Some cleanup of old eigen2 workarounds. Added fix to support cameras looking down the Z axis

src/Camera.cc

@@ -52,23 +52,21 @@ void Camera::viewAll(const BoundingBox &bbox, float scalefactor)
 {
 	if (this->type == Camera::NONE) {
 		this->type = Camera::VECTOR;
-		this->center = getBoundingCenter(bbox);
+		this->center = bbox.center();
 		this->eye = this->center - Vector3d(1,1,-0.5);
 	}
 
 	switch (this->projection) {
 	case Camera::ORTHOGONAL:
-		this->height = getBoundingRadius(bbox)*2;
+		this->height = bbox.diagonal().norm();
 		break;
 	case Camera::PERSPECTIVE: {
-		double radius = getBoundingRadius(bbox);
+		double radius = bbox.diagonal().norm()/2;
 		switch (this->type) {
 		case Camera::GIMBAL:
-			// FIXME: viewAll() of gimbal cameras doesn't work
 			this->viewer_distance = radius / tan(this->fov*M_PI/360);
 			break;
 		case Camera::VECTOR: {
-			// FIXME: viewAll() of orthographic cameras doesn't work
 			Vector3d cameradir = (this->center - this->eye).normalized();
 			this->eye = this->center - radius*scalefactor*cameradir;
 			break;

src/GLView.cc

@@ -66,19 +66,18 @@ void GLView::setupCamera()
 		case Camera::PERSPECTIVE: {
 			double dist = cam.viewer_distance;
 			gluPerspective(cam.fov, aspectratio, 0.1*dist, 100*dist);
-			gluLookAt(0.0, -cam.viewer_distance, 0.0,
-								0.0, 0.0, 0.0,
-								0.0, 0.0, 1.0);
 			break;
 		}
 		case Camera::ORTHOGONAL: {
 			glOrtho(-cam.height/2*aspectratio, cam.height*aspectratio/2,
 							-cam.height/2, cam.height/2,
 							-far_far_away, +far_far_away);
-			gluLookAt(0.0, -cam.viewer_distance, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0);
 			break;
 		}
 		}
+		gluLookAt(0.0, -cam.viewer_distance, 0.0,
+							0.0, 0.0, 0.0,
+							0.0, 0.0, 1.0);
 		glMatrixMode(GL_MODELVIEW);
 		glLoadIdentity();
 		glRotated(cam.object_rot.x(), 1.0, 0.0, 0.0);
@@ -105,7 +104,7 @@ void GLView::setupCamera()
 		glLoadIdentity();
 		gluLookAt(cam.eye[0], cam.eye[1], cam.eye[2],
 							cam.center[0], cam.center[1], cam.center[2],
-							0.0, 0.0, 1.0);
+							0.0, 0.1, 1.0); // Tilt it a bit to be able to look down the Z axis
 		break;
 	default:
 		break;

src/linalg.cc

@@ -46,18 +46,3 @@ bool matrix_contains_nan( const Transform3d &m )
   }
 	return false;
 }
-
-double getBoundingRadius(BoundingBox bbox)
-{
-	// FIXME: For eigen3, we can use bbox.diagonal().norm()/2;
-  double radius = (bbox.max() - bbox.min()).norm() / 2;
-  return radius; // 0;
-}
-
-Vector3d getBoundingCenter(BoundingBox bbox)
-{
-  // FIXME: For eigen3, we can use bbox.center();
-  Vector3d center = (bbox.min() + bbox.max()) / 2;
-  return center; // Vector3d(0,0,0);
-}
-

src/linalg.h

@@ -21,9 +21,6 @@ bool matrix_contains_infinity( const Transform3d &m );
 bool matrix_contains_nan( const Transform3d &m );
 
 BoundingBox operator*(const Transform3d &m, const BoundingBox &box);
-Vector3d getBoundingCenter(BoundingBox bbox);
-double getBoundingRadius(BoundingBox bbox);
-
 
 class Color4f : public Eigen::Vector4f
 {