Merge pull request #28 from ch-sa/ch/save-perspective

Keep the perspective when changing point clouds

config.ini

@@ -51,6 +51,9 @@ show_orientation = True
 background_color = 100, 100, 100
 ; number of decimal places shown for the parameters of the active bounding box
 viewing_precision = 2
-; near and far clipping plane for OpenGL (where objects are visible, in meter)
-near_plane=0.1
-far_plane=300
+; near and far clipping plane for opengl (where objects are visible, in meter)
+near_plane = 0.1
+far_plane = 300
+; keep last perspective between point clouds
+keep_perspective = False
+

labelCloud/control/pcd_manager.py

@@ -15,10 +15,18 @@
 from .config_manager import config
 from .label_manager import LabelManager
 
+from dataclasses import dataclass
+
 if TYPE_CHECKING:
     from view.gui import GUI
 
 
+@dataclass
+class Perspective:
+    zoom: float
+    rotation: Tuple[float, float, float]
+
+
 def color_pointcloud(points, z_min, z_max):
     palette = np.loadtxt("labelCloud/ressources/rocket-palette.txt")
     palette_len = len(palette) - 1
@@ -49,6 +57,7 @@ def __init__(self):
         # Point cloud control
         self.pointcloud = None
         self.collected_object_classes = set()
+        self.saved_perspective: Perspective = None
 
     def read_pointcloud_folder(self):
         """Checks point cloud folder and sets self.pcds to all valid point cloud file names."""
@@ -137,10 +146,24 @@ def save_labels_into_file(self, bboxes: List[BBox]):
         else:
             print("No point clouds to save labels for!")
 
+    def save_current_perspective(self, active: bool = True) -> None:
+        if active:
+            self.saved_perspective = Perspective(
+                zoom=self.pointcloud.trans_z,
+                rotation=tuple(self.pointcloud.get_rotations()),
+            )
+            print(f"Saved current perspective ({self.saved_perspective}).")
+        else:
+            self.saved_perspective = None
+            print("Reset saved perspective.")
+
     # MANIPULATOR
     def load_pointcloud(self, path_to_pointcloud: str) -> PointCloud:
         print("=" * 20, "Loading", ntpath.basename(path_to_pointcloud), "=" * 20)
 
+        if config.getboolean("USER_INTERFACE", "keep_perspective"):
+            self.save_current_perspective()
+
         if (
             os.path.splitext(path_to_pointcloud)[1] == ".bin"
         ):  # Loading binary pcds with numpy
@@ -180,6 +203,12 @@ def load_pointcloud(self, path_to_pointcloud: str) -> PointCloud:
 
         tmp_pcd.init_translation = -self.current_o3d_pcd.get_center() - [0, 0, diagonal]
 
+        if self.saved_perspective != None:
+            tmp_pcd.init_translation = tuple(
+                list(tmp_pcd.init_translation[:2]) + [self.saved_perspective.zoom]
+            )
+            tmp_pcd.set_rotations(*self.saved_perspective.rotation)
+
         tmp_pcd.reset_translation()
         tmp_pcd.print_details()
         if self.pointcloud is not None:  # Skip first pcd to intialize OpenGL first

labelCloud/model/point_cloud.py

@@ -73,6 +73,11 @@ def set_rot_y(self, angle):
     def set_rot_z(self, angle):
         self.rot_z = angle % 360
 
+    def set_rotations(self, x: float, y: float, z: float):
+        self.rot_x = x % 360
+        self.rot_y = y % 360
+        self.rot_z = z % 360
+
     def set_trans_x(self, val):
         self.trans_x = val
 
@@ -82,6 +87,11 @@ def set_trans_y(self, val):
     def set_trans_z(self, val):
         self.trans_z = val
 
+    def set_translations(self, x: float, y: float, z: float):
+        self.trans_x = x
+        self.trans_y = y
+        self.trans_z = z
+
     # MANIPULATORS
 
     def transform_data(self):

labelCloud/ressources/default_config.ini

@@ -53,4 +53,6 @@ background_color = 100, 100, 100
 viewing_precision = 2
 ; near and far clipping plane for OpenGL (where objects are visible, in meter)
 near_plane=0.1
-far_plane=300
+far_plane=300
+; keep last perspective between point clouds
+keep_perspective = False

labelCloud/ressources/interface.ui

@@ -1538,6 +1538,7 @@ QListWidget#label_list::item:selected {
     <addaction name="action_zrotationonly"/>
     <addaction name="action_showfloor"/>
     <addaction name="action_showorientation"/>
+    <addaction name="action_saveperspective"/>
     <addaction name="action_alignpcd"/>
     <addaction name="action_changesettings"/>
    </widget>
@@ -1614,6 +1615,17 @@ QListWidget#label_list::item:selected {
     <string>Show Orientation</string>
    </property>
   </action>
+  <action name="action_saveperspective">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="checked">
+    <bool>false</bool>
+   </property>
+   <property name="text">
+    <string>Save current Perspective</string>
+   </property>
+  </action>
   <action name="action_alignpcd">
    <property name="checkable">
     <bool>true</bool>