Point Cloud Library (PCL)  1.12.1-dev
common.h
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37 
38 #pragma once
39 
40 #if defined __GNUC__
41 #pragma GCC system_header
42 #endif
43 
44 #include <Eigen/Core> // for Matrix, ...
45 
46 #include <pcl/pcl_macros.h>
47 #include <vtkMatrix4x4.h>
48 #include <vtkSmartPointer.h>
49 #include <vtkLookupTable.h>
50 
51 class vtkCamera;
52 class vtkRenderWindow;
53 
54 namespace pcl
55 {
56  struct RGB;
57 
58  namespace visualization
59  {
60  /** \brief Get (good) random values for R/G/B.
61  * \param[out] r the resultant R color value
62  * \param[out] g the resultant G color value
63  * \param[out] b the resultant B color value
64  * \param[in] min minimum value for the colors
65  * \param[in] max maximum value for the colors
66  */
67  PCL_EXPORTS void
68  getRandomColors (double &r, double &g, double &b, double min = 0.2, double max = 2.8);
69 
70  /** \brief Get (good) random values for R/G/B.
71  * \param[out] rgb the resultant RGB color value
72  * \param[in] min minimum value for the colors
73  * \param[in] max maximum value for the colors
74  */
75  PCL_EXPORTS void
76  getRandomColors (pcl::RGB &rgb, double min = 0.2, double max = 2.8);
77 
78  PCL_EXPORTS Eigen::Matrix4d
79  vtkToEigen (vtkMatrix4x4* vtk_matrix);
80 
81  PCL_EXPORTS Eigen::Vector2i
82  worldToView (const Eigen::Vector4d &world_pt, const Eigen::Matrix4d &view_projection_matrix, int width, int height);
83 
84  PCL_EXPORTS void
85  getViewFrustum (const Eigen::Matrix4d &view_projection_matrix, double planes[24]);
86 
88  {
92  };
93 
94  PCL_EXPORTS int
95  cullFrustum (double planes[24], const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb);
96 
97  PCL_EXPORTS float
98  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);
99 
100  /** \brief Set of rendering properties. */
102  {
103  PCL_VISUALIZER_POINT_SIZE, /**< integer starting from 1 */
104  PCL_VISUALIZER_OPACITY, /**< Float going from 0.0 (transparent) to 1.0 (opaque) */
105  PCL_VISUALIZER_LINE_WIDTH, /**< Integer starting from 1 */
107  PCL_VISUALIZER_COLOR, /**< 3 floats (R, G, B) going from 0.0 (dark) to 1.0 (light) */
111  PCL_VISUALIZER_LUT, /**< colormap type \ref pcl::visualization::LookUpTableRepresentationProperties */
112  PCL_VISUALIZER_LUT_RANGE /**< two doubles (min and max) or ::PCL_VISUALIZER_LUT_RANGE_AUTO */
113  };
114 
116  {
120  };
121 
123  {
127  };
128 
129  /*! Colormap properties. See [mathworks colormap page](http://www.mathworks.com/help/matlab/ref/colormap.html#input_argument_name) for image representations of the colormaps. */
131  {
132  PCL_VISUALIZER_LUT_JET, /**< Jet colormap */
133  PCL_VISUALIZER_LUT_JET_INVERSE, /**< Inverse jet colormap */
134  PCL_VISUALIZER_LUT_HSV, /**< HSV colormap */
135  PCL_VISUALIZER_LUT_HSV_INVERSE, /**< Inverse HSV colormap */
136  PCL_VISUALIZER_LUT_GREY, /**< Grey colormap (black to white) */
137  PCL_VISUALIZER_LUT_BLUE2RED, /**< Blue to red colormap (blue to white to red) */
138  PCL_VISUALIZER_LUT_RANGE_AUTO, /**< Set LUT range to min and max values of the data */
139  PCL_VISUALIZER_LUT_VIRIDIS /**< Viridis colormap */
140  };
141 
142  /** \brief Generate a lookup table for a colormap.
143  * \param[in] colormap_type
144  * \param[out] table a vtk lookup table
145  * \note The list of available colormaps can be found in \ref pcl::visualization::LookUpTableRepresentationProperties.
146  */
147  PCL_EXPORTS bool
149 
150  //////////////////////////////////////////////////////////////////////////////////////////////
151  /** \brief Camera class holds a set of camera parameters together with the window pos/size. */
153  {
154  public:
155  /** Construct a camera with meaningful default values.
156  * The camera is positioned at origin, looks along z-axis and has up-vector along y-axis. Window position and
157  * size are initialized with (0, 0) and (1, 1) respectively. */
158  Camera ();
159 
160  /** Construct a camera by copying parameters from a VTK camera.
161  * Window position and size are initialized with (0, 0) and (1, 1) respectively.*/
162  Camera (vtkCamera& camera);
163 
164  /** Construct a camera by copying parameters from a VTK camera and a VTK render window. */
165  Camera (vtkCamera& camera, vtkRenderWindow& window);
166 
167  /** \brief Focal point or lookAt.
168  * \note The view direction can be obtained by (focal-pos).normalized ()
169  */
170  double focal[3];
171 
172  /** \brief Position of the camera. */
173  double pos[3];
174 
175  /** \brief Up vector of the camera.
176  * \note Not to be confused with the view direction, bad naming here. */
177  double view[3];
178 
179  /** \brief Clipping planes depths.
180  * clip[0] is near clipping plane, and clip [1] is the far clipping plane
181  */
182  double clip[2];
183 
184  /** \brief Field of view angle in y direction (radians). */
185  double fovy;
186 
187  // the following variables are the actual position and size of the window on the screen and NOT the viewport!
188  // except for the size, which is the same the viewport is assumed to be centered and same size as the window.
189  double window_size[2];
190  double window_pos[2];
191 
192 
193  /** \brief Computes View matrix for Camera (Based on gluLookAt)
194  * \param[out] view_mat the resultant matrix
195  */
196  void
197  computeViewMatrix (Eigen::Matrix4d& view_mat) const;
198 
199  /** \brief Computes Projection Matrix for Camera
200  * \param[out] proj the resultant matrix
201  */
202  void
203  computeProjectionMatrix (Eigen::Matrix4d& proj) const;
204 
205  /**
206  * \brief Converts point to window coordinates
207  * \param[in] pt xyz point to be converted
208  * \param[out] window_cord vector containing the pts' window X,Y, Z and 1
209  * \note This function computes the projection and view matrix every time.
210  * It is very inefficient to use this for every point in the point cloud!
211  */
212  template<typename PointT> void
213  cvtWindowCoordinates (const PointT& pt, Eigen::Vector4d& window_cord) const;
214 
215  /**
216  * \brief Converts point to window coordinates
217  * \param[in] pt xyz point to be converted
218  * \param[out] window_cord vector containing the pts' window X,Y, Z and 1
219  * \param[in] composite_mat composite transformation matrix (proj*view)
220  *
221  * \note Use this function to compute window coordinates with a pre-computed transformation function.
222  * The typical composite matrix will be the projection matrix * the view matrix. However, additional matrices like
223  * a camera distortion matrix can also be added.
224  */
225  template<typename PointT> void
226  cvtWindowCoordinates (const PointT& pt, Eigen::Vector4d& window_cord, const Eigen::Matrix4d& composite_mat) const;
227  };
228  }
229 }
230 
231 #include <pcl/visualization/common/impl/common.hpp>
Camera class holds a set of camera parameters together with the window pos/size.
Definition: common.h:153
Camera(vtkCamera &camera, vtkRenderWindow &window)
Construct a camera by copying parameters from a VTK camera and a VTK render window.
Camera(vtkCamera &camera)
Construct a camera by copying parameters from a VTK camera.
void computeViewMatrix(Eigen::Matrix4d &view_mat) const
Computes View matrix for Camera (Based on gluLookAt)
double fovy
Field of view angle in y direction (radians).
Definition: common.h:185
Camera()
Construct a camera with meaningful default values.
void computeProjectionMatrix(Eigen::Matrix4d &proj) const
Computes Projection Matrix for Camera.
PCL_EXPORTS Eigen::Vector2i worldToView(const Eigen::Vector4d &world_pt, const Eigen::Matrix4d &view_projection_matrix, int width, int height)
RenderingProperties
Set of rendering properties.
Definition: common.h:102
@ PCL_VISUALIZER_COLOR
3 floats (R, G, B) going from 0.0 (dark) to 1.0 (light)
Definition: common.h:107
@ PCL_VISUALIZER_LUT_RANGE
two doubles (min and max) or PCL_VISUALIZER_LUT_RANGE_AUTO
Definition: common.h:112
@ PCL_VISUALIZER_REPRESENTATION
Definition: common.h:108
@ PCL_VISUALIZER_OPACITY
Float going from 0.0 (transparent) to 1.0 (opaque)
Definition: common.h:104
@ PCL_VISUALIZER_SHADING
Definition: common.h:110
@ PCL_VISUALIZER_POINT_SIZE
integer starting from 1
Definition: common.h:103
@ PCL_VISUALIZER_IMMEDIATE_RENDERING
Definition: common.h:109
@ PCL_VISUALIZER_LUT
colormap type pcl::visualization::LookUpTableRepresentationProperties
Definition: common.h:111
@ PCL_VISUALIZER_LINE_WIDTH
Integer starting from 1.
Definition: common.h:105
@ PCL_VISUALIZER_FONT_SIZE
Definition: common.h:106
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.
RenderingRepresentationProperties
Definition: common.h:116
@ PCL_VISUALIZER_REPRESENTATION_SURFACE
Definition: common.h:119
@ PCL_VISUALIZER_REPRESENTATION_POINTS
Definition: common.h:117
@ PCL_VISUALIZER_REPRESENTATION_WIREFRAME
Definition: common.h:118
PCL_EXPORTS void getViewFrustum(const Eigen::Matrix4d &view_projection_matrix, double planes[24])
LookUpTableRepresentationProperties
Definition: common.h:131
@ PCL_VISUALIZER_LUT_GREY
Grey colormap (black to white)
Definition: common.h:136
@ PCL_VISUALIZER_LUT_HSV_INVERSE
Inverse HSV colormap.
Definition: common.h:135
@ PCL_VISUALIZER_LUT_RANGE_AUTO
Set LUT range to min and max values of the data.
Definition: common.h:138
@ PCL_VISUALIZER_LUT_VIRIDIS
Viridis colormap.
Definition: common.h:139
@ PCL_VISUALIZER_LUT_BLUE2RED
Blue to red colormap (blue to white to red)
Definition: common.h:137
@ PCL_VISUALIZER_LUT_HSV
HSV colormap.
Definition: common.h:134
@ PCL_VISUALIZER_LUT_JET
Jet colormap.
Definition: common.h:132
@ PCL_VISUALIZER_LUT_JET_INVERSE
Inverse jet colormap.
Definition: common.h:133
ShadingRepresentationProperties
Definition: common.h:123
@ PCL_VISUALIZER_SHADING_GOURAUD
Definition: common.h:125
@ PCL_VISUALIZER_SHADING_PHONG
Definition: common.h:126
@ PCL_VISUALIZER_SHADING_FLAT
Definition: common.h:124
PCL_EXPORTS bool getColormapLUT(LookUpTableRepresentationProperties colormap_type, vtkSmartPointer< vtkLookupTable > &table)
Generate a lookup table for a colormap.
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)
@ PCL_INTERSECT_FRUSTUM
Definition: common.h:90
PCL_EXPORTS int cullFrustum(double planes[24], const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb)
Defines all the PCL and non-PCL macros used.
#define PCL_EXPORTS
Definition: pcl_macros.h:323
A point structure representing Euclidean xyz coordinates, and the RGB color.
A structure representing RGB color information.