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GUI: Fixed viewpoint including local transform when generating organized mesh

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matlabbe
2016-04-12 16:47:55 -04:00
parent 684e9fb8b9
commit b53b861342
4 changed files with 67 additions and 8 deletions
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guilib/src/DatabaseViewer.cpp
+15 -1
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@@ -2266,11 +2266,25 @@ void DatabaseViewer::update(int value,
{
if(ui_->checkBox_showMesh->isChecked() && !cloud->is_dense)
{
Eigen::Vector3f viewpoint(0.0f,0.0f,0.0f);
if(data.cameraModels().size() && !data.cameraModels()[0].localTransform().isNull())
{
viewpoint[0] = data.cameraModels()[0].localTransform().x();
viewpoint[1] = data.cameraModels()[0].localTransform().y();
viewpoint[2] = data.cameraModels()[0].localTransform().z();
}
else if(!data.stereoCameraModel().localTransform().isNull())
{
viewpoint[0] = data.stereoCameraModel().localTransform().x();
viewpoint[1] = data.stereoCameraModel().localTransform().y();
viewpoint[2] = data.stereoCameraModel().localTransform().z();
}
std::vector<pcl::Vertices> polygons = util3d::organizedFastMesh(
cloud,
float(ui_->spinBox_mesh_angleTolerance->value())*M_PI/180.0f,
ui_->checkBox_mesh_quad->isChecked(),
ui_->spinBox_mesh_triangleSize->value());
ui_->spinBox_mesh_triangleSize->value(),
viewpoint);
view3D->removeCloud("0");
view3D->addCloudMesh("0", cloud, polygons);
}