CPointCloudColoured.cpp

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/* +------------------------------------------------------------------------+
   |                     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/CPointCloudColoured.h>
#include <mrpt/core/round.h>  // round()
#include <mrpt/serialization/CArchive.h>
#include <mrpt/math/ops_containers.h>  // for << ops
#include <mrpt/serialization/stl_serialization.h>
 
#include "opengl_internals.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)
 
/*---------------------------------------------------------------
                            render
  ---------------------------------------------------------------*/
void CPointCloudColoured::render() const
{
#if MRPT_HAS_OPENGL_GLUT
    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_color.A != 255)
    {
        glEnable(GL_BLEND);
        glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
    }
 
    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);
    octree_render(ri);  // Render all points recursively:
    glEnd();
 
    glEnable(GL_LIGHTING);
 
    // Undo flags:
    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
}
 
/** 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 MRPT_HAS_OPENGL_GLUT
    const size_t N = all ? m_points.size() : idxs.size();
    const size_t decimation = mrpt::round(
        std::max(
            1.0f, static_cast<float>(
                      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];
            glColor4f(p.R, p.G, p.B, m_color.A * 1.0f / 255.f);
            glVertex3f(p.x, p.y, p.z);
        }
    }
    else
    {
        for (size_t i = 0; i < N; i += decimation)
        {
            const TPointColour& p = m_points[idxs[i]];
            glColor4f(p.R, p.G, p.B, m_color.A * 1.0f / 255.f);
            glVertex3f(p.x, p.y, p.z);
        }
    }
#else
    MRPT_UNUSED_PARAM(all);
    MRPT_UNUSED_PARAM(idxs);
    MRPT_UNUSED_PARAM(render_area_sqpixels);
#endif
}
 
uint8_t CPointCloudColoured::serializeGetVersion() const { return 2; }
void CPointCloudColoured::serializeTo(mrpt::serialization::CArchive& out) const
{
    writeToStreamRender(out);
    out << m_points;
    out << m_pointSize;
    out << m_pointSmooth;  // Added in v2
}
 
void CPointCloudColoured::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 1:
        case 2:
        {
            readFromStreamRender(in);
            in >> m_points >> m_pointSize;
 
            if (version >= 2)
                in >> m_pointSmooth;
            else
                m_pointSmooth = false;
        }
        break;
        case 0:
        {
            readFromStreamRender(in);
 
            // Old vector_serializable:
            uint32_t n;
            in >> n;
            m_points.resize(n);
            for (uint32_t i = 0; i < n; i++) in >> m_points[i];
 
            in >> m_pointSize;
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
    };
    markAllPointsAsNew();
}
 
CArchive& mrpt::opengl::operator>>(
    CArchive& in, CPointCloudColoured::TPointColour& o)
{
    in >> o.x >> o.y >> o.z >> o.R >> o.G >> o.B;
    return in;
}
 
CArchive& mrpt::opengl::operator<<(
    CArchive& out, const CPointCloudColoured::TPointColour& o)
{
    out << o.x << o.y << o.z << o.R << o.G << o.B;
    return out;
}
 
/** Write an individual point (checks for "i" in the valid range only in Debug).
 */
void CPointCloudColoured::setPoint(size_t i, const TPointColour& p)
{
#ifdef _DEBUG
    ASSERT_BELOW_(i, size());
#endif
    m_points[i] = p;
 
    // JL: TODO note: Well, this can be clearly done much more efficiently
    // but...I don't have time! :-(
    markAllPointsAsNew();
}
 
/** Inserts a new point into the point cloud. */
void CPointCloudColoured::push_back(
    float x, float y, float z, float R, float G, float B)
{
    m_points.push_back(TPointColour(x, y, z, R, G, B));
 
    // JL: TODO note: Well, this can be clearly done much more efficiently
    // but...I don't have time! :-(
    markAllPointsAsNew();
}
 
// 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, TPointColour(pt.x, pt.y, pt.z, 1, 1, 1));
    else
        this->setPoint(
            idx, TPointColour(
                     pt.x, pt.y, pt.z, pt_color->R, pt_color->G, 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
{
    const TPointColour& p = m_points[idx];
    pt.x = p.x;
    pt.y = p.y;
    pt.z = p.z;
    pt_color.R = p.R;
    pt_color.G = p.G;
    pt_color.B = p.B;
    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);
    }
}