Merge pull request #703 from xiangxw/pcl_viewer_remember_camera_position

PCLVisualizer: save and restore camera information

visualization/include/pcl/visualization/interactor_style.h

@@ -90,6 +90,8 @@ namespace pcl
       * -        g, G   : display scale grid (on/off)
       * -        u, U   : display lookup table (on/off)
       * -  r, R [+ ALT] : reset camera [to viewpoint = {0, 0, 0} -> center_{x, y, z}]
+      * -  CTRL + s, S  : save camera parameters
+      * -  CTRL + r, R  : restore camera parameters
       * -  ALT + s, S   : turn stereo mode on/off
       * -  ALT + f, F   : switch between maximized window mode and original size
       * -        l, L           : list all available geometric and color handlers for the current actor map
@@ -115,7 +117,7 @@ namespace pcl
           max_win_height_ (), max_win_width_ (), grid_enabled_ (), grid_actor_ (), lut_enabled_ (),
           lut_actor_ (), snapshot_writer_ (), wif_ (), mouse_signal_ (), keyboard_signal_ (),
           point_picking_signal_ (), area_picking_signal_ (), stereo_anaglyph_mask_default_ (),
-          mouse_callback_ (), modifier_ ()
+          mouse_callback_ (), modifier_ (), camera_file_ (), camera_ (), camera_saved_ (), win_ ()
         {}
 
         /** \brief Empty destructor */
@@ -184,6 +186,56 @@ namespace pcl
         void
         saveScreenshot (const std::string &file);
 
+        /** \brief Save the camera parameters to disk, as a .cam file.
+          * \param[in] file the name of the .cam file
+          */
+        bool
+        saveCameraParameters (const std::string &file);
+
+        /** \brief Get camera parameters and save them to a \ref pcl::visualization::Camera.
+          * \param[out] camera the name of the \ref pcl::visualization::Camera
+          */
+        void
+        getCameraParameters (Camera &camera);
+
+        /** \brief Load camera parameters from a camera parameter file.
+          * \param[in] file the name of the camera parameter file
+          */
+        bool
+        loadCameraParameters (const std::string &file);
+
+        /** \brief Set the camera parameters via an intrinsics and and extrinsics matrix
+          * \note This assumes that the pixels are square and that the center of the image is at the center of the sensor.
+          * \param[in] intrinsics the intrinsics that will be used to compute the VTK camera parameters
+          * \param[in] extrinsics the extrinsics that will be used to compute the VTK camera parameters
+          * \param[in] viewport the viewport to modify camera of (0 modifies all cameras)
+          */
+        void
+        setCameraParameters (const Eigen::Matrix3f &intrinsics, const Eigen::Matrix4f &extrinsics, int viewport = 0); 
+
+        /** \brief Set the camera parameters by given a full camera data structure.
+          * \param[in] camera camera structure containing all the camera parameters.
+          * \param[in] viewport the viewport to modify camera of (0 modifies all cameras)
+          */
+        void
+        setCameraParameters (const Camera &camera, int viewport = 0);
+
+        /** \brief Set camera file for camera parameter saving/restoring.
+          * \param[in] file the name of the camera parameter file
+          */
+        void
+        setCameraFile (const std::string file)
+        {
+          camera_file_ = file;
+        }
+
+        /** \brief Get camera file for camera parameter saving/restoring. */
+        std::string
+        getCameraFile () const
+        {
+          return (camera_file_);
+        }
+
         /** \brief Change the default keyboard modified from ALT to a different special key.
           * Allowed values are:
           * - INTERACTOR_KB_MOD_ALT
@@ -284,6 +336,21 @@ namespace pcl
         void 
         zoomOut ();
 
+        /** \brief Get camera parameters from a string vector.
+          * \param[in] camera A string vector:
+          * Clipping Range, Focal Point, Position, ViewUp, Distance, Field of View Y, Window Size, Window Pos.
+          * Values in each string are seperated by a ','
+          */
+        bool
+        getCameraParameters (const std::vector<std::string> &camera);
+
+        /** \brief Set render window. */
+        void
+        setRenderWindow (const vtkSmartPointer<vtkRenderWindow> &win)
+        {
+          win_ = win;
+        }
+
         /** \brief True if we're using red-blue colors for anaglyphic stereo, false if magenta-green. */
         bool stereo_anaglyph_mask_default_;
 
@@ -293,7 +360,19 @@ namespace pcl
         /** \brief The keyboard modifier to use. Default: Alt. */
         InteractorKeyboardModifier modifier_;
 
+        /** \brief Camera file for camera parameter saving/restoring. */
+        std::string camera_file_;
+        /** \brief A \ref pcl::visualization::Camera for camera parameter saving/restoring. */
+        Camera camera_;
+        /** \brief A \ref pcl::visualization::Camera is saved or not. */
+        bool camera_saved_;
+        /** \brief The render window.
+          * Only used when interactor maybe not available
+          */
+        vtkSmartPointer<vtkRenderWindow> win_;
+
         friend class PointPickingCallback;
+        friend class PCLVisualizer;
     };
 
     /** \brief PCL histogram visualizer interactory style class.

visualization/include/pcl/visualization/pcl_visualizer.h

@@ -1595,7 +1595,15 @@ namespace pcl
         bool
         getCameraParameters (int argc, char **argv);
 
-        /** \brief Checks whether the camera parameters were manually loaded from file.*/
+        /** \brief Load camera parameters from a camera parameters file.
+          * \param[in] file the name of the camera parameters file
+          */
+        bool
+        loadCameraParameters (const std::string &file);
+
+        /** \brief Checks whether the camera parameters were manually loaded.
+          * \return True if valid "-cam" option is available in command line or a corresponding camera file is automatically loaded.
+          */
         bool
         cameraParamsSet () const;
 
@@ -1689,6 +1697,18 @@ namespace pcl
         void
         saveScreenshot (const std::string &file);
 
+        /** \brief Save the camera parameters to disk, as a .cam file.
+          * \param[in] file the name of the .cam file
+          */
+        void
+        saveCameraParameters (const std::string &file);
+
+        /** \brief Get camera parameters and save them to a pcl::visualization::Camera.
+          * \param[out] camera the name of the pcl::visualization::Camera
+          */
+        void
+        getCameraParameters (Camera &camera);
+
         /** \brief Return a pointer to the underlying VTK Render Window used. */
         vtkSmartPointer<vtkRenderWindow>
         getRenderWindow ()
@@ -2069,6 +2089,13 @@ namespace pcl
         int
         textureFromTexMaterial (const pcl::TexMaterial& tex_mat,
                                 vtkTexture* vtk_tex) const;
+
+        /** \brief Get camera file for camera parameter saving/restoring from command line.
+          * Camera filename is calculated using sha1 value of all pathes of input .pcd files
+          * \return empty string if failed.
+          */
+        std::string
+        getUniqueCameraFile (int argc, char **argv);
 
         //There's no reason these conversion functions shouldn't be public and static so others can use them.
       public: