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CloudViewer: fixed rendering camera rotation not normalized warning

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matlabbe
2026-04-13 01:16:58 +00:00
parent a9f63bd5fd
commit a8fd7f043d
2 changed files with 12 additions and 11 deletions
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corelib/src/Odometry.cpp
+1 -1
View File
@@ -657,7 +657,7 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
UWARN("Could not find imu transform at %f", data.stamp());
}
}
else if(!guess.isNull()) {
else if(!guess.isNull() && (!data.imageRaw().empty() || !data.laserScanRaw().isEmpty())) {
UDEBUG("Using guess from motion %s", guess.prettyPrint().c_str());
}
guilib/src/CloudViewer.cpp
+11 -10
View File
@@ -2969,18 +2969,19 @@ void CloudViewer::updateCameraTargetPosition(const Transform & pose)
Eigen::Vector3f zAxis(cameras.front().view[0], cameras.front().view[1], cameras.front().view[2]);
Eigen::Vector3f yAxis = zAxis.cross(vPosToFocal);
Eigen::Vector3f xAxis = yAxis.cross(zAxis);
Transform PR(xAxis[0], xAxis[1], xAxis[2],0,
yAxis[0], yAxis[1], yAxis[2],0,
zAxis[0], zAxis[1], zAxis[2],0);
PR.normalizeRotation();
Eigen::Matrix3f m;
m << xAxis[0], xAxis[1], xAxis[2],
yAxis[0], yAxis[1], yAxis[2],
zAxis[0], zAxis[1], zAxis[2];
Transform P(PR[0], PR[1], PR[2], cameras.front().pos[0],
PR[4], PR[5], PR[6], cameras.front().pos[1],
PR[8], PR[9], PR[10], cameras.front().pos[2]);
Transform F(PR[0], PR[1], PR[2], cameras.front().focal[0],
PR[4], PR[5], PR[6], cameras.front().focal[1],
PR[8], PR[9], PR[10], cameras.front().focal[2]);
// Make sure it is normalized
Eigen::Quaternionf q = Eigen::Quaternionf(m).normalized();
Transform P(cameras.front().pos[0], cameras.front().pos[1], cameras.front().pos[2],
q.x(), q.y(), q.z(), q.w());
Transform F(cameras.front().focal[0], cameras.front().focal[1], cameras.front().focal[2],
q.x(), q.y(), q.z(), q.w());
Transform N = pose;
Transform O = _lastPose;
Transform O2N = O.inverse()*N;