Open3D (C++ API)  0.11.0
ViewControl.h
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26 
27 #pragma once
28 
34 
35 namespace open3d {
36 namespace visualization {
37 
41 class ViewControl {
42 public:
43  static const double FIELD_OF_VIEW_MAX;
44  static const double FIELD_OF_VIEW_MIN;
45  static const double FIELD_OF_VIEW_DEFAULT;
46  static const double FIELD_OF_VIEW_STEP;
47 
48  static const double ZOOM_DEFAULT;
49  static const double ZOOM_MIN;
50  static const double ZOOM_MAX;
51  static const double ZOOM_STEP;
52 
53  static const double ROTATION_RADIAN_PER_PIXEL;
54 
58  };
59 
60 public:
61  virtual ~ViewControl() {}
62 
66  void SetViewMatrices(
67  const Eigen::Matrix4d &model_matrix = Eigen::Matrix4d::Identity());
68 
70  bool ConvertToViewParameters(ViewParameters &status) const;
71  bool ConvertFromViewParameters(const ViewParameters &status);
72 
73  void SetLookat(const Eigen::Vector3d &lookat);
74  void SetUp(const Eigen::Vector3d &up);
75  void SetFront(const Eigen::Vector3d &front);
76  void SetZoom(const double zoom);
77 
88  const camera::PinholeCameraParameters &parameters);
89 
92  virtual void Reset();
96  virtual void ChangeFieldOfView(double step);
97  virtual void ChangeWindowSize(int width, int height);
98 
102  virtual void Scale(double scale);
103 
113  virtual void Rotate(double x, double y, double xo = 0.0, double yo = 0.0);
114 
124  virtual void Translate(double x,
125  double y,
126  double xo = 0.0,
127  double yo = 0.0);
128 
129  // Function to process rolling
133  virtual void Roll(double x);
134 
136  return bounding_box_;
137  }
138 
140 
141  void FitInGeometry(const geometry::Geometry &geometry) {
142  if (geometry.Dimension() == 3) {
143  bounding_box_ += ((const geometry::Geometry3D &)geometry)
145  }
147  }
148 
150  double GetFieldOfView() const { return field_of_view_; }
153  return projection_matrix_;
154  }
157  gl_util::GLVector3f GetEye() const { return eye_.cast<GLfloat>(); }
158  gl_util::GLVector3f GetLookat() const { return lookat_.cast<GLfloat>(); }
159  gl_util::GLVector3f GetUp() const { return up_.cast<GLfloat>(); }
160  gl_util::GLVector3f GetFront() const { return front_.cast<GLfloat>(); }
161  gl_util::GLVector3f GetRight() const { return right_.cast<GLfloat>(); }
162  int GetWindowWidth() const { return window_width_; }
163  int GetWindowHeight() const { return window_height_; }
164  double GetZNear() const { return z_near_; }
165  double GetZFar() const { return z_far_; }
166 
171  void SetConstantZNear(double z_near) { constant_z_near_ = z_near; }
176  void SetConstantZFar(double z_far) { constant_z_far_ = z_far; }
185 
186 protected:
187  int window_width_ = 0;
188  int window_height_ = 0;
190  Eigen::Vector3d eye_;
191  Eigen::Vector3d lookat_;
192  Eigen::Vector3d up_;
193  Eigen::Vector3d front_;
194  Eigen::Vector3d right_;
195  double distance_;
197  double zoom_;
198  double view_ratio_;
199  double aspect_;
200  double z_near_;
201  double z_far_;
202  double constant_z_near_ = -1;
203  double constant_z_far_ = -1;
208 };
209 
210 } // namespace visualization
211 } // namespace open3d
gl_util::GLMatrix4f projection_matrix_
Definition: ViewControl.h:204
gl_util::GLMatrix4f GetMVPMatrix() const
Definition: ViewControl.h:151
static const double ROTATION_RADIAN_PER_PIXEL
Definition: ViewControl.h:53
double distance_
Definition: ViewControl.h:195
double z_near_
Definition: ViewControl.h:200
int Dimension() const
Returns whether the geometry is 2D or 3D.
Definition: Geometry.h:90
virtual void ChangeFieldOfView(double step)
Definition: ViewControl.cpp:272
The base geometry class.
Definition: Geometry.h:37
void SetProjectionParameters()
Definition: ViewControl.cpp:256
void SetZoom(const double zoom)
Definition: ViewControl.cpp:143
gl_util::GLVector3f GetUp() const
Definition: ViewControl.h:159
void SetUp(const Eigen::Vector3d &up)
Definition: ViewControl.cpp:133
Eigen::Matrix< GLfloat, 4, 4, Eigen::ColMajor > GLMatrix4f
Definition: GLHelper.h:53
int window_width_
Definition: ViewControl.h:187
Eigen::Vector3d lookat_
Definition: ViewControl.h:191
static const double ZOOM_MAX
Definition: ViewControl.h:50
ProjectionType
Definition: ViewControl.h:55
A bounding box that is aligned along the coordinate axes.
Definition: BoundingVolume.h:149
const geometry::AxisAlignedBoundingBox & GetBoundingBox() const
Definition: ViewControl.h:135
ProjectionType GetProjectionType() const
Definition: ViewControl.cpp:239
bool ConvertFromViewParameters(const ViewParameters &status)
Definition: ViewControl.cpp:116
View controller for visualizer.
Definition: ViewControl.h:41
void SetConstantZFar(double z_far)
Definition: ViewControl.h:176
int GetWindowWidth() const
Definition: ViewControl.h:162
void SetFront(const Eigen::Vector3d &front)
Definition: ViewControl.cpp:138
static const double FIELD_OF_VIEW_MAX
Definition: ViewControl.h:43
virtual void Scale(double scale)
Definition: ViewControl.cpp:287
gl_util::GLVector3f GetLookat() const
Definition: ViewControl.h:158
double z_far_
Definition: ViewControl.h:201
static const double ZOOM_DEFAULT
Definition: ViewControl.h:48
void ResetBoundingBox()
Definition: ViewControl.h:139
static const double FIELD_OF_VIEW_DEFAULT
Definition: ViewControl.h:45
gl_util::GLVector3f GetFront() const
Definition: ViewControl.h:160
gl_util::GLMatrix4f view_matrix_
Definition: ViewControl.h:205
double field_of_view_
Definition: ViewControl.h:196
Eigen::Vector3d eye_
Definition: ViewControl.h:190
void SetViewMatrices(const Eigen::Matrix4d &model_matrix=Eigen::Matrix4d::Identity())
Definition: ViewControl.cpp:57
void UnsetConstantZNear()
Definition: ViewControl.h:180
virtual ~ViewControl()
Definition: ViewControl.h:61
gl_util::GLMatrix4f GetProjectionMatrix() const
Definition: ViewControl.h:152
gl_util::GLMatrix4f MVP_matrix_
Definition: ViewControl.h:207
Eigen::Matrix< GLfloat, 3, 1, Eigen::ColMajor > GLVector3f
Definition: GLHelper.h:51
void UnsetConstantZFar()
Definition: ViewControl.h:184
The base geometry class for 3D geometries.
Definition: Geometry3D.h:46
Eigen::Vector3d right_
Definition: ViewControl.h:194
virtual void Translate(double x, double y, double xo=0.0, double yo=0.0)
Function to process translation.
Definition: ViewControl.cpp:306
virtual void ChangeWindowSize(int width, int height)
Definition: ViewControl.cpp:280
double GetZFar() const
Definition: ViewControl.h:165
static const double FIELD_OF_VIEW_STEP
Definition: ViewControl.h:46
gl_util::GLMatrix4f GetViewMatrix() const
Definition: ViewControl.h:155
geometry::AxisAlignedBoundingBox bounding_box_
Definition: ViewControl.h:189
double GetZNear() const
Definition: ViewControl.h:164
static const double FIELD_OF_VIEW_MIN
Definition: ViewControl.h:44
static const double ZOOM_MIN
Definition: ViewControl.h:49
double aspect_
Definition: ViewControl.h:199
Contains both intrinsic and extrinsic pinhole camera parameters.
Definition: PinholeCameraParameters.h:40
void FitInGeometry(const geometry::Geometry &geometry)
Definition: ViewControl.h:141
double constant_z_far_
Definition: ViewControl.h:203
int window_height_
Definition: ViewControl.h:188
int GetWindowHeight() const
Definition: ViewControl.h:163
Definition: PinholeCameraIntrinsic.cpp:35
double zoom_
Definition: ViewControl.h:197
virtual void Roll(double x)
Definition: ViewControl.cpp:317
void SetConstantZNear(double z_near)
Definition: ViewControl.h:171
double constant_z_near_
Definition: ViewControl.h:202
AxisAlignedBoundingBox & Clear() override
Clear all elements in the geometry.
Definition: BoundingVolume.cpp:196
int height
Definition: FilePCD.cpp:72
Eigen::Vector3d up_
Definition: ViewControl.h:192
virtual AxisAlignedBoundingBox GetAxisAlignedBoundingBox() const override
Returns an axis-aligned bounding box of the geometry.
Definition: BoundingVolume.cpp:216
Definition: ViewParameters.h:37
gl_util::GLMatrix4f GetModelMatrix() const
Definition: ViewControl.h:156
double view_ratio_
Definition: ViewControl.h:198
void SetLookat(const Eigen::Vector3d &lookat)
Definition: ViewControl.cpp:128
bool ConvertToViewParameters(ViewParameters &status) const
Function to get equivalent view parameters (support orthogonal)
Definition: ViewControl.cpp:105
bool ConvertFromPinholeCameraParameters(const camera::PinholeCameraParameters &parameters)
Definition: ViewControl.cpp:191
gl_util::GLVector3f GetEye() const
Definition: ViewControl.h:157
virtual void Reset()
Definition: ViewControl.cpp:247
gl_util::GLMatrix4f model_matrix_
Definition: ViewControl.h:206
Eigen::Vector3d front_
Definition: ViewControl.h:193
bool ConvertToPinholeCameraParameters(camera::PinholeCameraParameters &parameters)
Definition: ViewControl.cpp:148
virtual void Rotate(double x, double y, double xo=0.0, double yo=0.0)
Function to process rotation.
Definition: ViewControl.cpp:292
double GetFieldOfView() const
Function to get field of view.
Definition: ViewControl.h:150
static const double ZOOM_STEP
Definition: ViewControl.h:51
gl_util::GLVector3f GetRight() const
Definition: ViewControl.h:161
int width
Definition: FilePCD.cpp:71