Open3D (C++ API)  0.12.0
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 
84 
92  const camera::PinholeCameraParameters &parameters,
93  bool allow_arbitrary = false);
94 
97  virtual void Reset();
101  virtual void ChangeFieldOfView(double step);
102  virtual void ChangeWindowSize(int width, int height);
103 
107  virtual void Scale(double scale);
108 
118  virtual void Rotate(double x, double y, double xo = 0.0, double yo = 0.0);
119 
129  virtual void Translate(double x,
130  double y,
131  double xo = 0.0,
132  double yo = 0.0);
133 
134  // Function to process rolling
138  virtual void Roll(double x);
139 
141  return bounding_box_;
142  }
143 
145 
146  void FitInGeometry(const geometry::Geometry &geometry) {
147  if (geometry.Dimension() == 3) {
148  bounding_box_ += ((const geometry::Geometry3D &)geometry)
150  }
152  }
153 
155  double GetFieldOfView() const { return field_of_view_; }
158  return projection_matrix_;
159  }
162  gl_util::GLVector3f GetEye() const { return eye_.cast<GLfloat>(); }
163  gl_util::GLVector3f GetLookat() const { return lookat_.cast<GLfloat>(); }
164  gl_util::GLVector3f GetUp() const { return up_.cast<GLfloat>(); }
165  gl_util::GLVector3f GetFront() const { return front_.cast<GLfloat>(); }
166  gl_util::GLVector3f GetRight() const { return right_.cast<GLfloat>(); }
167  int GetWindowWidth() const { return window_width_; }
168  int GetWindowHeight() const { return window_height_; }
169  double GetZNear() const { return z_near_; }
170  double GetZFar() const { return z_far_; }
171 
176  void SetConstantZNear(double z_near) { constant_z_near_ = z_near; }
181  void SetConstantZFar(double z_far) { constant_z_far_ = z_far; }
190 
191 protected:
192  int window_width_ = 0;
193  int window_height_ = 0;
195  Eigen::Vector3d eye_;
196  Eigen::Vector3d lookat_;
197  Eigen::Vector3d up_;
198  Eigen::Vector3d front_;
199  Eigen::Vector3d right_;
200  double distance_;
202  double zoom_;
203  double view_ratio_;
204  double aspect_;
205  double z_near_;
206  double z_far_;
207  double constant_z_near_ = -1;
208  double constant_z_far_ = -1;
213 };
214 
215 } // namespace visualization
216 } // namespace open3d
gl_util::GLMatrix4f projection_matrix_
Definition: ViewControl.h:209
gl_util::GLMatrix4f GetMVPMatrix() const
Definition: ViewControl.h:156
static const double ROTATION_RADIAN_PER_PIXEL
Definition: ViewControl.h:53
double distance_
Definition: ViewControl.h:200
double z_near_
Definition: ViewControl.h:205
int Dimension() const
Returns whether the geometry is 2D or 3D.
Definition: Geometry.h:90
virtual void ChangeFieldOfView(double step)
Definition: ViewControl.cpp:278
The base geometry class.
Definition: Geometry.h:37
void SetProjectionParameters()
Definition: ViewControl.cpp:262
void SetZoom(const double zoom)
Definition: ViewControl.cpp:143
gl_util::GLVector3f GetUp() const
Definition: ViewControl.h:164
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:192
Eigen::Vector3d lookat_
Definition: ViewControl.h:196
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:140
ProjectionType GetProjectionType() const
Definition: ViewControl.cpp:245
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:181
int GetWindowWidth() const
Definition: ViewControl.h:167
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:293
gl_util::GLVector3f GetLookat() const
Definition: ViewControl.h:163
double z_far_
Definition: ViewControl.h:206
static const double ZOOM_DEFAULT
Definition: ViewControl.h:48
void ResetBoundingBox()
Definition: ViewControl.h:144
static const double FIELD_OF_VIEW_DEFAULT
Definition: ViewControl.h:45
gl_util::GLVector3f GetFront() const
Definition: ViewControl.h:165
gl_util::GLMatrix4f view_matrix_
Definition: ViewControl.h:210
double field_of_view_
Definition: ViewControl.h:201
Eigen::Vector3d eye_
Definition: ViewControl.h:195
void SetViewMatrices(const Eigen::Matrix4d &model_matrix=Eigen::Matrix4d::Identity())
Definition: ViewControl.cpp:57
void UnsetConstantZNear()
Definition: ViewControl.h:185
virtual ~ViewControl()
Definition: ViewControl.h:61
gl_util::GLMatrix4f GetProjectionMatrix() const
Definition: ViewControl.h:157
gl_util::GLMatrix4f MVP_matrix_
Definition: ViewControl.h:212
Eigen::Matrix< GLfloat, 3, 1, Eigen::ColMajor > GLVector3f
Definition: GLHelper.h:51
void UnsetConstantZFar()
Definition: ViewControl.h:189
The base geometry class for 3D geometries.
Definition: Geometry3D.h:46
Eigen::Vector3d right_
Definition: ViewControl.h:199
virtual void Translate(double x, double y, double xo=0.0, double yo=0.0)
Function to process translation.
Definition: ViewControl.cpp:312
virtual void ChangeWindowSize(int width, int height)
Definition: ViewControl.cpp:286
double GetZFar() const
Definition: ViewControl.h:170
bool ConvertFromPinholeCameraParameters(const camera::PinholeCameraParameters &parameters, bool allow_arbitrary=false)
Definition: ViewControl.cpp:191
static const double FIELD_OF_VIEW_STEP
Definition: ViewControl.h:46
gl_util::GLMatrix4f GetViewMatrix() const
Definition: ViewControl.h:160
geometry::AxisAlignedBoundingBox bounding_box_
Definition: ViewControl.h:194
double GetZNear() const
Definition: ViewControl.h:169
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:204
Contains both intrinsic and extrinsic pinhole camera parameters.
Definition: PinholeCameraParameters.h:40
void FitInGeometry(const geometry::Geometry &geometry)
Definition: ViewControl.h:146
double constant_z_far_
Definition: ViewControl.h:208
int window_height_
Definition: ViewControl.h:193
int GetWindowHeight() const
Definition: ViewControl.h:168
Definition: PinholeCameraIntrinsic.cpp:35
double zoom_
Definition: ViewControl.h:202
virtual void Roll(double x)
Definition: ViewControl.cpp:323
void SetConstantZNear(double z_near)
Definition: ViewControl.h:176
double constant_z_near_
Definition: ViewControl.h:207
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:197
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:161
double view_ratio_
Definition: ViewControl.h:203
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
gl_util::GLVector3f GetEye() const
Definition: ViewControl.h:162
virtual void Reset()
Definition: ViewControl.cpp:253
gl_util::GLMatrix4f model_matrix_
Definition: ViewControl.h:211
Eigen::Vector3d front_
Definition: ViewControl.h:198
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:298
double GetFieldOfView() const
Function to get field of view.
Definition: ViewControl.h:155
static const double ZOOM_STEP
Definition: ViewControl.h:51
gl_util::GLVector3f GetRight() const
Definition: ViewControl.h:166
int width
Definition: FilePCD.cpp:71