Point Cloud Library (PCL)  1.8.0
common.h
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37 #ifndef PCL_PCL_VISUALIZER_COMMON_H_
38 #define PCL_PCL_VISUALIZER_COMMON_H_
39 
40 #if defined __GNUC__
41 #pragma GCC system_header
42 #endif
43 
44 #include <pcl/pcl_macros.h>
45 #include <pcl/visualization/eigen.h>
46 #include <vtkMatrix4x4.h>
47 
48 namespace pcl
49 {
50  struct RGB;
51 
52  namespace visualization
53  {
54  /** \brief Get (good) random values for R/G/B.
55  * \param[out] r the resultant R color value
56  * \param[out] g the resultant G color value
57  * \param[out] b the resultant B color value
58  * \param[in] min minimum value for the colors
59  * \param[in] max maximum value for the colors
60  */
61  PCL_EXPORTS void
62  getRandomColors (double &r, double &g, double &b, double min = 0.2, double max = 2.8);
63 
64  /** \brief Get (good) random values for R/G/B.
65  * \param[out] rgb the resultant RGB color value
66  * \param[in] min minimum value for the colors
67  * \param[in] max maximum value for the colors
68  */
69  PCL_EXPORTS void
70  getRandomColors (pcl::RGB &rgb, double min = 0.2, double max = 2.8);
71 
72  PCL_EXPORTS Eigen::Matrix4d
73  vtkToEigen (vtkMatrix4x4* vtk_matrix);
74 
75  PCL_EXPORTS Eigen::Vector2i
76  worldToView (const Eigen::Vector4d &world_pt, const Eigen::Matrix4d &view_projection_matrix, int width, int height);
77 
78  PCL_EXPORTS void
79  getViewFrustum (const Eigen::Matrix4d &view_projection_matrix, double planes[24]);
80 
82  {
86  };
87 
88  PCL_EXPORTS int
89  cullFrustum (double planes[24], const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb);
90 
91  PCL_EXPORTS float
92  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);
93 
94  /** \brief Set of rendering properties
95  * \c PCL_VISUALIZER_POINT_SIZE: integer starting from 1
96  * \c PCL_VISUALIZER_OPACITY: Float going from 0.0 (transparent) to 1.0 (opaque)
97  * \c PCL_VISUALIZER_LINE_WIDTH: Integer starting from 1
98  * \c PCL_VISUALIZER_COLOR: 3 floats (R, G, B) going from 0.0 (dark) to 1.0 (light)
99  */
101  {
111  };
112 
114  {
118  };
119 
121  {
125  };
126 
127  /*! Look up table for color representation of vtkPolyDataMapper.\n
128  * See [mathworks colormap page](http://www.mathworks.com/help/matlab/ref/colormap.html#input_argument_name) for images representations of the LUTs */
130  { //
136  };
137 
138  //////////////////////////////////////////////////////////////////////////////////////////////
139  /** \brief Camera class holds a set of camera parameters together with the window pos/size. */
140  class PCL_EXPORTS Camera
141  {
142  public:
143  /** \brief Focal point or lookAt.
144  * \note The view direction can be obtained by (focal-pos).normalized ()
145  */
146  double focal[3];
147 
148  /** \brief Position of the camera. */
149  double pos[3];
150 
151  /** \brief Up vector of the camera.
152  * \note Not to be confused with the view direction, bad naming here. */
153  double view[3];
154 
155  /** \brief Clipping planes depths.
156  * clip[0] is near clipping plane, and clip [1] is the far clipping plane
157  */
158  double clip[2];
159 
160  /** \brief Field of view angle in y direction (radians). */
161  double fovy;
162 
163  // the following variables are the actual position and size of the window on the screen and NOT the viewport!
164  // except for the size, which is the same the viewport is assumed to be centered and same size as the window.
165  double window_size[2];
166  double window_pos[2];
167 
168 
169  /** \brief Computes View matrix for Camera (Based on gluLookAt)
170  * \param[out] view_mat the resultant matrix
171  */
172  void
173  computeViewMatrix (Eigen::Matrix4d& view_mat) const;
174 
175  /** \brief Computes Projection Matrix for Camera
176  * \param[out] proj the resultant matrix
177  */
178  void
179  computeProjectionMatrix (Eigen::Matrix4d& proj) const;
180 
181  /** \brief converts point to window coordiantes
182  * \param[in] pt xyz point to be converted
183  * \param[out] window_cord vector containing the pts' window X,Y, Z and 1
184  *
185  * This function computes the projection and view matrix every time.
186  * It is very inefficient to use this for every point in the point cloud!
187  */
188  template<typename PointT> void
189  cvtWindowCoordinates (const PointT& pt, Eigen::Vector4d& window_cord) const;
190 
191  /** \brief converts point to window coordiantes
192  * \param[in] pt xyz point to be converted
193  * \param[out] window_cord vector containing the pts' window X,Y, Z and 1
194  * \param[in] composite_mat composite transformation matrix (proj*view)
195  *
196  * Use this function to compute window coordinates with a precomputed
197  * transformation function. The typical composite matrix will be
198  * the projection matrix * the view matrix. However, additional
199  * matrices like a camera disortion matrix can also be added.
200  */
201  template<typename PointT> void
202  cvtWindowCoordinates (const PointT& pt, Eigen::Vector4d& window_cord, const Eigen::Matrix4d& composite_mat) const;
203  };
204  }
205 }
206 
207 #include <pcl/visualization/common/impl/common.hpp>
208 
209 #endif
PCL_EXPORTS void getViewFrustum(const Eigen::Matrix4d &view_projection_matrix, double planes[24])
Camera class holds a set of camera parameters together with the window pos/size.
Definition: common.h:140
LookUpTableRepresentationProperties
Definition: common.h:129
RenderingProperties
Set of rendering properties PCL_VISUALIZER_POINT_SIZE: integer starting from 1 PCL_VISUALIZER_OPACITY...
Definition: common.h:100
PCL_EXPORTS void getRandomColors(double &r, double &g, double &b, double min=0.2, double max=2.8)
Get (good) random values for R/G/B.
A structure representing RGB color information.
PCL_EXPORTS Eigen::Matrix4d vtkToEigen(vtkMatrix4x4 *vtk_matrix)
PCL_EXPORTS float 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)
RenderingRepresentationProperties
Definition: common.h:113
double fovy
Field of view angle in y direction (radians).
Definition: common.h:161
A point structure representing Euclidean xyz coordinates, and the RGB color.
ShadingRepresentationProperties
Definition: common.h:120
PCL_EXPORTS Eigen::Vector2i worldToView(const Eigen::Vector4d &world_pt, const Eigen::Matrix4d &view_projection_matrix, int width, int height)
PCL_EXPORTS int cullFrustum(double planes[24], const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb)