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CloudViewer: Added updateCameraFrustum() method (multi-cameras supported)

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This commit is contained in:
matlabbe
2016-06-19 18:33:36 -04:00
parent ab991c2a7d
commit 62db5370aa
3 changed files with 94 additions and 39 deletions
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guilib/src/MainWindow.cpp
+9 -7
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@@ -1063,17 +1063,17 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
if(!odom.pose().isNull())
{
// update camera position
Transform localTransform;
_cloudViewer->updateCameraTargetPosition(_odometryCorrection*odom.pose());
if(odom.data().cameraModels().size() && !odom.data().cameraModels()[0].localTransform().isNull())
{
localTransform = odom.data().cameraModels()[0].localTransform();
_cloudViewer->updateCameraFrustums(_odometryCorrection*odom.pose(), odom.data().cameraModels());
}
else if(!odom.data().stereoCameraModel().localTransform().isNull())
{
localTransform = odom.data().stereoCameraModel().localTransform();
_cloudViewer->updateCameraFrustum(_odometryCorrection*odom.pose(), odom.data().stereoCameraModel());
}
_cloudViewer->updateCameraTargetPosition(_odometryCorrection*odom.pose(), localTransform);
}
_cloudViewer->update();
@@ -1579,20 +1579,22 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
if(!_odometryReceived && poses.size())
{
_cloudViewer->updateCameraTargetPosition(poses.rbegin()->second);
Transform localTransform = Transform::getIdentity();
std::map<int, Signature>::const_iterator iter = stat.getSignatures().find(poses.rbegin()->first);
if(iter != stat.getSignatures().end())
{
if(iter->second.sensorData().cameraModels().size() && !iter->second.sensorData().cameraModels()[0].localTransform().isNull())
{
localTransform = iter->second.sensorData().cameraModels()[0].localTransform();
_cloudViewer->updateCameraFrustums(poses.rbegin()->second, iter->second.sensorData().cameraModels());
}
else if(!iter->second.sensorData().stereoCameraModel().localTransform().isNull())
{
localTransform = iter->second.sensorData().stereoCameraModel().localTransform();
_cloudViewer->updateCameraFrustum(poses.rbegin()->second, iter->second.sensorData().stereoCameraModel());
}
}
_cloudViewer->updateCameraTargetPosition(poses.rbegin()->second, localTransform);
if(_ui->graphicsView_graphView->isVisible())
{
_ui->graphicsView_graphView->updateReferentialPosition(poses.rbegin()->second);