Flythrough

.github/workflows/release.yml

@@ -54,26 +54,22 @@ jobs:
             arch: amd64
             goos: linux
             binary: pointcloud
-            convert-binary: xyz-convert
             cc: gcc
           - os: ubuntu-latest
             arch: arm64
             goos: linux
             binary: pointcloud
-            convert-binary: xyz-convert
             cc: aarch64-linux-gnu-gcc
             goarch: arm64
           - os: macos-latest
             arch: arm64
             goos: darwin
             binary: pointcloud
-            convert-binary: xyz-convert
             cc: ""
           - os: windows-latest
             arch: amd64
             goos: windows
             binary: pointcloud.exe
-            convert-binary: xyz-convert.exe
             cc: ""
 
     runs-on: ${{ matrix.os }}
@@ -130,17 +126,6 @@ jobs:
           go build -ldflags "-X main.Version=${{ steps.version.outputs.version }}" \
             -o bin/${{ matrix.binary }} .
 
-      - name: Build xyz-convert
-        shell: bash
-        env:
-          CGO_ENABLED: "1"
-          GOARCH: ${{ matrix.goarch || '' }}
-          CC: ${{ matrix.cc || '' }}
-          PKG_CONFIG_PATH: ${{ matrix.arch == 'arm64' && runner.os == 'Linux' && '/usr/lib/aarch64-linux-gnu/pkgconfig' || '' }}
-        run: |
-          go build -ldflags "-X main.Version=${{ steps.version.outputs.version }}" \
-            -o bin/${{ matrix.convert-binary }} ./cmd/xyz-convert
-
       - name: Create archive
         shell: bash
         run: |

Makefile

@@ -17,9 +17,11 @@ BINARIES := $(notdir $(shell find cmd -mindepth 1 -maxdepth 1 -type d))
 
 all: lint vet staticcheck test build
 
+build: $(BINARIES)
+
 $(BINARIES):
 	@echo "*** $@"
-	@cd cmd/$@ && CGO_ENABLED=0 go build $(LDFLAGS) -trimpath -o ../../bin/$@
+	@cd cmd/$@ && go build $(LDFLAGS) -trimpath -o ../../bin/$@
 
 run:
 	@echo "*** $@"

README.md

@@ -1,10 +1,12 @@
 # Point Cloud Viewer
 
+![Gopher](images/gopher-small.png)
+
 [![Go Reference](https://pkg.go.dev/badge/github.com/borud/pointcloud.svg)](https://pkg.go.dev/github.com/borud/pointcloud)
 
 A simple point cloud viewer built with [Fyne](https://fyne.io/) and OpenGL. Reads PLY, PCD, PTS, and XYZ files and renders them as interactive 3D point clouds with mouse-controlled rotation and zoom.
 
-![Screenshot](screenshot.png)
+![Screenshot](images/screenshot.png)
 
 ## Features
 
@@ -21,10 +23,24 @@ A simple point cloud viewer built with [Fyne](https://fyne.io/) and OpenGL. Read
 
 ## Installation
 
+### Library
+
+To use the viewer widget in your own Fyne application:
+
 ```sh
 go get github.com/borud/pointcloud
 ```
 
+### Demo application
+
+Pre-built binaries for Linux (amd64, arm64), macOS (arm64), and Windows (amd64) are available on the [releases page](https://github.com/borud/pointcloud/releases).
+
+Or build from source:
+
+```sh
+go install github.com/borud/pointcloud/cmd/pointcloud@latest
+```
+
 ## Using the widget
 
 The `Viewer` is a standard Fyne widget that you can embed in any Fyne application. It uses a functional options pattern for configuration.
@@ -35,28 +51,28 @@ The `Viewer` is a standard Fyne widget that you can embed in any Fyne applicatio
 package main
 
 import (
- "log"
+    "log"
 
- "fyne.io/fyne/v2/app"
- "github.com/borud/pointcloud"
+    "fyne.io/fyne/v2/app"
+    "github.com/borud/pointcloud"
 )
 
 func main() {
- myApp := app.New()
- w := myApp.NewWindow("Point Cloud")
+    myApp := app.New()
+    w := myApp.NewWindow("Point Cloud")
 
- v := pointcloud.New()
+    v := pointcloud.New()
 
- pc, err := pointcloud.ReadFile("model.ply")
- if err != nil {
-  log.Fatal(err)
- }
- pc.Normalize()
- v.SetScale(pc.NormScale)
- v.SetPoints(pc.Points)
+    pc, err := pointcloud.ReadFile("model.ply")
+    if err != nil {
+        log.Fatal(err)
+    }
+    pc.Normalize()
+    v.SetScale(pc.NormScale)
+    v.SetPoints(pc.Points)
 
- w.SetContent(v)
- w.ShowAndRun()
+    w.SetContent(v)
+    w.ShowAndRun()
 }
 ```
 
@@ -66,16 +82,16 @@ Use functional options to customize appearance when creating the viewer.
 
 ```go
 v := pointcloud.New(
- pointcloud.WithBackgroundColor(color.RGBA{30, 30, 30, 255}),
- pointcloud.WithDefaultPointColor(color.RGBA{255, 150, 255, 255}),
- pointcloud.WithOrientationCube(true),
- pointcloud.WithHomeButton(true),
- pointcloud.WithZoomFitButton(true),
- pointcloud.WithInfoLabel(true),
- pointcloud.WithScaleBar(true),
- pointcloud.WithScaleUnit("m"),
- pointcloud.WithFPS(true),
- pointcloud.WithMaxZoomOutFraction(0.3),
+    pointcloud.WithBackgroundColor(color.RGBA{30, 30, 30, 255}),
+    pointcloud.WithDefaultPointColor(color.RGBA{255, 150, 255, 255}),
+    pointcloud.WithOrientationCube(true),
+    pointcloud.WithHomeButton(true),
+    pointcloud.WithZoomFitButton(true),
+    pointcloud.WithInfoLabel(true),
+    pointcloud.WithScaleBar(true),
+    pointcloud.WithScaleUnit("m"),
+    pointcloud.WithFPS(true),
+    pointcloud.WithMaxZoomOutFraction(0.3),
 )
 v.SetUpAxis(pointcloud.ZUp)
 ```
@@ -102,12 +118,12 @@ You can construct a `PointCloud` programmatically instead of reading from a file
 
 ```go
 pc := &pointcloud.PointCloud{
- Points: []pointcloud.Point3D{
-  {X: 0, Y: 0, Z: 0, R: 255, G: 0, B: 0, HasColor: true},
-  {X: 1, Y: 0, Z: 0, R: 0, G: 255, B: 0, HasColor: true},
-  {X: 0, Y: 1, Z: 0, R: 0, G: 0, B: 255, HasColor: true},
-  {X: 0, Y: 0, Z: 1, R: 255, G: 255, B: 0, HasColor: true},
- },
+    Points: []pointcloud.Point3D{
+        {X: 0, Y: 0, Z: 0, R: 255, G: 0, B: 0, HasColor: true},
+        {X: 1, Y: 0, Z: 0, R: 0, G: 255, B: 0, HasColor: true},
+        {X: 0, Y: 1, Z: 0, R: 0, G: 0, B: 255, HasColor: true},
+        {X: 0, Y: 0, Z: 1, R: 255, G: 255, B: 0, HasColor: true},
+    },
 }
 pc.ComputeBounds()
 pc.Normalize()
@@ -151,6 +167,44 @@ defer f.Close()
 pointcloud.WritePLY(f, pc)
 ```
 
+## Controls
+
+The viewer has two camera modes: **orbit** (default) and **flythrough** (first-person). Toggle between them with the `g` key or the eye button in the toolbar.
+
+### Orbit mode
+
+| Input | Action |
+|---|---|
+| Drag | Arcball rotation |
+| Shift+Drag | Pan |
+| Scroll wheel | Zoom in/out |
+| Click | Pick nearest point (shows coordinates in info label) |
+| `h` | Reset to home view |
+| `f` | Zoom to fit all points |
+| `+` / `-` | Zoom in / out |
+| Arrow keys | Rotate in 5-degree steps |
+| `g` | Enter flythrough mode |
+
+### Flythrough mode
+
+In flythrough mode the camera moves freely through the point cloud using FPS-style controls.
+
+| Input | Action |
+|---|---|
+| `W` / `S` or Up / Down | Move forward / backward |
+| `A` / `D` or Left / Right | Strafe left / right |
+| Space | Move up (world space) |
+| `Q` | Move down (world space) |
+| Drag | Mouse look |
+| Scroll wheel | Adjust movement speed |
+| `g` | Return to orbit mode |
+| Escape | Return to orbit mode |
+| `h` | Return to orbit mode and reset home view |
+
+### Orientation cube
+
+Click a face, edge midpoint, or corner of the orientation cube to snap the view to that direction.
+
 ## Benchmarking
 
 Install [benchstat](https://pkg.go.dev/golang.org/x/perf/cmd/benchstat) for comparing results:

bench_test.go

@@ -84,6 +84,23 @@ func BenchmarkClear_1080p(b *testing.B) {
 	}
 }
 
+// BenchmarkDraw_Flythrough_1M measures draw with flythrough camera inside cloud.
+func BenchmarkDraw_Flythrough_1M(b *testing.B) {
+	pts := generatePoints(1_000_000)
+	c := setupCanvas(pts)
+	c.flyMode = true
+	c.fly = newFlythroughCamera(c)
+	c.fly.pos = [3]float64{0, 0, 0} // camera at center of cloud
+	c.fly.orientation = QuatIdentity()
+	w, h := 1024, 768
+
+	b.ReportAllocs()
+	b.ResetTimer()
+	for range b.N {
+		c.draw(w, h)
+	}
+}
+
 // BenchmarkProjection_1M measures only the projection math (no pixel writes).
 func BenchmarkProjection_1M(b *testing.B) {
 	pts := generatePoints(1_000_000)