CPointCloudColoured.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "opengl-precomp.h"  // Precompiled header

#include <mrpt/core/round.h>  // round()
#include <mrpt/math/ops_containers.h>  // for << ops
#include <mrpt/opengl/CPointCloudColoured.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/serialization/stl_serialization.h>

#include <mrpt/opengl/opengl_api.h>

using namespace mrpt;
using namespace mrpt::opengl;
using namespace mrpt::math;
using namespace std;
using mrpt::serialization::CArchive;

IMPLEMENTS_SERIALIZABLE(CPointCloudColoured, CRenderizable, mrpt::opengl)

void CPointCloudColoured::onUpdateBuffers_Points()
{
    octree_assure_uptodate();  // Rebuild octree if needed
    m_last_rendered_count_ongoing = 0;

    {
        mrpt::math::TPoint3Df tst[2];
        // was static_assert(), error in gcc9.1, cannot use ptr+3 in constexpr.
        ASSERTMSG_(
            &tst[1].x == (&tst[0].x + 3), "memory layout not as expected");
        ASSERTMSG_(
            &tst[1].y == (&tst[0].y + 3), "memory layout not as expected");
        ASSERTMSG_(
            &tst[1].z == (&tst[0].z + 3), "memory layout not as expected");
    }

    // const auto N = m_points.size();

    octree_assure_uptodate();  // Rebuild octree if needed
    m_last_rendered_count_ongoing = 0;

    // TODO: Restore rendering using octrees?
    // octree_render(*rc.state);  // Render all points recursively:

    // ------------------------------
    // Fill the shader buffers
    // ------------------------------
    // "CRenderizableShaderPoints::m_vertex_buffer_data" is already done, since
    // "m_points" is an alias for it.

    // color buffer: idem. "m_point_colors" is an alias for
    // CRenderizableShaderPoints::m_color_buffer_data.

    m_last_rendered_count = m_last_rendered_count_ongoing;
}

/** Render a subset of points (required by octree renderer) */
void CPointCloudColoured::render_subset(
    const bool all, const std::vector<size_t>& idxs,
    const float render_area_sqpixels) const
{
#if 0 && MRPT_HAS_OPENGL_GLUT
    // Disabled for now... (Feb 2020)
    const size_t N = all ? m_points.size() : idxs.size();
    const size_t decimation = mrpt::round(std::max(
        1.0f, d2f(N / (mrpt::global_settings::
                           OCTREE_RENDER_MAX_DENSITY_POINTS_PER_SQPIXEL() *
                       render_area_sqpixels))));

    m_last_rendered_count_ongoing += N / decimation;

    m_last_rendered_count_ongoing +=
        (all ? m_points.size() : idxs.size()) / decimation;

    if (all)
    {
        for (size_t i = 0; i < N; i += decimation)
        {
            const TPointColour& p = m_points[i];
            glColor4ub(p.r, p.g, p.b, m_color.A);
            glVertex3f(p.pt.x, p.pt.y, p.pt.z);
        }
    }
    else
    {
        for (size_t i = 0; i < N; i += decimation)
        {
            const TPointColour& p = m_points[idxs[i]];
            glColor4ub(p.r, p.g, p.b, m_color.A);
            glVertex3f(p.pt.x, p.pt.y, p.pt.z);
        }
    }
#else
    MRPT_UNUSED_PARAM(all);
    MRPT_UNUSED_PARAM(idxs);
    MRPT_UNUSED_PARAM(render_area_sqpixels);
#endif
}

uint8_t CPointCloudColoured::serializeGetVersion() const { return 4; }
void CPointCloudColoured::serializeTo(mrpt::serialization::CArchive& out) const
{
    writeToStreamRender(out);
    out << m_points << m_point_colors;
    CRenderizableShaderPoints::params_serialize(out);
}

void CPointCloudColoured::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        case 1:
        case 2:
        case 3:
        {
            THROW_EXCEPTION(
                "Binary backward compatibility lost for this class.");
        }
        break;
        case 4:
        {
            readFromStreamRender(in);
            in >> m_points >> m_point_colors;

            CRenderizableShaderPoints::params_deserialize(in);
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
    markAllPointsAsNew();
    CRenderizable::notifyChange();
}

/** Write an individual point (checks for "i" in the valid range only in Debug).
 */
void CPointCloudColoured::setPoint(size_t i, const TPointXYZfRGBAu8& p)
{
#ifdef _DEBUG
    ASSERT_BELOW_(i, size());
#endif
    m_points[i] = p.pt;
    auto& c = m_point_colors[i];
    c.R = p.r;
    c.G = p.g;
    c.B = p.b;
    c.A = p.a;

    // JL: TODO note: Well, this can be clearly done much more efficiently
    // but...I don't have time! :-(
    markAllPointsAsNew();
    CRenderizable::notifyChange();
}

/** Inserts a new point into the point cloud. */
void CPointCloudColoured::push_back(
    float x, float y, float z, float R, float G, float B, float A)
{
    m_points.emplace_back(x, y, z);
    m_point_colors.emplace_back(f2u8(R), f2u8(G), f2u8(B), f2u8(A));

    // JL: TODO note: Well, this can be clearly done much more efficiently
    // but...I don't have time! :-(
    markAllPointsAsNew();
    CRenderizable::notifyChange();
}

// Do needed internal work if all points are new (octree rebuilt,...)
void CPointCloudColoured::markAllPointsAsNew() { octree_mark_as_outdated(); }
/** In a base class, reserve memory to prepare subsequent calls to
 * PLY_import_set_vertex */
void CPointCloudColoured::PLY_import_set_vertex_count(const size_t N)
{
    this->resize(N);
}

/** In a base class, will be called after PLY_import_set_vertex_count() once for
 * each loaded point.
 *  \param pt_color Will be nullptr if the loaded file does not provide color
 * info.
 */
void CPointCloudColoured::PLY_import_set_vertex(
    const size_t idx, const mrpt::math::TPoint3Df& pt,
    const mrpt::img::TColorf* pt_color)
{
    if (!pt_color)
        this->setPoint(
            idx, TPointXYZfRGBAu8(pt.x, pt.y, pt.z, 0xff, 0xff, 0xff));
    else
        this->setPoint(
            idx, TPointXYZfRGBAu8(
                     pt.x, pt.y, pt.z, f2u8(pt_color->R), f2u8(pt_color->G),
                     f2u8(pt_color->B)));
}

/** In a base class, return the number of vertices */
size_t CPointCloudColoured::PLY_export_get_vertex_count() const
{
    return this->size();
}

/** In a base class, will be called after PLY_export_get_vertex_count() once for
 * each exported point.
 *  \param pt_color Will be nullptr if the loaded file does not provide color
 * info.
 */
void CPointCloudColoured::PLY_export_get_vertex(
    const size_t idx, mrpt::math::TPoint3Df& pt, bool& pt_has_color,
    mrpt::img::TColorf& pt_color) const
{
    auto& p = m_points[idx];
    auto& p_color = m_point_colors[idx];
    p = pt;
    p_color = pt_color.asTColor();
    pt_has_color = true;
}

void CPointCloudColoured::recolorizeByCoordinate(
    const float coord_min, const float coord_max, const int coord_index,
    const mrpt::img::TColormap color_map)
{
    ASSERT_ABOVEEQ_(coord_index, 0);
    ASSERT_BELOW_(coord_index, 3);

    const float coord_range = coord_max - coord_min;
    const float coord_range_1 = coord_range != 0.0f ? 1.0f / coord_range : 1.0f;
    for (size_t i = 0; i < m_points.size(); i++)
    {
        float coord = .0f;
        switch (coord_index)
        {
            case 0:
                coord = m_points[i].x;
                break;
            case 1:
                coord = m_points[i].y;
                break;
            case 2:
                coord = m_points[i].z;
                break;
        };
        const float col_idx =
            std::max(0.0f, std::min(1.0f, (coord - coord_min) * coord_range_1));
        float r, g, b;
        mrpt::img::colormap(color_map, col_idx, r, g, b);
        this->setPointColor_fast(i, r, g, b);
    }
}