Open3D (C++ API)  0.17.0
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ViewControl.h
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1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// Copyright (c) 2018-2023 www.open3d.org
5// SPDX-License-Identifier: MIT
6// ----------------------------------------------------------------------------
7
8#pragma once
9
16
17namespace open3d {
18namespace visualization {
19
24public:
25 static const double FIELD_OF_VIEW_MAX;
26 static const double FIELD_OF_VIEW_MIN;
27 static const double FIELD_OF_VIEW_DEFAULT;
28 static const double FIELD_OF_VIEW_STEP;
29
30 static const double ZOOM_DEFAULT;
31 static const double ZOOM_MIN;
32 static const double ZOOM_MAX;
33 static const double ZOOM_STEP;
34
35 static const double ROTATION_RADIAN_PER_PIXEL;
36
41
42public:
43 virtual ~ViewControl() {}
44
48 void SetViewMatrices(
49 const Eigen::Matrix4d &model_matrix = Eigen::Matrix4d::Identity());
50
52 bool ConvertToViewParameters(ViewParameters &status) const;
53 bool ConvertFromViewParameters(const ViewParameters &status);
54
55 void SetLookat(const Eigen::Vector3d &lookat);
56 void SetUp(const Eigen::Vector3d &up);
57 void SetFront(const Eigen::Vector3d &front);
58 void SetZoom(const double zoom);
59
66
74 const camera::PinholeCameraParameters &parameters,
75 bool allow_arbitrary = false);
76
79 virtual void Reset();
83 virtual void ChangeFieldOfView(double step);
84 virtual void ChangeWindowSize(int width, int height);
85
91 geometry::Ray3D UnprojectPoint(double x, double y) const;
92
96 virtual void Scale(double scale);
97
107 virtual void Rotate(double x, double y, double xo = 0.0, double yo = 0.0);
108
118 virtual void Translate(double x,
119 double y,
120 double xo = 0.0,
121 double yo = 0.0);
122
123 virtual void CameraLocalTranslate(double forward, double right, double up);
124 virtual void CameraLocalRotate(double x,
125 double y,
126 double xo = 0.0,
127 double yo = 0.0);
128 virtual void ResetCameraLocalRotate();
129
130 // Function to process rolling
134 virtual void Roll(double x);
135
139
141
142 void FitInGeometry(const geometry::Geometry &geometry) {
143 if (geometry.Dimension() == 3) {
144 bounding_box_ += ((const geometry::Geometry3D &)geometry)
146 }
148 }
149
151 double GetFieldOfView() const { return field_of_view_; }
158 gl_util::GLVector3f GetEye() const { return eye_.cast<GLfloat>(); }
159 gl_util::GLVector3f GetLookat() const { return lookat_.cast<GLfloat>(); }
160 gl_util::GLVector3f GetUp() const { return up_.cast<GLfloat>(); }
161 gl_util::GLVector3f GetFront() const { return front_.cast<GLfloat>(); }
162 gl_util::GLVector3f GetRight() const { return right_.cast<GLfloat>(); }
163 int GetWindowWidth() const { return window_width_; }
164 int GetWindowHeight() const { return window_height_; }
165 double GetZNear() const { return z_near_; }
166 double GetZFar() const { return z_far_; }
167
172 void SetConstantZNear(double z_near) { constant_z_near_ = z_near; }
177 void SetConstantZFar(double z_far) { constant_z_far_ = z_far; }
186
187protected:
191 Eigen::Vector3d eye_;
192 Eigen::Vector3d lookat_;
193 Eigen::Vector3d up_;
194 Eigen::Vector3d front_;
195 Eigen::Vector3d right_;
196 double distance_;
198 double zoom_;
200 double aspect_;
201 double z_near_;
202 double z_far_;
203 double constant_z_near_ = -1;
204 double constant_z_far_ = -1;
209
210 Eigen::Vector3d start_local_rotate_up_;
213 Eigen::Vector3d start_local_rotate_eye_;
217};
218
219} // namespace visualization
220} // namespace open3d
Contains both intrinsic and extrinsic pinhole camera parameters.
Definition PinholeCameraParameters.h:21
A bounding box that is aligned along the coordinate axes.
Definition BoundingVolume.h:159
virtual AxisAlignedBoundingBox GetAxisAlignedBoundingBox() const override
Returns the object itself.
Definition BoundingVolume.cpp:244
AxisAlignedBoundingBox & Clear() override
Clear all elements in the geometry.
Definition BoundingVolume.cpp:224
The base geometry class for 3D geometries.
Definition Geometry3D.h:28
The base geometry class.
Definition Geometry.h:18
int Dimension() const
Returns whether the geometry is 2D or 3D.
Definition Geometry.h:71
A ray is a semantic interpretation of Eigen::ParametrizedLine which has an origin and a direction and...
Definition Line3D.h:240
View controller for visualizer.
Definition ViewControl.h:23
Eigen::Vector3d start_local_rotate_right_
Definition ViewControl.h:211
virtual void ResetCameraLocalRotate()
Definition ViewControl.cpp:384
double local_rotate_up_accum_
Definition ViewControl.h:215
void UnsetConstantZNear()
Definition ViewControl.h:181
double distance_
Definition ViewControl.h:196
gl_util::GLVector3f GetEye() const
Definition ViewControl.h:158
bool ConvertFromViewParameters(const ViewParameters &status)
Definition ViewControl.cpp:97
Eigen::Vector3d right_
Definition ViewControl.h:195
double zoom_
Definition ViewControl.h:198
double z_far_
Definition ViewControl.h:202
double GetZNear() const
Definition ViewControl.h:165
Eigen::Vector3d up_
Definition ViewControl.h:193
gl_util::GLVector3f GetRight() const
Definition ViewControl.h:162
void SetZoom(const double zoom)
Definition ViewControl.cpp:124
void SetUp(const Eigen::Vector3d &up)
Definition ViewControl.cpp:114
Eigen::Vector3d lookat_
Definition ViewControl.h:192
double aspect_
Definition ViewControl.h:200
gl_util::GLMatrix4f model_matrix_
Definition ViewControl.h:207
Eigen::Vector3d front_
Definition ViewControl.h:194
gl_util::GLVector3f GetUp() const
Definition ViewControl.h:160
Eigen::Vector3d start_local_rotate_up_
Definition ViewControl.h:210
const geometry::AxisAlignedBoundingBox & GetBoundingBox() const
Definition ViewControl.h:136
void FitInGeometry(const geometry::Geometry &geometry)
Definition ViewControl.h:142
Eigen::Vector3d start_local_rotate_front_
Definition ViewControl.h:212
static const double ROTATION_RADIAN_PER_PIXEL
Definition ViewControl.h:35
virtual void CameraLocalTranslate(double forward, double right, double up)
Definition ViewControl.cpp:333
int window_width_
Definition ViewControl.h:188
static const double ZOOM_MIN
Definition ViewControl.h:31
virtual ~ViewControl()
Definition ViewControl.h:43
double view_ratio_
Definition ViewControl.h:199
static const double FIELD_OF_VIEW_STEP
Definition ViewControl.h:28
Eigen::Vector3d start_local_rotate_lookat_
Definition ViewControl.h:214
gl_util::GLMatrix4f projection_matrix_
Definition ViewControl.h:205
static const double FIELD_OF_VIEW_DEFAULT
Definition ViewControl.h:27
Eigen::Vector3d eye_
Definition ViewControl.h:191
gl_util::GLMatrix4f MVP_matrix_
Definition ViewControl.h:208
double constant_z_near_
Definition ViewControl.h:203
geometry::Ray3D UnprojectPoint(double x, double y) const
Definition ViewControl.cpp:275
int window_height_
Definition ViewControl.h:189
virtual void Translate(double x, double y, double xo=0.0, double yo=0.0)
Function to process translation.
Definition ViewControl.cpp:322
void SetViewMatrices(const Eigen::Matrix4d &model_matrix=Eigen::Matrix4d::Identity())
Definition ViewControl.cpp:38
double constant_z_far_
Definition ViewControl.h:204
void SetConstantZFar(double z_far)
Definition ViewControl.h:177
static const double ZOOM_MAX
Definition ViewControl.h:32
Eigen::Vector3d start_local_rotate_eye_
Definition ViewControl.h:213
static const double FIELD_OF_VIEW_MAX
Definition ViewControl.h:25
gl_util::GLMatrix4f GetViewMatrix() const
Definition ViewControl.h:156
void SetProjectionParameters()
Definition ViewControl.cpp:243
bool ConvertToViewParameters(ViewParameters &status) const
Function to get equivalent view parameters (support orthogonal)
Definition ViewControl.cpp:86
virtual void Roll(double x)
Definition ViewControl.cpp:394
double GetZFar() const
Definition ViewControl.h:166
virtual void CameraLocalRotate(double x, double y, double xo=0.0, double yo=0.0)
Definition ViewControl.cpp:341
void SetFront(const Eigen::Vector3d &front)
Definition ViewControl.cpp:119
gl_util::GLVector3f GetFront() const
Definition ViewControl.h:161
static const double FIELD_OF_VIEW_MIN
Definition ViewControl.h:26
gl_util::GLMatrix4f view_matrix_
Definition ViewControl.h:206
gl_util::GLMatrix4f GetModelMatrix() const
Definition ViewControl.h:157
void UnsetConstantZFar()
Definition ViewControl.h:185
void SetConstantZNear(double z_near)
Definition ViewControl.h:172
ProjectionType
Definition ViewControl.h:37
@ Orthogonal
Definition ViewControl.h:39
@ Perspective
Definition ViewControl.h:38
virtual void ChangeWindowSize(int width, int height)
Definition ViewControl.cpp:268
bool ConvertToPinholeCameraParameters(camera::PinholeCameraParameters &parameters)
Definition ViewControl.cpp:129
virtual void Reset()
Definition ViewControl.cpp:234
ProjectionType GetProjectionType() const
Definition ViewControl.cpp:226
gl_util::GLMatrix4f GetProjectionMatrix() const
Definition ViewControl.h:153
gl_util::GLVector3f GetLookat() const
Definition ViewControl.h:159
bool ConvertFromPinholeCameraParameters(const camera::PinholeCameraParameters &parameters, bool allow_arbitrary=false)
Definition ViewControl.cpp:172
double field_of_view_
Definition ViewControl.h:197
double z_near_
Definition ViewControl.h:201
virtual void Rotate(double x, double y, double xo=0.0, double yo=0.0)
Function to process rotation.
Definition ViewControl.cpp:308
static const double ZOOM_STEP
Definition ViewControl.h:33
double local_rotate_right_accum_
Definition ViewControl.h:216
int GetWindowHeight() const
Definition ViewControl.h:164
void ResetBoundingBox()
Definition ViewControl.h:140
void SetLookat(const Eigen::Vector3d &lookat)
Definition ViewControl.cpp:109
geometry::AxisAlignedBoundingBox bounding_box_
Definition ViewControl.h:190
static const double ZOOM_DEFAULT
Definition ViewControl.h:30
virtual void ChangeFieldOfView(double step)
Definition ViewControl.cpp:260
double GetFieldOfView() const
Function to get field of view.
Definition ViewControl.h:151
gl_util::GLMatrix4f GetMVPMatrix() const
Definition ViewControl.h:152
int GetWindowWidth() const
Definition ViewControl.h:163
virtual void Scale(double scale)
Definition ViewControl.cpp:303
Definition ViewParameters.h:18
int width
Definition FilePCD.cpp:52
int height
Definition FilePCD.cpp:53
Eigen::Matrix< GLfloat, 4, 4, Eigen::ColMajor > GLMatrix4f
Definition GLHelper.h:34
Eigen::Matrix< GLfloat, 3, 1, Eigen::ColMajor > GLVector3f
Definition GLHelper.h:32
Definition PinholeCameraIntrinsic.cpp:16