Merge pull request #17 from ch-sa/opengl-clipping

Change clipping space and add to config.ini

.github/workflows/unit-tests.yml

@@ -28,7 +28,7 @@ jobs:
     - name: Lint with flake8
       run: |
         # stop the build if there are Python syntax errors or undefined names
-        flake8 . --count --select=E9,F63,F7,F82 --show-source --statistics
+        flake8 . --count --select=E9,F63,F7,F82 --ignore=C901 --show-source --statistics
         # exit-zero treats all errors as warnings. The GitHub editor is 127 chars wide
         flake8 . --count --exit-zero --max-complexity=10 --max-line-length=127 --statistics
 

config.ini

@@ -51,4 +51,6 @@ 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

docs/documentation.md

@@ -56,9 +56,11 @@ The following parameters can be changed:
 | `STD_ROTATION` | Standard step for rotating the bounding box (with key press). | *0.5* |
 | `STD_SCALING` | Standard step for scaling the bounding box (with button press). | *0.03* |
 | `MIN_BOUNDINGBOX_DIMENSION` | Minimum value for the length, width and height of a bounding box. | *0.01* |
-| **[SETTINGS]** |
+| **[USER_INTERFACE]** |
 | `Z_ROTATION_ONLY` | Only allow z-rotation of bounding box; deactivate to also label x- & y-rotation. | *True* |
 | `SHOW_FLOOR` | Visualizes the floor (x-y-plane) as a grid. | *True* |
 | `SHOW_ORIENTATION` | Visualizes the object's orientation as an arrow. | *True* |
 | `BACKGROUND_COLOR` | Background color of the point cloud viewer (rgb). | *100, 100, 100* |
 | `VIEWING_PRECISION` | Number of decimal places shown on the right side for the parameters of the active bounding box. | *3* |
+| `near_plane` | Min. distance of objects to be displayed by OpenGL | *0.1* |
+| `far_plane` | Max. distance of objects to be displayed by OpenGL | *300* |

labelCloud/ressources/default_config.ini

@@ -51,4 +51,6 @@ 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

labelCloud/view/viewer.py

@@ -15,6 +15,9 @@
 
 # Main widget for presenting the point cloud
 class GLWidget(QtOpenGL.QGLWidget):
+    NEAR_PLANE = config.getfloat("USER_INTERFACE", "near_plane")
+    FAR_PLANE = config.getfloat("USER_INTERFACE", "far_plane")
+
     def __init__(self, parent=None):
         self.parent = parent
         QtOpenGL.QGLWidget.__init__(self, parent)
@@ -70,7 +73,7 @@ def resizeGL(self, width, height):
         GL.glLoadIdentity()
         aspect = width / float(height)
 
-        GLU.gluPerspective(45.0, aspect, 0.5, 30.0)
+        GLU.gluPerspective(45.0, aspect, GLWidget.NEAR_PLANE, GLWidget.FAR_PLANE)
         GL.glMatrixMode(GL.GL_MODELVIEW)
 
     def paintGL(self):

tests/integration/conftest.py

@@ -9,9 +9,10 @@ def pytest_configure(config):
     print(f"Set working directory to {os.getcwd()}.")
 
     sys.path.insert(0, "labelCloud")
-    print(f"Added labelCloud to Python path.")
+    print("Added labelCloud to Python path.")
 
-    import app  # preventing circular import
+    # preventing circular import
+    import app  # noqa: E401
 
 
 @pytest.fixture

tests/unit/conftest.py

@@ -7,6 +7,7 @@ def pytest_configure(config):
     print(f"Set working directory to {os.getcwd()}.")
 
     sys.path.insert(0, "labelCloud")
-    print(f"Added labelCloud to Python path.")
+    print("Added labelCloud to Python path.")
 
-    import app  # preventing circular import
+    # preventing circular import
+    import app  # noqa: E401