Method appendToCameraPath

octovis/src/ViewerWidget.cpp:175–183

}

void ViewerWidget::appendToCameraPath(int id, const octomath::Pose6D& pose) {
  qglviewer::Vec position(pose.trans().x(), pose.trans().y(), pose.trans().z());
  qglviewer::Quaternion quaternion = poseToQGLQuaternion(pose);
  qglviewer::Frame frame(position, quaternion);
  if(!camera()->keyFrameInterpolator(id)) {
    camera()->setKeyFrameInterpolator(id, new qglviewer::KeyFrameInterpolator(camera()->frame()));
  }
  camera()->keyFrameInterpolator(id)->addKeyFrame(frame);
}

void ViewerWidget::removeFromCameraPath(int id, int frame) {
  qglviewer::KeyFrameInterpolator *old_kfi = camera()->keyFrameInterpolator(id);