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DBViewer: added camera frustums in Constraints View

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matlabbe
2022-03-25 11:24:34 -04:00
parent ff739a98a5
commit 6cefc6d00a
1 changed files with 26 additions and 0 deletions
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26
guilib/src/DatabaseViewer.cpp
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@@ -6389,6 +6389,32 @@ void DatabaseViewer::updateConstraintView(
}
}
//frustums
constraintsViewer_->removeAllFrustums();
if(constraintsViewer_->isFrustumShown())
{
CameraModel model;
if(dataFrom.cameraModels().size())
{
model = dataFrom.cameraModels()[0];
}
else
{
model = dataFrom.stereoCameraModel().left();
}
constraintsViewer_->addOrUpdateFrustum("frustum_from", pose, model.localTransform(), constraintsViewer_->getFrustumScale(), constraintsViewer_->getFrustumColor(), model.fovX(), model.fovY());
model = CameraModel();
if(dataTo.cameraModels().size())
{
model = dataTo.cameraModels()[0];
}
else
{
model = dataTo.stereoCameraModel().left();
}
constraintsViewer_->addOrUpdateFrustum("frustum_to", pose*t, model.localTransform(), constraintsViewer_->getFrustumScale(), constraintsViewer_->getFrustumColor(), model.fovX(), model.fovY());
}
//update coordinate
constraintsViewer_->addOrUpdateCoordinate("from_coordinate", pose, 0.2);
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)