CPointCloud.cpp

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#include "opengl-precomp.h"  // Precompiled header
 
#include <mrpt/opengl/CPointCloud.h>
#include <mrpt/math/ops_containers.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/core/round.h>  // round()
 
#include "opengl_internals.h"
 
using namespace mrpt;
using namespace mrpt::opengl;
using namespace mrpt::img;
using namespace mrpt::math;
using namespace std;
 
float OCTREE_RENDER_MAX_DENSITY_POINTS_PER_SQPIXEL_value = 0.10f;
size_t OCTREE_RENDER_MAX_POINTS_PER_NODE_value = 1e6;
 
float mrpt::global_settings::OCTREE_RENDER_MAX_DENSITY_POINTS_PER_SQPIXEL()
{
    return OCTREE_RENDER_MAX_DENSITY_POINTS_PER_SQPIXEL_value;
}
void mrpt::global_settings::OCTREE_RENDER_MAX_DENSITY_POINTS_PER_SQPIXEL(
    float value)
{
    OCTREE_RENDER_MAX_DENSITY_POINTS_PER_SQPIXEL_value = value;
}
 
size_t mrpt::global_settings::OCTREE_RENDER_MAX_POINTS_PER_NODE()
{
    return OCTREE_RENDER_MAX_POINTS_PER_NODE_value;
}
void mrpt::global_settings::OCTREE_RENDER_MAX_POINTS_PER_NODE(size_t value)
{
    OCTREE_RENDER_MAX_POINTS_PER_NODE_value = value;
}
 
IMPLEMENTS_SERIALIZABLE(CPointCloud, CRenderizable, mrpt::opengl)
 
/*---------------------------------------------------------------
                            render
  ---------------------------------------------------------------*/
CPointCloud::CPointCloud()
    : m_colorFromDepth(CPointCloud::colNone),
      m_xs(),
      m_ys(),
      m_zs(),
      m_pointSize(1),
      m_pointSmooth(false),
      m_last_rendered_count(0),
      m_last_rendered_count_ongoing(0),
      m_min(0),
      m_max(0),
      m_max_m_min(0),
      m_max_m_min_inv(0),
      m_minmax_valid(false),
      m_colorFromDepth_min(0, 0, 0),
      m_colorFromDepth_max(0, 0, 1)
{
    markAllPointsAsNew();
}
 
/*---------------------------------------------------------------
                            render
  ---------------------------------------------------------------*/
void CPointCloud::render() const
{
#if MRPT_HAS_OPENGL_GLUT
 
    ASSERT_(m_xs.size() == m_ys.size());
    ASSERT_(m_xs.size() == m_zs.size());
 
    octree_assure_uptodate();  // Rebuild octree if needed
    m_last_rendered_count_ongoing = 0;
 
    // Info needed by octree renderer:
    gl_utils::TRenderInfo ri;
    gl_utils::getCurrentRenderingInfo(ri);
 
    if (m_colorFromDepth)
    {
        if (!m_minmax_valid)
        {
            m_minmax_valid = true;
            if (!m_zs.empty())
                mrpt::math::minimum_maximum(
                    m_colorFromDepth == CPointCloud::colZ
                        ? m_zs
                        : (m_colorFromDepth == CPointCloud::colY ? m_ys : m_xs),
                    m_min, m_max);
            else
                m_max = m_min = 0;
        }
 
        m_max_m_min = m_max - m_min;
        if (std::abs(m_max_m_min) < 1e-4)
            m_max_m_min = -1;
        else
            m_min = m_max - m_max_m_min * 1.01f;
        m_max_m_min_inv = 1.0 / m_max_m_min;
    }
 
    if (m_color.A != 255)
    {
        glEnable(GL_BLEND);
        glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
    }
    else
    {
        glDisable(GL_BLEND);
    }
 
    // Slopes of color interpolation:
    m_col_slop.R = m_colorFromDepth_max.R - m_colorFromDepth_min.R;
    m_col_slop.G = m_colorFromDepth_max.G - m_colorFromDepth_min.G;
    m_col_slop.B = m_colorFromDepth_max.B - m_colorFromDepth_min.B;
 
    m_col_slop_inv.R = m_col_slop.R != 0 ? 1.0f / m_col_slop.R : 0;
    m_col_slop_inv.G = m_col_slop.G != 0 ? 1.0f / m_col_slop.G : 0;
    m_col_slop_inv.B = m_col_slop.B != 0 ? 1.0f / m_col_slop.B : 0;
 
    glPointSize(m_pointSize);
    if (m_pointSmooth)
        glEnable(GL_POINT_SMOOTH);
    else
        glDisable(GL_POINT_SMOOTH);
 
    // Disable lighting for point clouds:
    glDisable(GL_LIGHTING);
 
    glBegin(GL_POINTS);
    glColor4ub(
        m_color.R, m_color.G, m_color.B,
        m_color.A);  // The default if m_colorFromDepth=false
    octree_render(ri);  // Render all points recursively:
    glEnd();
 
    glEnable(GL_LIGHTING);
 
    if (m_color.A != 255) glDisable(GL_BLEND);
 
    if (m_pointSmooth) glDisable(GL_POINT_SMOOTH);
 
    m_last_rendered_count = m_last_rendered_count_ongoing;
 
    checkOpenGLError();
#endif
}
 
inline void CPointCloud::internal_render_one_point(size_t i) const
{
#if MRPT_HAS_OPENGL_GLUT
    if (m_colorFromDepth != colNone && m_max_m_min > 0)
    {
        const float depthCol =
            (m_colorFromDepth == colX
                 ? m_xs[i]
                 : (m_colorFromDepth == colY ? m_ys[i] : m_zs[i]));
 
        float f = (depthCol - m_min) * m_max_m_min_inv;
        f = std::max(0.0f, min(1.0f, f));
 
        glColor4f(
            m_colorFromDepth_min.R + f * m_col_slop_inv.R,
            m_colorFromDepth_min.G + f * m_col_slop_inv.G,
            m_colorFromDepth_min.B + f * m_col_slop_inv.B,
            m_color.A * (1.0f / 255.f));
    }
    glVertex3f(m_xs[i], m_ys[i], m_zs[i]);
#else
    MRPT_UNUSED_PARAM(i);
#endif
}
 
/** Render a subset of points (required by octree renderer) */
void CPointCloud::render_subset(
    const bool all, const std::vector<size_t>& idxs,
    const float render_area_sqpixels) const
{
#if MRPT_HAS_OPENGL_GLUT
 
    const size_t N = (all ? m_xs.size() : idxs.size());
    const size_t decimation = mrpt::round(
        std::max(
            1.0f, static_cast<float>(
                      N / (OCTREE_RENDER_MAX_DENSITY_POINTS_PER_SQPIXEL_value *
                           render_area_sqpixels))));
 
    m_last_rendered_count_ongoing += N / decimation;
 
    if (all)
    {
        for (size_t i = 0; i < N; i++) internal_render_one_point(i);
    }
    else
    {
        const size_t Np = idxs.size();
        for (size_t i = 0; i < Np; i += decimation)
            internal_render_one_point(idxs[i]);
    }
#else
    MRPT_UNUSED_PARAM(all);
    MRPT_UNUSED_PARAM(idxs);
    MRPT_UNUSED_PARAM(render_area_sqpixels);
#endif
}
 
uint8_t CPointCloud::serializeGetVersion() const { return 4; }
void CPointCloud::serializeTo(mrpt::serialization::CArchive& out) const
{
    writeToStreamRender(out);
    // Changed from bool to enum/int32_t in version 3.
    out << static_cast<int32_t>(m_colorFromDepth);
    out << m_xs << m_ys << m_zs;
 
    // Added in version 1.
    out << m_pointSize;
 
    // New in version 2:
    out << m_colorFromDepth_min.R << m_colorFromDepth_min.G
        << m_colorFromDepth_min.B;
    out << m_colorFromDepth_max.R << m_colorFromDepth_max.G
        << m_colorFromDepth_max.B;
 
    // New in version 4:
    out << m_pointSmooth;
}
 
void CPointCloud::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        case 1:
        case 2:
        case 3:
        case 4:
        {
            readFromStreamRender(in);
            if (version >= 3)
            {
                int32_t axis;
                in >> axis;
                m_colorFromDepth = Axis(axis);
            }
            else
            {
                bool colorFromZ;
                in >> colorFromZ;
                m_colorFromDepth =
                    colorFromZ ? CPointCloud::colZ : CPointCloud::colNone;
            }
            in >> m_xs >> m_ys >> m_zs;
 
            if (version >= 1)
                in >> m_pointSize;
            else
                m_pointSize = 1;
 
            if (version >= 2)
            {
                in >> m_colorFromDepth_min.R >> m_colorFromDepth_min.G >>
                    m_colorFromDepth_min.B;
                in >> m_colorFromDepth_max.R >> m_colorFromDepth_max.G >>
                    m_colorFromDepth_max.B;
            }
            else
            {
                m_colorFromDepth_min = TColorf(0, 0, 0);
                m_colorFromDepth_max.R = m_color.R * 255.f;
                m_colorFromDepth_max.G = m_color.G * 255.f;
                m_colorFromDepth_max.B = m_color.B * 255.f;
            }
 
            if (version >= 4)
                in >> m_pointSmooth;
            else
                m_pointSmooth = false;
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
    };
 
    markAllPointsAsNew();
}
 
/*---------------------------------------------------------------
                        clear
---------------------------------------------------------------*/
void CPointCloud::clear()
{
    m_xs.clear();
    m_ys.clear();
    m_zs.clear();
    markAllPointsAsNew();
}
 
/*---------------------------------------------------------------
                        insertPoint
---------------------------------------------------------------*/
void CPointCloud::insertPoint(float x, float y, float z)
{
    m_xs.push_back(x);
    m_ys.push_back(y);
    m_zs.push_back(z);
 
    m_minmax_valid = false;
 
    // JL: TODO note: Well, this can be clearly done much more efficiently
    // but...I don't have time! :-(
    markAllPointsAsNew();
}
 
/** Write an individual point (checks for "i" in the valid range only in Debug).
 */
void CPointCloud::setPoint(
    size_t i, const float x, const float y, const float z)
{
#ifdef _DEBUG
    ASSERT_BELOW_(i, size());
#endif
    m_xs[i] = x;
    m_ys[i] = y;
    m_zs[i] = z;
 
    m_minmax_valid = false;
 
    // JL: TODO note: Well, this can be clearly done much more efficiently
    // but...I don't have time! :-(
    markAllPointsAsNew();
}
 
/*---------------------------------------------------------------
                    setGradientColors
---------------------------------------------------------------*/
void CPointCloud::setGradientColors(
    const mrpt::img::TColorf& colorMin, const mrpt::img::TColorf& colorMax)
{
    m_colorFromDepth_min = colorMin;
    m_colorFromDepth_max = colorMax;
}
 
// Do needed internal work if all points are new (octree rebuilt,...)
void CPointCloud::markAllPointsAsNew()
{
    m_minmax_valid = false;
    octree_mark_as_outdated();
}
 
/** In a base class, reserve memory to prepare subsequent calls to
 * PLY_import_set_vertex */
void CPointCloud::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 CPointCloud::PLY_import_set_vertex(
    const size_t idx, const mrpt::math::TPoint3Df& pt,
    const mrpt::img::TColorf* pt_color)
{
    MRPT_UNUSED_PARAM(pt_color);
    this->setPoint(idx, pt.x, pt.y, pt.z);
}
 
/** In a base class, return the number of vertices */
size_t CPointCloud::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 CPointCloud::PLY_export_get_vertex(
    const size_t idx, mrpt::math::TPoint3Df& pt, bool& pt_has_color,
    mrpt::img::TColorf& pt_color) const
{
    MRPT_UNUSED_PARAM(pt_color);
    pt_has_color = false;
 
    pt.x = m_xs[idx];
    pt.y = m_ys[idx];
    pt.z = m_zs[idx];
}