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CloudViewer: fixed camera clipping the grid

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This commit is contained in:
matlabbe
2020-06-03 13:41:36 -04:00
parent ff3c6c8e06
commit b6d4c6f024
2 changed files with 150 additions and 139 deletions
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51
guilib/src/CloudViewer.cpp
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@@ -138,7 +138,7 @@ CloudViewer::CloudViewer(QWidget *parent, CloudViewerInteractorStyle * style) :
int argc = 0;
UASSERT(style!=0);
style->setCloudViewer(this);
style->SetAutoAdjustCameraClippingRange(true);
style->AutoAdjustCameraClippingRangeOff();
_visualizer = new pcl::visualization::PCLVisualizer(
argc,
0,
@@ -195,7 +195,7 @@ CloudViewer::CloudViewer(QWidget *parent, CloudViewerInteractorStyle * style) :
_visualizer->setCameraPosition(
-1, 0, 0,
0, 0, 0,
0, 0, 1, 1);
0, 0, 1, 0);
#ifndef _WIN32
// Crash on startup on Windows (vtk issue)
this->addOrUpdateCoordinate("reference", Transform::getIdentity(), 0.2);
@@ -286,14 +286,12 @@ void CloudViewer::createMenu()
_aSetEDLShading = new QAction("Eye-Dome Lighting Shading", this);
_aSetEDLShading->setCheckable(true);
_aSetEDLShading->setChecked(false);
#if VTK_MAJOR_VERSION < 7
_aSetEDLShading->setEnabled(false);
#endif
_aSetLighting = new QAction("Lighting", this);
_aSetLighting->setCheckable(true);
_aSetLighting->setChecked(false);
#if VTK_MAJOR_VERSION < 7
_aSetLighting->setEnabled(false);
#endif
_aSetFlatShading = new QAction("Flat Shading", this);
_aSetFlatShading->setCheckable(true);
_aSetFlatShading->setChecked(false);
@@ -2254,21 +2252,21 @@ void CloudViewer::resetCamera()
_visualizer->setCameraPosition(
_lastPose.x(), _lastPose.y(), _lastPose.z()+5,
_lastPose.x(), _lastPose.y(), _lastPose.z(),
1, 0, 0, 1);
1, 0, 0, 0);
}
else if(_aLockViewZ->isChecked())
{
_visualizer->setCameraPosition(
pt.x, pt.y, pt.z,
_lastPose.x(), _lastPose.y(), _lastPose.z(),
0, 0, 1, 1);
0, 0, 1, 0);
}
else
{
_visualizer->setCameraPosition(
pt.x, pt.y, pt.z,
_lastPose.x(), _lastPose.y(), _lastPose.z(),
_lastPose.r31(), _lastPose.r32(), _lastPose.r33(), 1);
_lastPose.r31(), _lastPose.r32(), _lastPose.r33(), 0);
}
}
else if(_aCameraOrtho->isChecked())
@@ -2276,14 +2274,14 @@ void CloudViewer::resetCamera()
_visualizer->setCameraPosition(
0, 0, 5,
0, 0, 0,
1, 0, 0, 1);
1, 0, 0, 0);
}
else
{
_visualizer->setCameraPosition(
-1, 0, 0,
0, 0, 0,
0, 0, 1, 1);
0, 0, 1, 0);
}
this->update();
}
@@ -2593,7 +2591,7 @@ void CloudViewer::setCameraPosition(
float upX, float upY, float upZ)
{
_lastCameraOrientation= _lastCameraPose= cv::Vec3f(0,0,0);
_visualizer->setCameraPosition(x,y,z, focalX,focalY,focalX, upX,upY,upZ, 1);
_visualizer->setCameraPosition(x,y,z, focalX,focalY,focalX, upX,upY,upZ, 0);
}
void CloudViewer::updateCameraTargetPosition(const Transform & pose)
@@ -2713,7 +2711,7 @@ void CloudViewer::updateCameraTargetPosition(const Transform & pose)
_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], 1);
cameras.front().view[0], cameras.front().view[1], cameras.front().view[2], 0);
}
}
@@ -3252,7 +3250,7 @@ void CloudViewer::keyPressEvent(QKeyEvent * event)
_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], 1);
cameras.front().view[0], cameras.front().view[1], cameras.front().view[2], 0);
update();
@@ -3280,12 +3278,12 @@ void CloudViewer::mouseMoveEvent(QMouseEvent * event)
{
QVTKWidget::mouseMoveEvent(event);
std::vector<pcl::visualization::Camera> cameras;
_visualizer->getCameras(cameras);
// camera view up z locked?
if(_aLockViewZ->isChecked() && !_aCameraOrtho->isChecked())
{
std::vector<pcl::visualization::Camera> cameras;
_visualizer->getCameras(cameras);
cv::Vec3d newCameraOrientation = cv::Vec3d(0,0,1).cross(cv::Vec3d(cameras.front().pos)-cv::Vec3d(cameras.front().focal));
if( _lastCameraOrientation!=cv::Vec3d(0,0,0) &&
@@ -3317,13 +3315,13 @@ void CloudViewer::mouseMoveEvent(QMouseEvent * event)
cameras.front().view[0] = 0;
cameras.front().view[1] = 0;
cameras.front().view[2] = 1;
}
_visualizer->setCameraPosition(
_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], 1);
cameras.front().view[0], cameras.front().view[1], cameras.front().view[2], 0);
}
this->update();
Q_EMIT configChanged();
@@ -3332,12 +3330,19 @@ void CloudViewer::mouseMoveEvent(QMouseEvent * event)
void CloudViewer::wheelEvent(QWheelEvent * event)
{
QVTKWidget::wheelEvent(event);
std::vector<pcl::visualization::Camera> cameras;
_visualizer->getCameras(cameras);
if(_aLockViewZ->isChecked() && !_aCameraOrtho->isChecked())
{
std::vector<pcl::visualization::Camera> cameras;
_visualizer->getCameras(cameras);
_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);
Q_EMIT configChanged();
}