Displays in a window a set of 3D points as well as the current camera and its previous path (based on an OpenGL implementation). UUID: afd38ea0-9a46-11e8-9eb6-529269fb1459 More...

#include <SolAR3DPointsViewerOpengl.h>

Inheritance diagram for SolAR::MODULES::OPENGL::SolAR3DPointsViewerOpengl:

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Collaboration diagram for SolAR::MODULES::OPENGL::SolAR3DPointsViewerOpengl:

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Public Member Functions
org::bcom::xpcf::XPCFErrorCode	onConfigured () override final

void	unloadComponent () override final

FrameworkReturnCode	display (const std::vector< SRef< datastructure::CloudPoint > > &points, const datastructure::Transform3Df &pose, const std::vector< datastructure::Transform3Df > &keyframePoses={}, const std::vector< datastructure::Transform3Df > &framePoses={}, const std::vector< SRef< datastructure::CloudPoint > > &points2={}, const std::vector< datastructure::Transform3Df > &keyframePoses2={}) override
	Display in a windows the 3D point cloud as well as the current camera, and optionnally, the previous frames and keyframes. More...

FrameworkReturnCode	display (const SRef< datastructure::PointCloud > points, const datastructure::Transform3Df &pose, const std::vector< datastructure::Transform3Df > &keyframePoses={}, const std::vector< datastructure::Transform3Df > &framePoses={}, const SRef< datastructure::PointCloud > points2=nullptr, const std::vector< datastructure::Transform3Df > &keyframePoses2={}) override
	Display in a windows the 3D point cloud as well as the current camera, and optionnally, the previous frames and keyframes. More...

Static Protected Attributes
static SolAR3DPointsViewerOpengl *	m_instance

Detailed Description

Displays in a window a set of 3D points as well as the current camera and its previous path (based on an OpenGL implementation). UUID: afd38ea0-9a46-11e8-9eb6-529269fb1459

This component display a set of 3D points and the current camera as well as previous frames and keyframes. The view point is automatically define to be focus on the center of the point cloud and to show both the 3D points as well as the current camera. The user can change this view point by left clicking and moving the mouse to turn around the point cloud or by right clicking and moving the mouse to move in translation. Configuration parameters allow user to visualize the axis of the coordinate systems of the world, the center of the point cloud, and the camera. The color of points can be fixed, or can be the one assigned to each point. The scale of the points, camera and coordinate systems axis can be defined by the usr thanks to configuration parameters.

Properties

title	the title of the window on which the image will be displayed
	type: string; default: ""
width	the width of the window on which the image will be displayed (if <=0, the width of the input image)
	type: int; range : [0..MAX INT]; default: 0
height	the height of the window on which the image will be displayed (if <=0, the height of the input image)
	type: int; range : [0..MAX INT]; default: 0
backgroundColor	background color
	size: 3, elem type: uint; range : [0..255]; default: { 255, 255, 255 } @SolARComponentProperty{ fixedPointsColor, if 0, the color of each point is used\, else the color defined in parameter by user is used, @SolARComponentPropertyDescNum{ uint, [0,1], 1 }}
pointsColor	points color
	size: 3, elem type: uint; range : [0..255]; default: { 0, 255, 0 }
points2Color	points color for the second cloud
	size: 3, elem type: uint; range : [0..255]; default: { 255, 0, 0 }
cameraColor	camera color
	size: 3, elem type: uint; range : [0..255]; default: { 0, 0, 255 }
keyframeAsCamera	if not 0, each keyframe pose is drawn as a camera, else as a point
	type: uint; range : [0,1]; default: 0
framesColor	frame color
	size: 3, elem type: uint; range : [0..255]; default: { 180, 180, 180 }
keyframesColor	keyframe color
	size: 3, elem type: uint; range : [0..255]; default: { 0, 255, 0 }
keyframes2Color	keyframe color for the second vector of keyframe
	size: 3, elem type: uint; range : [0..255]; default: { 255, 0, 0 }
drawCameraAxis	if not 0, a gizmo showing the coordinate system of the camera is displayed
	type: uint; range : [0,1]; default: 1
drawSceneAxis	if not 0, a gizmo showing the coordinate system axis of the scene reference is displayed
	type: uint; range : [0,1]; default: 1
drawWorldAxis	if not 0, a gizmo showing the coordinate system axis of the world reference is displayed
	type: uint; range : [0,1]; default: 1
axisScale	define the scale of the gizmo displaying the coordinate system center on the scene
	type: float; range : [0..MAX FLOAT]; default: 1.f
pointSize	size of points
	type: float; range : [0..MAX FLOAT]; default: 2.f
cameraScale	camera scale
	type: float; range : [0..MAX FLOAT]; default: 1.f
zoomSensitivity	zoom sensitivity
	type: float; range : [0..MAX FLOAT]; default: 10.f
exitKey	the key code to press to close the window. If negative, no key is defined to close the window
	type: int; range : [-1..MAX INT]; default: 27

Member Function Documentation

◆ display() [1/2]

FrameworkReturnCode SolAR::MODULES::OPENGL::SolAR3DPointsViewerOpengl::display	(	const SRef< datastructure::PointCloud >	points,
		const datastructure::Transform3Df &	pose,
		const std::vector< datastructure::Transform3Df > &	keyframePoses = `{}`,
		const std::vector< datastructure::Transform3Df > &	framePoses = `{}`,
		const SRef< datastructure::PointCloud >	points2 = `nullptr`,
		const std::vector< datastructure::Transform3Df > &	keyframePoses2 = `{}`
	)

override

Display in a windows the 3D point cloud as well as the current camera, and optionnally, the previous frames and keyframes.

Parameters

[in]	points,Set	of 3D points to display in the 3D viewer.
[in]	pose,poses	of the current camera (transform of the camera defined in world corrdinate system).
[in]	keyframesPoses	(optional), poses of a set of keyframes (transform of the camera defined in world corrdinate system).
[in]	framePoses	(optional), poses of a set of frames (transform of the camera defined in world corrdinate system).
[in]	points2	(optional), a second set of 3D points to display in the 3D viewer (useful to visualize result of a bundle adjustment).
[in]	keyframesPoses2	(optional), a second set of keyframes poses (transform of the camera defined in world corrdinate system, useful to visualize result of a bundle adjustment).

Returns: FrameworkReturnCode::SUCCESS if the window is created, else FrameworkReturnCode::_ERROR

◆ display() [2/2]

FrameworkReturnCode SolAR::MODULES::OPENGL::SolAR3DPointsViewerOpengl::display	(	const std::vector< SRef< datastructure::CloudPoint > > &	points,
		const datastructure::Transform3Df &	pose,
		const std::vector< datastructure::Transform3Df > &	keyframePoses = `{}`,
		const std::vector< datastructure::Transform3Df > &	framePoses = `{}`,
		const std::vector< SRef< datastructure::CloudPoint > > &	points2 = `{}`,
		const std::vector< datastructure::Transform3Df > &	keyframePoses2 = `{}`
	)