CloudViewer.cpp
View File

@@ -1638,7 +1638,7 @@ void CloudViewer::resetCamera()
if((_aFollowCamera->isChecked() || _aLockCamera->isChecked()) && !_lastPose.isNull()) if((_aFollowCamera->isChecked() || _aLockCamera->isChecked()) && !_lastPose.isNull())
{ {
// reset relative to last current pose // 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)); cv::Point3f pt = util3d::transformPoint(cv::Point3f(_lastPose.x(), _lastPose.y(), _lastPose.z()), ( _lastPose.rotation()*Transform(-1, 0, 0)).translation());
if(_aLockViewZ->isChecked()) if(_aLockViewZ->isChecked())
{ {
_visualizer->setCameraPosition( _visualizer->setCameraPosition(