Method resetCameraViewpoint

visualization/src/pcl_visualizer.cpp:2178–2214

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void
pcl::visualization::PCLVisualizer::resetCameraViewpoint (const std::string &id)
{
  vtkSmartPointer<vtkMatrix4x4> camera_pose;
  const auto it = cloud_actor_map_->find(id);
  if (it != cloud_actor_map_->end ())
    camera_pose = it->second.viewpoint_transformation_;
  else
    return;

  // Prevent a segfault
  if (!camera_pose)
    return;

  // set all renderer to this viewpoint
  rens_->InitTraversal ();
  vtkRenderer* renderer = nullptr;
  while ((renderer = rens_->GetNextItem ()))
  {
    vtkSmartPointer<vtkCamera> cam = renderer->GetActiveCamera ();
    cam->SetPosition (camera_pose->GetElement (0, 3),
                      camera_pose->GetElement (1, 3),
                      camera_pose->GetElement (2, 3));

    cam->SetFocalPoint (camera_pose->GetElement (0, 3) - camera_pose->GetElement (0, 2),
                        camera_pose->GetElement (1, 3) - camera_pose->GetElement (1, 2),
                        camera_pose->GetElement (2, 3) - camera_pose->GetElement (2, 2));

    cam->SetViewUp (camera_pose->GetElement (0, 1),
                    camera_pose->GetElement (1, 1),
                    camera_pose->GetElement (2, 1));

    renderer->SetActiveCamera (cam);
    renderer->ResetCameraClippingRange ();
  }
  win_->Render ();
}

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bool