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https://github.com/introlab/rtabmap_ros.git
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matlabbe
c5cd0b7517
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1554 f169173b-cf89-36c8-b27e-44dbe73f0c83
57 lines
1.5 KiB
C++
57 lines
1.5 KiB
C++
/*
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* OrbitOrientedViewController.cpp
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*
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* Created on: 2014-07-13
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* Author: mathieu
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*/
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#include "OrbitOrientedViewController.h"
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#include <OgreCamera.h>
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#include <OgreQuaternion.h>
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#include <OgreSceneManager.h>
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#include <OgreSceneNode.h>
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#include <OgreVector3.h>
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#include <OgreViewport.h>
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#include "rviz/properties/float_property.h"
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#include "rviz/properties/vector_property.h"
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#include "rviz/ogre_helpers/shape.h"
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namespace rtabmap
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{
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void OrbitOrientedViewController::updateCamera()
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{
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float distance = distance_property_->getFloat();
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float yaw = yaw_property_->getFloat();
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float pitch = pitch_property_->getFloat();
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Ogre::Matrix3 rot;
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reference_orientation_.ToRotationMatrix(rot);
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Ogre::Radian rollTarget, pitchTarget, yawTarget;
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rot.ToEulerAnglesXYZ(yawTarget, pitchTarget, rollTarget);
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yaw += rollTarget.valueRadians();
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pitch += pitchTarget.valueRadians();
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Ogre::Vector3 focal_point = focal_point_property_->getVector();
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float x = distance * cos( yaw ) * cos( pitch ) + focal_point.x;
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float y = distance * sin( yaw ) * cos( pitch ) + focal_point.y;
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float z = distance * sin( pitch ) + focal_point.z;
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Ogre::Vector3 pos( x, y, z );
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camera_->setPosition(pos);
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camera_->setFixedYawAxis(true, target_scene_node_->getOrientation() * Ogre::Vector3::UNIT_Z);
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camera_->setDirection(target_scene_node_->getOrientation() * (focal_point - pos));
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focal_shape_->setPosition( focal_point );
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}
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}
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#include <pluginlib/class_list_macros.h>
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PLUGINLIB_EXPORT_CLASS( rtabmap::OrbitOrientedViewController, rviz::ViewController )
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