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

3D->3D estimation refining: using 3x sqrt(variance) instead of sqrt(9x variance). GUI: added features cloud rendering option. CloudViewer: fixed slow updateCameraTargetPosition()

Browse Source
This commit is contained in:
matlabbe
2016-03-01 17:33:27 -05:00
parent a89b8cb4fe
commit b6fb947310
12 changed files with 354 additions and 102 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
guilib/src/CloudViewer.cpp
View File

@@ -1072,10 +1072,12 @@ void CloudViewer::updateCameraTargetPosition(const Transform & pose)
this->addOrUpdateCoordinate("reference", pose, 0.2);
_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]);
vtkRenderer* renderer = _visualizer->getRendererCollection()->GetFirstRenderer();
vtkSmartPointer<vtkCamera> cam = renderer->GetActiveCamera ();
cam->SetPosition (cameras.front().pos[0], cameras.front().pos[1], cameras.front().pos[2]);
cam->SetFocalPoint (cameras.front().focal[0], cameras.front().focal[1], cameras.front().focal[2]);
cam->SetViewUp (cameras.front().view[0], cameras.front().view[1], cameras.front().view[2]);
renderer->ResetCameraClippingRange();
}
}