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Commit 89a24f3d authored by Sebastian Hahta's avatar Sebastian Hahta
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initial camera position

parent 7bc2b152
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......@@ -47,9 +47,11 @@ static Eigen::Affine3d create_rotation_matrix(float ax, float ay, float az) {
ftl::gui::Camera::Camera(ftl::gui::Screen *screen, int fsmask, int fid, ftl::codecs::Channel c)
: screen_(screen), fsmask_(fsmask), fid_(fid), texture1_(GLTexture::Type::BGRA), texture2_(GLTexture::Type::BGRA), depth1_(GLTexture::Type::Float), channel_(c),channels_(0u) {
eye_ = Eigen::Vector3d(0.0f, 0.0f, 0.0f);
neye_ = Eigen::Vector4d(0.0f, 0.0f, 0.0f, 0.0f);
eye_ = Eigen::Vector3d::Zero();
neye_ = Eigen::Vector4d::Zero();
rotmat_.setIdentity();
//up_ = Eigen::Vector3f(0,1.0f,0);
lerpSpeed_ = 0.999f;
sdepth_ = false;
......@@ -99,6 +101,7 @@ ftl::gui::Camera::Camera(ftl::gui::Screen *screen, int fsmask, int fid, ftl::cod
state_.getLeft() = ftl::rgbd::Camera::from(intrinsics_);
state_.getRight() = state_.getLeft();
{
Eigen::Matrix4d pose;
pose.setIdentity();
state_.setPose(pose);
......@@ -107,6 +110,26 @@ ftl::gui::Camera::Camera(ftl::gui::Screen *screen, int fsmask, int fid, ftl::cod
t.setIdentity();
}
}
{
double camera_initial_x = intrinsics_->value("camera_x", 0.0);
double camera_initial_y = intrinsics_->value("camera_y", -1.75);
double camera_initial_z = intrinsics_->value("camera_z", 0.0);
double lookat_initial_x = intrinsics_->value("lookat_x", 1.0);
double lookat_initial_y = intrinsics_->value("lookat_y", 0.0);
double lookat_initial_z = intrinsics_->value("lookat_z", 0.0);
Eigen::Vector3f head(camera_initial_x, camera_initial_y, camera_initial_z);
Eigen::Vector3f lookat(lookat_initial_x, lookat_initial_y, lookat_initial_z);
// TODO up vector
Eigen::Matrix4f pose = nanogui::lookAt(head, head+lookat, Eigen::Vector3f(0.0f, 1.0f, 0.0f));
eye_ = Eigen::Vector3d(camera_initial_x, camera_initial_y, camera_initial_z);
neye_ = Eigen::Vector4d(eye_(0), eye_(1), eye_(2), 0.0);
rotmat_ = pose.cast<double>();
rotmat_.block(0, 3, 3, 1).setZero();
}
}
}
ftl::gui::Camera::~Camera() {
......
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