common.h

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/*
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 * $Id: common.h 3771 2012-01-01 06:58:14Z rusu $
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#ifndef PCL_PCL_VISUALIZER_COMMON_H_
#define PCL_PCL_VISUALIZER_COMMON_H_
#include <vtkCommand.h>
#include <vtkTextActor.h>

#include <pcl/pcl_macros.h>
#include <Eigen/Dense>

namespace pcl
{
  namespace visualization
  {
    PCL_EXPORTS void
    getRandomColors (double &r, double &g, double &b, double min = 0.2, double max = 2.8);

    enum RenderingProperties
    {
      PCL_VISUALIZER_POINT_SIZE,
      PCL_VISUALIZER_OPACITY,
      PCL_VISUALIZER_LINE_WIDTH,
      PCL_VISUALIZER_FONT_SIZE,
      PCL_VISUALIZER_COLOR,
      PCL_VISUALIZER_REPRESENTATION
    };

    enum RenderingRepresentationProperties
    {
      PCL_VISUALIZER_REPRESENTATION_POINTS,
      PCL_VISUALIZER_REPRESENTATION_WIREFRAME,
      PCL_VISUALIZER_REPRESENTATION_SURFACE
    };


    class PCL_EXPORTS Camera
    {
      public:
        // focal point or lookAt
        double focal[3];

        // position of the camera
        double pos[3];

        // up vector of the camera
        double view[3];

        // clipping planes clip[0] is near clipping plane or also the image plane, and clip [1] is the far clipping plane
        double clip[2];

        // field of view angle in y direction (radians)
        double fovy;

        // the following variables are the actual position and size of the window on the screen
        // and NOT the viewport! except for the size, which is the same
        // the viewport is assumed to be centered and same size as the window.
        double window_size[2];
        double window_pos[2];

        void 
        computeViewMatrix (Eigen::Matrix4d& view_mat) const;

        void 
        computeProjectionMatrix (Eigen::Matrix4d& proj) const;

        template<typename PointT> void 
        cvtWindowCoordinates (const PointT& pt, Eigen::Vector4d& window_cord);

        template<typename PointT> void 
        cvtWindowCoordinates (const PointT& pt, Eigen::Vector4d& window_cord, const Eigen::Matrix4d& composite_mat);
    };

    class PCL_EXPORTS FPSCallback : public vtkCommand
    {
      public:
        static FPSCallback *New () { return new FPSCallback;}
        inline void setTextActor (vtkTextActor *txt) { this->actor_ = txt; }
        virtual void Execute (vtkObject *, unsigned long, void*);
      protected:
        vtkTextActor *actor_;
    };
  }
}

#endif