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Updated camera view rotation limit when approaching z axis

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This commit is contained in:
matlabbe
2015-06-28 20:16:38 -04:00
parent 4f96fd3530
commit 5269649661
1 changed files with 49 additions and 5 deletions
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guilib/src/CloudViewer.cpp
+49 -5
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@@ -44,10 +44,54 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QtGui/QVector3D> #include <QtGui/QVector3D>
#include <set> #include <set>
#include <vtkCamera.h>
#include <vtkRenderWindow.h> #include <vtkRenderWindow.h>
namespace rtabmap { namespace rtabmap {
class MyInteractorStyle: public pcl::visualization::PCLVisualizerInteractorStyle
{
public:
virtual void Rotate()
{
if (this->CurrentRenderer == NULL)
{
return;
}
vtkRenderWindowInteractor *rwi = this->Interactor;
int dx = rwi->GetEventPosition()[0] - rwi->GetLastEventPosition()[0];
int dy = rwi->GetEventPosition()[1] - rwi->GetLastEventPosition()[1];
int *size = this->CurrentRenderer->GetRenderWindow()->GetSize();
double delta_elevation = -20.0 / size[1];
double delta_azimuth = -20.0 / size[0];
double rxf = dx * delta_azimuth * this->MotionFactor;
double ryf = dy * delta_elevation * this->MotionFactor;
vtkCamera *camera = this->CurrentRenderer->GetActiveCamera();
camera->Azimuth(rxf);
camera->Elevation(ryf);
camera->OrthogonalizeViewUp();
if (this->AutoAdjustCameraClippingRange)
{
this->CurrentRenderer->ResetCameraClippingRange();
}
if (rwi->GetLightFollowCamera())
{
this->CurrentRenderer->UpdateLightsGeometryToFollowCamera();
}
//rwi->Render();
}
};
CloudViewer::CloudViewer(QWidget *parent) : CloudViewer::CloudViewer(QWidget *parent) :
QVTKWidget(parent), QVTKWidget(parent),
_visualizer(new pcl::visualization::PCLVisualizer("PCLVisualizer", false)), _visualizer(new pcl::visualization::PCLVisualizer("PCLVisualizer", false)),
@@ -80,7 +124,8 @@ CloudViewer::CloudViewer(QWidget *parent) :
// Replaced by the second line, to avoid a crash in Mac OS X on close, as well as // Replaced by the second line, to avoid a crash in Mac OS X on close, as well as
// the "Invalid drawable" warning when the view is not visible. // the "Invalid drawable" warning when the view is not visible.
//_visualizer->setupInteractor(this->GetInteractor(), this->GetRenderWindow()); //_visualizer->setupInteractor(this->GetInteractor(), this->GetRenderWindow());
this->GetInteractor()->SetInteractorStyle (_visualizer->getInteractorStyle()); vtkSmartPointer<MyInteractorStyle> interactor(new MyInteractorStyle());
this->GetInteractor()->SetInteractorStyle (interactor);
_visualizer->setCameraPosition( _visualizer->setCameraPosition(
-1, 0, 0, -1, 0, 0,
@@ -1171,13 +1216,11 @@ void CloudViewer::mouseMoveEvent(QMouseEvent * event)
_visualizer->getCameras(cameras); _visualizer->getCameras(cameras);
cv::Vec3d newCameraOrientation = cv::Vec3d(0,0,1).cross(cv::Vec3d(cameras.front().pos)-cv::Vec3d(cameras.front().focal)); cv::Vec3d newCameraOrientation = cv::Vec3d(0,0,1).cross(cv::Vec3d(cameras.front().pos)-cv::Vec3d(cameras.front().focal));
double norm = cv::norm(cv::Vec3d(cameras.front().pos)-cv::Vec3d(cameras.front().focal));
if( _lastCameraOrientation!=cv::Vec3d(0,0,0) && if( _lastCameraOrientation!=cv::Vec3d(0,0,0) &&
_lastCameraPose!=cv::Vec3d(0,0,0) && _lastCameraPose!=cv::Vec3d(0,0,0) &&
( (uSign(_lastCameraOrientation[0]) != uSign(newCameraOrientation[0]) && (uSign(_lastCameraOrientation[0]) != uSign(newCameraOrientation[0]) &&
uSign(_lastCameraOrientation[1]) != uSign(newCameraOrientation[1]) ) || uSign(_lastCameraOrientation[1]) != uSign(newCameraOrientation[1])))
(norm && fabs(cameras.front().pos[2]-cameras.front().focal[2])/norm > 0.9999)))
{ {
cameras.front().pos[0] = _lastCameraPose[0]; cameras.front().pos[0] = _lastCameraPose[0];
cameras.front().pos[1] = _lastCameraPose[1]; cameras.front().pos[1] = _lastCameraPose[1];
@@ -1198,6 +1241,7 @@ void CloudViewer::mouseMoveEvent(QMouseEvent * event)
cameras.front().view[0], cameras.front().view[1], cameras.front().view[2]); cameras.front().view[0], cameras.front().view[1], cameras.front().view[2]);
} }
this->update();
emit configChanged(); emit configChanged();
} }