From 0fd7f78acbb8ce4bd9dc031d642a4d3dc071d8a3 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 9 May 2019 10:16:45 +0100
Subject: [PATCH] Keyboard camera movement control
---
renderer/cpp/src/display.cpp | 27 +++++++++++++++++++--------
1 file changed, 19 insertions(+), 8 deletions(-)
diff --git a/renderer/cpp/src/display.cpp b/renderer/cpp/src/display.cpp
index af4dacfbe..45945b090 100644
--- a/renderer/cpp/src/display.cpp
+++ b/renderer/cpp/src/display.cpp
@@ -26,30 +26,41 @@ Display::Display(nlohmann::json &config) : config_(config) {
pclviz_->registerKeyboardCallback (
[](const pcl::visualization::KeyboardEvent &event, void* viewer_void) {
auto viewer = *static_cast<pcl::visualization::PCLVisualizer::Ptr*>(viewer_void);
- LOG(INFO) << "Key " << event.getKeySym ();
pcl::visualization::Camera cam;
viewer->getCameraParameters(cam);
Eigen::Vector3f pos(cam.pos[0], cam.pos[1], cam.pos[2]);
- Eigen::Vector3f dir = Eigen::Vector3f(cam.focal[0], cam.focal[1], cam.focal[2]) - pos; //.normalize();
+ Eigen::Vector3f focal(cam.focal[0], cam.focal[1], cam.focal[2]);
+ Eigen::Vector3f dir = focal - pos; //.normalize();
dir.normalize();
+ const float speed = 40.0f;
+
if (event.getKeySym() == "Up") {
- pos += 20.0f*dir;
+ pos += speed*dir;
+ focal += speed*dir;
} else if (event.getKeySym() == "Down") {
- pos -= 20.0f*dir;
+ pos -= speed*dir;
+ focal -= speed*dir;
} else if (event.getKeySym() == "Left") {
- // TODO Rotate -90
- pos += 20.0f*dir;
+ Eigen::Matrix3f m = Eigen::AngleAxisf(-0.5f*M_PI, Eigen::Vector3f::UnitY()).toRotationMatrix();
+ dir = m*dir;
+ pos += speed*dir;
+ focal += speed*dir;
} else if (event.getKeySym() == "Right") {
- // TODO Rotate 90
- pos += 20.0f*dir;
+ Eigen::Matrix3f m = Eigen::AngleAxisf(0.5f*M_PI, Eigen::Vector3f::UnitY()).toRotationMatrix();
+ dir = m*dir;
+ pos += speed*dir;
+ focal += speed*dir;
}
cam.pos[0] = pos[0];
cam.pos[1] = pos[1];
cam.pos[2] = pos[2];
+ cam.focal[0] = focal[0];
+ cam.focal[1] = focal[1];
+ cam.focal[2] = focal[2];
viewer->setCameraParameters(cam);
}, (void*)&pclviz_);
--
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