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DatabaseViewer: cloud in 3D view is now in base frame instead of camera frame

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matlabbe
2016-08-05 15:30:38 -04:00
parent 5dd42cf925
commit d9b3eafc39
1 changed files with 8 additions and 0 deletions
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guilib/src/DatabaseViewer.cpp
+8
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@@ -2334,6 +2334,7 @@ void DatabaseViewer::update(int value,
(!data.depthOrRightRaw().empty() || (!data.depthOrRightRaw().empty() ||
!data.laserScanRaw().empty())) !data.laserScanRaw().empty()))
{ {
view3D->removeAllFrustums();
if(!data.depthOrRightRaw().empty()) if(!data.depthOrRightRaw().empty())
{ {
if(!data.imageRaw().empty()) if(!data.imageRaw().empty())
@@ -2350,6 +2351,11 @@ void DatabaseViewer::update(int value,
data.imageRaw(), data.imageRaw(),
depth, depth,
data.cameraModels()[0]); data.cameraModels()[0]);
if(cloud->size())
{
cloud = util3d::transformPointCloud(cloud, data.cameraModels()[0].localTransform());
}
} }
else else
{ {
@@ -2386,6 +2392,7 @@ void DatabaseViewer::update(int value,
view3D->addCloud("0", cloud); view3D->addCloud("0", cloud);
} }
} }
view3D->updateCameraFrustums(Transform::getIdentity(), data.cameraModels());
} }
else else
{ {
@@ -2394,6 +2401,7 @@ void DatabaseViewer::update(int value,
if(cloud->size()) if(cloud->size())
{ {
view3D->addCloud("0", cloud); view3D->addCloud("0", cloud);
view3D->updateCameraFrustum(Transform::getIdentity(), data.stereoCameraModel());
} }
} }
} }