Point Cloud Library (PCL)  1.9.1
common.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2010, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of Willow Garage, Inc. nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *
34  * $Id$
35  *
36  */
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  PCL_VISUALIZER_LUT_VIRIDIS /**< Viridis colormap */
136  };
137 
138  /** \brief Generate a lookup table for a colormap.
139  * \param[in] colormap_type
140  * \param[out] table a vtk lookup table
141  * \note The list of available colormaps can be found in \ref pcl::visualization::LookUpTableRepresentationProperties.
142  */
143  PCL_EXPORTS bool
145 
146  //////////////////////////////////////////////////////////////////////////////////////////////
147  /** \brief Camera class holds a set of camera parameters together with the window pos/size. */
148  class PCL_EXPORTS Camera
149  {
150  public:
151  /** \brief Focal point or lookAt.
152  * \note The view direction can be obtained by (focal-pos).normalized ()
153  */
154  double focal[3];
155 
156  /** \brief Position of the camera. */
157  double pos[3];
158 
159  /** \brief Up vector of the camera.
160  * \note Not to be confused with the view direction, bad naming here. */
161  double view[3];
162 
163  /** \brief Clipping planes depths.
164  * clip[0] is near clipping plane, and clip [1] is the far clipping plane
165  */
166  double clip[2];
167 
168  /** \brief Field of view angle in y direction (radians). */
169  double fovy;
170 
171  // the following variables are the actual position and size of the window on the screen and NOT the viewport!
172  // except for the size, which is the same the viewport is assumed to be centered and same size as the window.
173  double window_size[2];
174  double window_pos[2];
175 
176 
177  /** \brief Computes View matrix for Camera (Based on gluLookAt)
178  * \param[out] view_mat the resultant matrix
179  */
180  void
181  computeViewMatrix (Eigen::Matrix4d& view_mat) const;
182 
183  /** \brief Computes Projection Matrix for Camera
184  * \param[out] proj the resultant matrix
185  */
186  void
187  computeProjectionMatrix (Eigen::Matrix4d& proj) const;
188 
189  /** \brief converts point to window coordiantes
190  * \param[in] pt xyz point to be converted
191  * \param[out] window_cord vector containing the pts' window X,Y, Z and 1
192  *
193  * This function computes the projection and view matrix every time.
194  * It is very inefficient to use this for every point in the point cloud!
195  */
196  template<typename PointT> void
197  cvtWindowCoordinates (const PointT& pt, Eigen::Vector4d& window_cord) const;
198 
199  /** \brief converts point to window coordiantes
200  * \param[in] pt xyz point to be converted
201  * \param[out] window_cord vector containing the pts' window X,Y, Z and 1
202  * \param[in] composite_mat composite transformation matrix (proj*view)
203  *
204  * Use this function to compute window coordinates with a precomputed
205  * transformation function. The typical composite matrix will be
206  * the projection matrix * the view matrix. However, additional
207  * matrices like a camera disortion matrix can also be added.
208  */
209  template<typename PointT> void
210  cvtWindowCoordinates (const PointT& pt, Eigen::Vector4d& window_cord, const Eigen::Matrix4d& composite_mat) const;
211  };
212  }
213 }
214 
215 #include <pcl/visualization/common/impl/common.hpp>
216 
217 #endif
pcl::visualization::PCL_VISUALIZER_COLOR
@ PCL_VISUALIZER_COLOR
3 floats (R, G, B) going from 0.0 (dark) to 1.0 (light)
Definition: common.h:103
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::visualization::PCL_VISUALIZER_REPRESENTATION
@ PCL_VISUALIZER_REPRESENTATION
Definition: common.h:104
pcl::visualization::PCL_VISUALIZER_LUT_BLUE2RED
@ PCL_VISUALIZER_LUT_BLUE2RED
Blue to red colormap (blue to white to red)
Definition: common.h:133
pcl::visualization::RenderingProperties
RenderingProperties
Set of rendering properties.
Definition: common.h:97
pcl::visualization::ShadingRepresentationProperties
ShadingRepresentationProperties
Definition: common.h:118
pcl::visualization::PCL_VISUALIZER_LUT_JET_INVERSE
@ PCL_VISUALIZER_LUT_JET_INVERSE
Inverse jet colormap.
Definition: common.h:129
pcl::visualization::PCL_INSIDE_FRUSTUM
@ PCL_INSIDE_FRUSTUM
Definition: common.h:85
pcl::visualization::PCL_INTERSECT_FRUSTUM
@ PCL_INTERSECT_FRUSTUM
Definition: common.h:86
pcl::visualization::worldToView
PCL_EXPORTS Eigen::Vector2i worldToView(const Eigen::Vector4d &world_pt, const Eigen::Matrix4d &view_projection_matrix, int width, int height)
pcl::visualization::PCL_VISUALIZER_LUT_HSV_INVERSE
@ PCL_VISUALIZER_LUT_HSV_INVERSE
Inverse HSV colormap.
Definition: common.h:131
pcl::visualization::vtkToEigen
PCL_EXPORTS Eigen::Matrix4d vtkToEigen(vtkMatrix4x4 *vtk_matrix)
pcl::visualization::PCL_VISUALIZER_LUT_JET
@ PCL_VISUALIZER_LUT_JET
Jet colormap.
Definition: common.h:128
pcl::visualization::PCL_VISUALIZER_LUT_HSV
@ PCL_VISUALIZER_LUT_HSV
HSV colormap.
Definition: common.h:130
pcl::visualization::PCL_VISUALIZER_LUT_RANGE_AUTO
@ PCL_VISUALIZER_LUT_RANGE_AUTO
Set LUT range to min and max values of the data.
Definition: common.h:134
pcl::visualization::PCL_VISUALIZER_REPRESENTATION_POINTS
@ PCL_VISUALIZER_REPRESENTATION_POINTS
Definition: common.h:113
pcl::visualization::viewScreenArea
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::visualization::PCL_VISUALIZER_LUT_RANGE
@ PCL_VISUALIZER_LUT_RANGE
two doubles (min and max) or pcl::visualization::LookUpTableRepresentationProperties::PCL_VISUALIZER_...
Definition: common.h:108
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:619
pcl::visualization::getRandomColors
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.
pcl::visualization::PCL_VISUALIZER_LUT_VIRIDIS
@ PCL_VISUALIZER_LUT_VIRIDIS
Viridis colormap.
Definition: common.h:135
pcl::visualization::PCL_VISUALIZER_REPRESENTATION_SURFACE
@ PCL_VISUALIZER_REPRESENTATION_SURFACE
Definition: common.h:115
pcl::visualization::Camera
Camera class holds a set of camera parameters together with the window pos/size.
Definition: common.h:148
pcl::RGB
A structure representing RGB color information.
Definition: point_types.hpp:339
pcl::visualization::PCL_VISUALIZER_SHADING_FLAT
@ PCL_VISUALIZER_SHADING_FLAT
Definition: common.h:120
pcl::visualization::PCL_VISUALIZER_SHADING_PHONG
@ PCL_VISUALIZER_SHADING_PHONG
Definition: common.h:122
pcl::visualization::PCL_OUTSIDE_FRUSTUM
@ PCL_OUTSIDE_FRUSTUM
Definition: common.h:87
pcl::visualization::PCL_VISUALIZER_LUT
@ PCL_VISUALIZER_LUT
colormap type pcl::visualization::LookUpTableRepresentationProperties
Definition: common.h:107
pcl::visualization::Camera::fovy
double fovy
Field of view angle in y direction (radians).
Definition: common.h:169
pcl::visualization::PCL_VISUALIZER_SHADING
@ PCL_VISUALIZER_SHADING
Definition: common.h:106
pcl::visualization::getColormapLUT
PCL_EXPORTS bool getColormapLUT(LookUpTableRepresentationProperties colormap_type, vtkSmartPointer< vtkLookupTable > &table)
Generate a lookup table for a colormap.
pcl::visualization::PCL_VISUALIZER_OPACITY
@ PCL_VISUALIZER_OPACITY
Float going from 0.0 (transparent) to 1.0 (opaque)
Definition: common.h:100
pcl::visualization::PCL_VISUALIZER_LINE_WIDTH
@ PCL_VISUALIZER_LINE_WIDTH
Integer starting from 1.
Definition: common.h:101
pcl::visualization::RenderingRepresentationProperties
RenderingRepresentationProperties
Definition: common.h:111
pcl::visualization::PCL_VISUALIZER_FONT_SIZE
@ PCL_VISUALIZER_FONT_SIZE
Definition: common.h:102
pcl::visualization::PCL_VISUALIZER_IMMEDIATE_RENDERING
@ PCL_VISUALIZER_IMMEDIATE_RENDERING
Definition: common.h:105
pcl::visualization::PCL_VISUALIZER_SHADING_GOURAUD
@ PCL_VISUALIZER_SHADING_GOURAUD
Definition: common.h:121
pcl::visualization::FrustumCull
FrustumCull
Definition: common.h:83
pcl::visualization::cullFrustum
PCL_EXPORTS int cullFrustum(double planes[24], const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb)
pcl::visualization::PCL_VISUALIZER_REPRESENTATION_WIREFRAME
@ PCL_VISUALIZER_REPRESENTATION_WIREFRAME
Definition: common.h:114
pcl::visualization::getViewFrustum
PCL_EXPORTS void getViewFrustum(const Eigen::Matrix4d &view_projection_matrix, double planes[24])
pcl::visualization::PCL_VISUALIZER_POINT_SIZE
@ PCL_VISUALIZER_POINT_SIZE
integer starting from 1
Definition: common.h:99
pcl::visualization::LookUpTableRepresentationProperties
LookUpTableRepresentationProperties
Definition: common.h:126
vtkSmartPointer
Definition: actor_map.h:50
pcl::visualization::PCL_VISUALIZER_LUT_GREY
@ PCL_VISUALIZER_LUT_GREY
Grey colormap (black to white)
Definition: common.h:132