Fix frustum query, clarify transformations.

cartographer-project / point_cloud_viewer

View billions of points in your browser.

Apache License 2.0

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Closed feuerste closed 4 years ago

feuerste commented 4 years ago

This PR improves the following:

The frustum query now consists of an isometry describing the transformation from frustum to global coordinates and a perspective transformation.
The frustum query got a unit test.
The isometry now transforms points instead of vectors, which is in accordance with cgmath and nalgebra.
Clarifies the transformation direction of struct variables of OBB, oriented beam, and frustum.

feuerste commented 4 years ago

Thanks for your review!