common.h
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00001 /*
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00034  * $Id: common.h 4426 2012-02-13 06:14:56Z rusu $
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00036  */
00037 #ifndef PCL_PCL_VISUALIZER_COMMON_H_
00038 #define PCL_PCL_VISUALIZER_COMMON_H_
00039 #include <vtkCommand.h>
00040 #include <vtkTextActor.h>
00041 
00042 #include <pcl/pcl_macros.h>
00043 #include <Eigen/Dense>
00044 
00045 namespace pcl
00046 {
00047   namespace visualization
00048   {
00056     PCL_EXPORTS void
00057     getRandomColors (double &r, double &g, double &b, double min = 0.2, double max = 2.8);
00058 
00059     enum RenderingProperties
00060     {
00061       PCL_VISUALIZER_POINT_SIZE,
00062       PCL_VISUALIZER_OPACITY,
00063       PCL_VISUALIZER_LINE_WIDTH,
00064       PCL_VISUALIZER_FONT_SIZE,
00065       PCL_VISUALIZER_COLOR,
00066       PCL_VISUALIZER_REPRESENTATION,
00067       PCL_VISUALIZER_IMMEDIATE_RENDERING
00068     };
00069 
00070     enum RenderingRepresentationProperties
00071     {
00072       PCL_VISUALIZER_REPRESENTATION_POINTS,
00073       PCL_VISUALIZER_REPRESENTATION_WIREFRAME,
00074       PCL_VISUALIZER_REPRESENTATION_SURFACE
00075     };
00076 
00078 
00079     class PCL_EXPORTS Camera
00080     {
00081       public:
00082         // focal point or lookAt
00083         double focal[3];
00084 
00085         // position of the camera
00086         double pos[3];
00087 
00088         // up vector of the camera
00089         double view[3];
00090 
00091         // clipping planes clip[0] is near clipping plane or also the image plane, and clip [1] is the far clipping plane
00092         double clip[2];
00093 
00094         // field of view angle in y direction (radians)
00095         double fovy;
00096 
00097         // the following variables are the actual position and size of the window on the screen
00098         // and NOT the viewport! except for the size, which is the same
00099         // the viewport is assumed to be centered and same size as the window.
00100         double window_size[2];
00101         double window_pos[2];
00102 
00106         void 
00107         computeViewMatrix (Eigen::Matrix4d& view_mat) const;
00108 
00112         void 
00113         computeProjectionMatrix (Eigen::Matrix4d& proj) const;
00114 
00122         template<typename PointT> void 
00123         cvtWindowCoordinates (const PointT& pt, Eigen::Vector4d& window_cord);
00124 
00135         template<typename PointT> void 
00136         cvtWindowCoordinates (const PointT& pt, Eigen::Vector4d& window_cord, const Eigen::Matrix4d& composite_mat);
00137     };
00138 
00140     class PCL_EXPORTS FPSCallback : public vtkCommand
00141     {
00142       public:
00143         static FPSCallback *New () { return new FPSCallback;}
00144         inline void setTextActor (vtkTextActor *txt) { this->actor_ = txt; }
00145         virtual void Execute (vtkObject *, unsigned long, void*);
00146       protected:
00147         vtkTextActor *actor_;
00148     };
00149   }
00150 }
00151 
00152 #endif


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:14:41