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CloudViewer: updated camera clipping 2

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This commit is contained in:
matlabbe
2020-06-03 14:50:59 -04:00
parent b6d4c6f024
commit 7a9a5d2ef9
1 changed files with 67 additions and 29 deletions
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96
guilib/src/CloudViewer.cpp
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@@ -192,10 +192,10 @@ CloudViewer::CloudViewer(QWidget *parent, CloudViewerInteractorStyle * style) :
setRenderingRate(_renderingRate);
_visualizer->setCameraPosition(
this->setCameraPosition(
-1, 0, 0,
0, 0, 0,
0, 0, 1, 0);
0, 0, 1);
#ifndef _WIN32
// Crash on startup on Windows (vtk issue)
this->addOrUpdateCoordinate("reference", Transform::getIdentity(), 0.2);
@@ -438,6 +438,7 @@ void CloudViewer::loadSettings(QSettings & settings, const QString & group)
pose = settings.value("camera_pose", pose).value<QVector3D>();
focal = settings.value("camera_focal", focal).value<QVector3D>();
up = settings.value("camera_up", up).value<QVector3D>();
_lastCameraOrientation= _lastCameraPose= cv::Vec3f(0,0,0);
this->setCameraPosition(pose.x(),pose.y(),pose.z(), focal.x(),focal.y(),focal.z(), up.x(),up.y(),up.z());
this->setGridShown(settings.value("grid", this->isGridShown()).toBool());
@@ -2249,41 +2250,40 @@ void CloudViewer::resetCamera()
cv::Point3f pt = util3d::transformPoint(cv::Point3f(_lastPose.x(), _lastPose.y(), _lastPose.z()), ( _lastPose.rotation()*Transform(-1, 0, 0)).translation());
if(_aCameraOrtho->isChecked())
{
_visualizer->setCameraPosition(
this->setCameraPosition(
_lastPose.x(), _lastPose.y(), _lastPose.z()+5,
_lastPose.x(), _lastPose.y(), _lastPose.z(),
1, 0, 0, 0);
1, 0, 0);
}
else if(_aLockViewZ->isChecked())
{
_visualizer->setCameraPosition(
this->setCameraPosition(
pt.x, pt.y, pt.z,
_lastPose.x(), _lastPose.y(), _lastPose.z(),
0, 0, 1, 0);
0, 0, 1);
}
else
{
_visualizer->setCameraPosition(
this->setCameraPosition(
pt.x, pt.y, pt.z,
_lastPose.x(), _lastPose.y(), _lastPose.z(),
_lastPose.r31(), _lastPose.r32(), _lastPose.r33(), 0);
_lastPose.r31(), _lastPose.r32(), _lastPose.r33());
}
}
else if(_aCameraOrtho->isChecked())
{
_visualizer->setCameraPosition(
this->setCameraPosition(
0, 0, 5,
0, 0, 0,
1, 0, 0, 0);
1, 0, 0);
}
else
{
_visualizer->setCameraPosition(
this->setCameraPosition(
-1, 0, 0,
0, 0, 0,
0, 0, 1, 0);
0, 0, 1);
}
this->update();
}
void CloudViewer::removeAllClouds()
@@ -2590,8 +2590,42 @@ void CloudViewer::setCameraPosition(
float focalX, float focalY, float focalZ,
float upX, float upY, float upZ)
{
_lastCameraOrientation= _lastCameraPose= cv::Vec3f(0,0,0);
_visualizer->setCameraPosition(x,y,z, focalX,focalY,focalX, upX,upY,upZ, 0);
vtkRenderer* renderer = NULL;
double boundingBox[6] = {1, -1, 1, -1, 1, -1};
// compute global bounding box
_visualizer->getRendererCollection()->InitTraversal ();
while ((renderer = _visualizer->getRendererCollection()->GetNextItem ()) != NULL)
{
vtkSmartPointer<vtkCamera> cam = renderer->GetActiveCamera ();
cam->SetPosition (x, y, z);
cam->SetFocalPoint (focalX, focalY, focalZ);
cam->SetViewUp (upX, upY, upZ);
double BB[6];
renderer->ComputeVisiblePropBounds(BB);
for (int i = 0; i < 6; i++) {
if (i % 2 == 0) {
// Even Index is Min
if (BB[i] < boundingBox[i]) {
boundingBox[i] = BB[i];
}
} else {
// Odd Index is Max
if (BB[i] > boundingBox[i]) {
boundingBox[i] = BB[i];
}
}
}
}
_visualizer->getRendererCollection()->InitTraversal ();
while ((renderer = _visualizer->getRendererCollection()->GetNextItem ()) != NULL)
{
renderer->ResetCameraClippingRange(boundingBox);
}
_visualizer->getRenderWindow()->Render ();
}
void CloudViewer::updateCameraTargetPosition(const Transform & pose)
@@ -2708,10 +2742,10 @@ void CloudViewer::updateCameraTargetPosition(const Transform & pose)
}
}
_visualizer->setCameraPosition(
this->setCameraPosition(
cameras.front().pos[0], cameras.front().pos[1], cameras.front().pos[2],
cameras.front().focal[0], cameras.front().focal[1], cameras.front().focal[2],
cameras.front().view[0], cameras.front().view[1], cameras.front().view[2], 0);
cameras.front().view[0], cameras.front().view[1], cameras.front().view[2]);
}
}
@@ -3023,6 +3057,13 @@ void CloudViewer::addGrid()
r, g, b, name, 2);
_gridLines.push_back(name);
}
// this will update clipping planes
std::vector<pcl::visualization::Camera> cameras;
_visualizer->getCameras(cameras);
this->setCameraPosition(
cameras.front().pos[0], cameras.front().pos[1], cameras.front().pos[2],
cameras.front().focal[0], cameras.front().focal[1], cameras.front().focal[2],
cameras.front().view[0], cameras.front().view[1], cameras.front().view[2]);
}
}
@@ -3247,12 +3288,10 @@ void CloudViewer::keyPressEvent(QKeyEvent * event)
cameras.front().focal[0] += cummulatedDir[0] + cummulatedFocalDir[0];
cameras.front().focal[1] += cummulatedDir[1] + cummulatedFocalDir[1];
cameras.front().focal[2] += cummulatedDir[2] + cummulatedFocalDir[2];
_visualizer->setCameraPosition(
this->setCameraPosition(
cameras.front().pos[0], cameras.front().pos[1], cameras.front().pos[2],
cameras.front().focal[0], cameras.front().focal[1], cameras.front().focal[2],
cameras.front().view[0], cameras.front().view[1], cameras.front().view[2], 0);
update();
cameras.front().view[0], cameras.front().view[1], cameras.front().view[2]);
Q_EMIT configChanged();
}
@@ -3317,12 +3356,10 @@ void CloudViewer::mouseMoveEvent(QMouseEvent * event)
cameras.front().view[2] = 1;
}
_visualizer->setCameraPosition(
this->setCameraPosition(
cameras.front().pos[0], cameras.front().pos[1], cameras.front().pos[2],
cameras.front().focal[0], cameras.front().focal[1], cameras.front().focal[2],
cameras.front().view[0], cameras.front().view[1], cameras.front().view[2], 0);
this->update();
cameras.front().view[0], cameras.front().view[1], cameras.front().view[2]);
Q_EMIT configChanged();
}
@@ -3339,10 +3376,11 @@ void CloudViewer::wheelEvent(QWheelEvent * event)
_lastCameraPose = cv::Vec3d(cameras.front().pos);
}
_visualizer->setCameraPosition(
cameras.front().pos[0], cameras.front().pos[1], cameras.front().pos[2],
cameras.front().focal[0], cameras.front().focal[1], cameras.front().focal[2],
cameras.front().view[0], cameras.front().view[1], cameras.front().view[2], 0);
this->setCameraPosition(
cameras.front().pos[0], cameras.front().pos[1], cameras.front().pos[2],
cameras.front().focal[0], cameras.front().focal[1], cameras.front().focal[2],
cameras.front().view[0], cameras.front().view[1], cameras.front().view[2]);
Q_EMIT configChanged();
}