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 #include <vtkSmartPointer.h>
48 #include <vtkLookupTable.h>
49 
50 namespace pcl
51 {
52  struct RGB;
53 
54  namespace visualization
55  {
56  /** \brief Get (good) random values for R/G/B.
57  * \param[out] r the resultant R color value
58  * \param[out] g the resultant G color value
59  * \param[out] b the resultant B color value
60  * \param[in] min minimum value for the colors
61  * \param[in] max maximum value for the colors
62  */
63  PCL_EXPORTS void
64  getRandomColors (double &r, double &g, double &b, double min = 0.2, double max = 2.8);
65 
66  /** \brief Get (good) random values for R/G/B.
67  * \param[out] rgb the resultant RGB color value
68  * \param[in] min minimum value for the colors
69  * \param[in] max maximum value for the colors
70  */
71  PCL_EXPORTS void
72  getRandomColors (pcl::RGB &rgb, double min = 0.2, double max = 2.8);
73 
74  PCL_EXPORTS Eigen::Matrix4d
75  vtkToEigen (vtkMatrix4x4* vtk_matrix);
76 
77  PCL_EXPORTS Eigen::Vector2i
78  worldToView (const Eigen::Vector4d &world_pt, const Eigen::Matrix4d &view_projection_matrix, int width, int height);
79 
80  PCL_EXPORTS void
81  getViewFrustum (const Eigen::Matrix4d &view_projection_matrix, double planes[24]);
82 
84  {
88  };
89 
90  PCL_EXPORTS int
91  cullFrustum (double planes[24], const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb);
92 
93  PCL_EXPORTS float
94  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);
95 
96  /** \brief Set of rendering properties. */
98  {
99  PCL_VISUALIZER_POINT_SIZE, /**< integer starting from 1 */
100  PCL_VISUALIZER_OPACITY, /**< Float going from 0.0 (transparent) to 1.0 (opaque) */
101  PCL_VISUALIZER_LINE_WIDTH, /**< Integer starting from 1 */
103  PCL_VISUALIZER_COLOR, /**< 3 floats (R, G, B) going from 0.0 (dark) to 1.0 (light) */
107  PCL_VISUALIZER_LUT, /**< colormap type \ref pcl::visualization::LookUpTableRepresentationProperties */
108  PCL_VISUALIZER_LUT_RANGE /**< two doubles (min and max) or \ref pcl::visualization::LookUpTableRepresentationProperties::PCL_VISUALIZER_LUT_RANGE_AUTO */
109  };
110 
112  {
116  };
117 
119  {
123  };
124 
125  /*! Colormap properties. See [mathworks colormap page](http://www.mathworks.com/help/matlab/ref/colormap.html#input_argument_name) for image representations of the colormaps. */
127  {
128  PCL_VISUALIZER_LUT_JET, /**< Jet colormap */
129  PCL_VISUALIZER_LUT_JET_INVERSE, /**< Inverse jet colormap */
130  PCL_VISUALIZER_LUT_HSV, /**< HSV colormap */
131  PCL_VISUALIZER_LUT_HSV_INVERSE, /**< Inverse HSV colormap */
132  PCL_VISUALIZER_LUT_GREY, /**< Grey colormap (black to white) */
133  PCL_VISUALIZER_LUT_BLUE2RED, /**< Blue to red colormap (blue to white to red) */
134  PCL_VISUALIZER_LUT_RANGE_AUTO /**< Set LUT range to min and max values of the data */
135  };
136 
137  /** \brief Generate a lookup table for a colormap.
138  * \param[in] colormap_type
139  * \param[out] table a vtk lookup table
140  * \note The list of available colormaps can be found in \ref pcl::visualization::LookUpTableRepresentationProperties.
141  */
142  PCL_EXPORTS bool
144 
145  //////////////////////////////////////////////////////////////////////////////////////////////
146  /** \brief Camera class holds a set of camera parameters together with the window pos/size. */
147  class PCL_EXPORTS Camera
148  {
149  public:
150  /** \brief Focal point or lookAt.
151  * \note The view direction can be obtained by (focal-pos).normalized ()
152  */
153  double focal[3];
154 
155  /** \brief Position of the camera. */
156  double pos[3];
157 
158  /** \brief Up vector of the camera.
159  * \note Not to be confused with the view direction, bad naming here. */
160  double view[3];
161 
162  /** \brief Clipping planes depths.
163  * clip[0] is near clipping plane, and clip [1] is the far clipping plane
164  */
165  double clip[2];
166 
167  /** \brief Field of view angle in y direction (radians). */
168  double fovy;
169 
170  // the following variables are the actual position and size of the window on the screen and NOT the viewport!
171  // except for the size, which is the same the viewport is assumed to be centered and same size as the window.
172  double window_size[2];
173  double window_pos[2];
174 
175 
176  /** \brief Computes View matrix for Camera (Based on gluLookAt)
177  * \param[out] view_mat the resultant matrix
178  */
179  void
180  computeViewMatrix (Eigen::Matrix4d& view_mat) const;
181 
182  /** \brief Computes Projection Matrix for Camera
183  * \param[out] proj the resultant matrix
184  */
185  void
186  computeProjectionMatrix (Eigen::Matrix4d& proj) const;
187 
188  /** \brief converts point to window coordiantes
189  * \param[in] pt xyz point to be converted
190  * \param[out] window_cord vector containing the pts' window X,Y, Z and 1
191  *
192  * This function computes the projection and view matrix every time.
193  * It is very inefficient to use this for every point in the point cloud!
194  */
195  template<typename PointT> void
196  cvtWindowCoordinates (const PointT& pt, Eigen::Vector4d& window_cord) const;
197 
198  /** \brief converts point to window coordiantes
199  * \param[in] pt xyz point to be converted
200  * \param[out] window_cord vector containing the pts' window X,Y, Z and 1
201  * \param[in] composite_mat composite transformation matrix (proj*view)
202  *
203  * Use this function to compute window coordinates with a precomputed
204  * transformation function. The typical composite matrix will be
205  * the projection matrix * the view matrix. However, additional
206  * matrices like a camera disortion matrix can also be added.
207  */
208  template<typename PointT> void
209  cvtWindowCoordinates (const PointT& pt, Eigen::Vector4d& window_cord, const Eigen::Matrix4d& composite_mat) const;
210  };
211  }
212 }
213 
214 #include <pcl/visualization/common/impl/common.hpp>
215 
216 #endif
Grey colormap (black to white)
Definition: common.h:132
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:147
LookUpTableRepresentationProperties
Definition: common.h:126
Float going from 0.0 (transparent) to 1.0 (opaque)
Definition: common.h:100
RenderingProperties
Set of rendering properties.
Definition: common.h:97
two doubles (min and max) or pcl::visualization::LookUpTableRepresentationProperties::PCL_VISUALIZER_...
Definition: common.h:108
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.
3 floats (R, G, B) going from 0.0 (dark) to 1.0 (light)
Definition: common.h:103
PCL_EXPORTS Eigen::Matrix4d vtkToEigen(vtkMatrix4x4 *vtk_matrix)
Blue to red colormap (blue to white to red)
Definition: common.h:133
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)
colormap type pcl::visualization::LookUpTableRepresentationProperties
Definition: common.h:107
Set LUT range to min and max values of the data.
Definition: common.h:134
PCL_EXPORTS bool getColormapLUT(LookUpTableRepresentationProperties colormap_type, vtkSmartPointer< vtkLookupTable > &table)
Generate a lookup table for a colormap.
RenderingRepresentationProperties
Definition: common.h:111
double fovy
Field of view angle in y direction (radians).
Definition: common.h:168
A point structure representing Euclidean xyz coordinates, and the RGB color.
ShadingRepresentationProperties
Definition: common.h:118
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)