sensor view (#301)

* sensor view

* fps and tps

Author: koide3

include/glim/viewer/standard_viewer.hpp

@@ -64,6 +64,7 @@ class StandardViewer : public ExtensionModule {
   bool track;
   bool show_current_coord;
   bool show_current_points;
+  int camera_mode;
   int odom_color_mode;
   int submap_color_mode;
 

src/glim/viewer/standard_viewer.cpp

@@ -49,6 +49,7 @@ StandardViewer::StandardViewer() : logger(create_module_logger("viewer")) {
   track = true;
   show_current_coord = true;
   show_current_points = true;
+  camera_mode = 0;
   odom_color_mode = 0;
   submap_color_mode = 0;
 

src/glim/viewer/standard_viewer_callbacks.cpp

@@ -118,7 +118,7 @@ void StandardViewer::set_callbacks() {
       const Eigen::Isometry3f pose = resolve_pose(new_frame);
 
       if (track) {
-        viewer->lookat(pose.translation());
+        viewer->lookat(pose);
       }
 
       guik::ShaderSetting shader_setting = guik::FlatColor(1.0f, 0.5f, 0.0f, 1.0f, pose);

src/glim/viewer/standard_viewer_ui.cpp

@@ -131,6 +131,26 @@ void StandardViewer::drawable_selection() {
 
   ImGui::Separator();
 
+  std::vector<const char*> camera_modes = {"STANDARD", "FPS", "TPS", "TOPDOWN"};
+  ImGui::SetNextItemWidth(92);
+  if (ImGui::Combo("camera_mode", &camera_mode, camera_modes.data(), camera_modes.size())) {
+    switch (camera_mode) {
+      default:
+      case 0:
+        viewer->use_orbit_camera_control();
+        break;
+      case 1:
+        viewer->use_sensor_view_camera_control(Eigen::Translation3f(-0.05f, 0.0f, 0.0f) * Eigen::Isometry3f::Identity(), 1e-3, 1e-3);
+        break;
+      case 2:
+        viewer->use_sensor_view_camera_control();
+        break;
+      case 3:
+        viewer->use_topdown_camera_control();
+        break;
+    }
+  }
+
   std::vector<const char*> odom_color_modes = {"FLAT", "INTENSITY", "NORMAL"};
   ImGui::SetNextItemWidth(92);
   ImGui::Combo("odom_color_mode", &odom_color_mode, odom_color_modes.data(), odom_color_modes.size());