232 lines
9.3 KiB
C
232 lines
9.3 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2010, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*
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*/
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#pragma once
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#if defined __GNUC__
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#pragma GCC system_header
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#endif
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#include <Eigen/Core> // for Matrix, ...
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#include <pcl/pcl_macros.h>
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#include <vtkMatrix4x4.h>
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#include <vtkSmartPointer.h>
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#include <vtkLookupTable.h>
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class vtkCamera;
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class vtkRenderWindow;
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namespace pcl
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{
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struct RGB;
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namespace visualization
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{
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/** \brief Get (good) random values for R/G/B.
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* \param[out] r the resultant R color value
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* \param[out] g the resultant G color value
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* \param[out] b the resultant B color value
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* \param[in] min minimum value for the colors
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* \param[in] max maximum value for the colors
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*/
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PCL_EXPORTS void
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getRandomColors (double &r, double &g, double &b, double min = 0.2, double max = 2.8);
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/** \brief Get (good) random values for R/G/B.
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* \param[out] rgb the resultant RGB color value
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* \param[in] min minimum value for the colors
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* \param[in] max maximum value for the colors
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*/
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PCL_EXPORTS void
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getRandomColors (pcl::RGB &rgb, double min = 0.2, double max = 2.8);
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PCL_EXPORTS Eigen::Matrix4d
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vtkToEigen (vtkMatrix4x4* vtk_matrix);
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PCL_EXPORTS Eigen::Vector2i
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worldToView (const Eigen::Vector4d &world_pt, const Eigen::Matrix4d &view_projection_matrix, int width, int height);
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PCL_EXPORTS void
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getViewFrustum (const Eigen::Matrix4d &view_projection_matrix, double planes[24]);
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enum FrustumCull
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{
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PCL_INSIDE_FRUSTUM,
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PCL_INTERSECT_FRUSTUM,
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PCL_OUTSIDE_FRUSTUM
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};
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PCL_EXPORTS int
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cullFrustum (double planes[24], const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb);
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PCL_EXPORTS float
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viewScreenArea (const Eigen::Vector3d &eye, const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, const Eigen::Matrix4d &view_projection_matrix, int width, int height);
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/** \brief Set of rendering properties. */
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enum RenderingProperties
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{
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PCL_VISUALIZER_POINT_SIZE, /**< integer starting from 1 */
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PCL_VISUALIZER_OPACITY, /**< Float going from 0.0 (transparent) to 1.0 (opaque) */
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PCL_VISUALIZER_LINE_WIDTH, /**< Integer starting from 1 */
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PCL_VISUALIZER_FONT_SIZE,
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PCL_VISUALIZER_COLOR, /**< 3 floats (R, G, B) going from 0.0 (dark) to 1.0 (light) */
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PCL_VISUALIZER_REPRESENTATION,
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PCL_VISUALIZER_IMMEDIATE_RENDERING,
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PCL_VISUALIZER_SHADING,
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PCL_VISUALIZER_LUT, /**< colormap type \ref pcl::visualization::LookUpTableRepresentationProperties */
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PCL_VISUALIZER_LUT_RANGE /**< two doubles (min and max) or ::PCL_VISUALIZER_LUT_RANGE_AUTO */
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};
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enum RenderingRepresentationProperties
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{
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PCL_VISUALIZER_REPRESENTATION_POINTS,
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PCL_VISUALIZER_REPRESENTATION_WIREFRAME,
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PCL_VISUALIZER_REPRESENTATION_SURFACE
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};
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enum ShadingRepresentationProperties
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{
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PCL_VISUALIZER_SHADING_FLAT,
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PCL_VISUALIZER_SHADING_GOURAUD,
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PCL_VISUALIZER_SHADING_PHONG
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};
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/*! Colormap properties. See [mathworks colormap page](http://www.mathworks.com/help/matlab/ref/colormap.html#input_argument_name) for image representations of the colormaps. */
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enum LookUpTableRepresentationProperties
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{
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PCL_VISUALIZER_LUT_JET, /**< Jet colormap */
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PCL_VISUALIZER_LUT_JET_INVERSE, /**< Inverse jet colormap */
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PCL_VISUALIZER_LUT_HSV, /**< HSV colormap */
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PCL_VISUALIZER_LUT_HSV_INVERSE, /**< Inverse HSV colormap */
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PCL_VISUALIZER_LUT_GREY, /**< Grey colormap (black to white) */
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PCL_VISUALIZER_LUT_BLUE2RED, /**< Blue to red colormap (blue to white to red) */
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PCL_VISUALIZER_LUT_RANGE_AUTO, /**< Set LUT range to min and max values of the data */
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PCL_VISUALIZER_LUT_VIRIDIS /**< Viridis colormap */
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};
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/** \brief Generate a lookup table for a colormap.
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* \param[in] colormap_type
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* \param[out] table a vtk lookup table
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* \note The list of available colormaps can be found in \ref pcl::visualization::LookUpTableRepresentationProperties.
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*/
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PCL_EXPORTS bool
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getColormapLUT (LookUpTableRepresentationProperties colormap_type, vtkSmartPointer<vtkLookupTable> &table);
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//////////////////////////////////////////////////////////////////////////////////////////////
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/** \brief Camera class holds a set of camera parameters together with the window pos/size. */
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class PCL_EXPORTS Camera
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{
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public:
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/** Construct a camera with meaningful default values.
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* The camera is positioned at origin, looks along z-axis and has up-vector along y-axis. Window position and
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* size are initialized with (0, 0) and (1, 1) respectively. */
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Camera ();
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/** Construct a camera by copying parameters from a VTK camera.
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* Window position and size are initialized with (0, 0) and (1, 1) respectively.*/
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Camera (vtkCamera& camera);
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/** Construct a camera by copying parameters from a VTK camera and a VTK render window. */
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Camera (vtkCamera& camera, vtkRenderWindow& window);
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/** \brief Focal point or lookAt.
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* \note The view direction can be obtained by (focal-pos).normalized ()
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*/
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double focal[3];
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/** \brief Position of the camera. */
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double pos[3];
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/** \brief Up vector of the camera.
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* \note Not to be confused with the view direction, bad naming here. */
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double view[3];
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/** \brief Clipping planes depths.
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* clip[0] is near clipping plane, and clip [1] is the far clipping plane
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*/
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double clip[2];
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/** \brief Field of view angle in y direction (radians). */
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double fovy;
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// the following variables are the actual position and size of the window on the screen and NOT the viewport!
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// except for the size, which is the same the viewport is assumed to be centered and same size as the window.
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double window_size[2];
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double window_pos[2];
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/** \brief Computes View matrix for Camera (Based on gluLookAt)
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* \param[out] view_mat the resultant matrix
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*/
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void
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computeViewMatrix (Eigen::Matrix4d& view_mat) const;
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/** \brief Computes Projection Matrix for Camera
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* \param[out] proj the resultant matrix
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*/
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void
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computeProjectionMatrix (Eigen::Matrix4d& proj) const;
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/**
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* \brief Converts point to window coordinates
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* \param[in] pt xyz point to be converted
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* \param[out] window_cord vector containing the pts' window X,Y, Z and 1
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* \note This function computes the projection and view matrix every time.
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* It is very inefficient to use this for every point in the point cloud!
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*/
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template<typename PointT> void
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cvtWindowCoordinates (const PointT& pt, Eigen::Vector4d& window_cord) const;
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/**
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* \brief Converts point to window coordinates
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* \param[in] pt xyz point to be converted
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* \param[out] window_cord vector containing the pts' window X,Y, Z and 1
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* \param[in] composite_mat composite transformation matrix (proj*view)
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*
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* \note Use this function to compute window coordinates with a pre-computed transformation function.
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* The typical composite matrix will be the projection matrix * the view matrix. However, additional matrices like
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* a camera distortion matrix can also be added.
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*/
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template<typename PointT> void
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cvtWindowCoordinates (const PointT& pt, Eigen::Vector4d& window_cord, const Eigen::Matrix4d& composite_mat) const;
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};
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}
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}
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#include <pcl/visualization/common/impl/common.hpp>
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