CPointCloudColoured.h

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 |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/opengl/CRenderizable.h>
#include <mrpt/opengl/COctreePointRenderer.h>
#include <mrpt/opengl/PLY_import_export.h>
#include <mrpt/opengl/pointcloud_adapters.h>
#include <mrpt/img/color_maps.h>

namespace mrpt
{
namespace opengl
{
/** A cloud of points, each one with an individual colour (R,G,B). The alpha
 * component is shared by all the points and is stored in the base member
 * m_color_A.
 *
 *  To load from a points-map, CPointCloudColoured::loadFromPointsMap().
 *
 *   This class uses smart optimizations while rendering to efficiently draw
 * clouds of millions of points,
 *   as described in this page:
 * http://www.mrpt.org/Efficiently_rendering_point_clouds_of_millions_of_points
 *
 *  \sa opengl::COpenGLScene, opengl::CPointCloud
 *
 *  <div align="center">
 *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px;
 * border-style: solid;">
 *   <tr> <td> mrpt::opengl::CPointCloudColoured </td> <td> \image html
 * preview_CPointCloudColoured.png </td> </tr>
 *  </table>
 *  </div>
 *
 * \ingroup mrpt_opengl_grp
 */
class CPointCloudColoured : public CRenderizable,
                            public COctreePointRenderer<CPointCloudColoured>,
                            public mrpt::opengl::PLY_Importer,
                            public mrpt::opengl::PLY_Exporter
{
    DEFINE_SERIALIZABLE(CPointCloudColoured)

   public:
    struct TPointColour
    {
        inline TPointColour() {}
        inline TPointColour(
            float _x, float _y, float _z, float _R, float _G, float _B)
            : x(_x), y(_y), z(_z), R(_R), G(_G), B(_B)
        {
        }
        float x, y, z, R, G, B;  // Float is precission enough for rendering
    };

   private:
    using TListPointColour = std::vector<TPointColour>;
    TListPointColour m_points;

    using iterator = TListPointColour::iterator;
    using const_iterator = TListPointColour::const_iterator;
    inline iterator begin() { return m_points.begin(); }
    inline const_iterator begin() const { return m_points.begin(); }
    inline iterator end() { return m_points.end(); }
    inline const_iterator end() const { return m_points.end(); }
    /** By default is 1.0 */
    float m_pointSize;
    /** Default: false */
    bool m_pointSmooth;
    mutable volatile size_t m_last_rendered_count,
        m_last_rendered_count_ongoing;

   public:
    /** Constructor
     */
    CPointCloudColoured()
        : m_points(),
          m_pointSize(1),
          m_pointSmooth(false),
          m_last_rendered_count(0),
          m_last_rendered_count_ongoing(0)
    {
    }
    /** Private, virtual destructor: only can be deleted from smart pointers */
    virtual ~CPointCloudColoured() {}
    /** Do needed internal work if all points are new (octree rebuilt,...) */
    void markAllPointsAsNew();

   public:
    /** Evaluates the bounding box of this object (including possible children)
     * in the coordinate frame of the object parent. */
    virtual void getBoundingBox(
        mrpt::math::TPoint3D& bb_min,
        mrpt::math::TPoint3D& bb_max) const override
    {
        this->octree_getBoundingBox(bb_min, bb_max);
    }

    /** @name Read/Write of the list of points to render
        @{ */

    /** Inserts a new point into the point cloud. */
    void push_back(float x, float y, float z, float R, float G, float B);

    /** Set the number of points, with undefined contents */
    inline void resize(size_t N)
    {
        m_points.resize(N);
        markAllPointsAsNew();
    }

    /** Like STL std::vector's reserve */
    inline void reserve(size_t N) { m_points.reserve(N); }
    /** Read access to each individual point (checks for "i" in the valid range
     * only in Debug). */
    inline const TPointColour& operator[](size_t i) const
    {
#ifdef _DEBUG
        ASSERT_BELOW_(i, size());
#endif
        return m_points[i];
    }

    /** Read access to each individual point (checks for "i" in the valid range
     * only in Debug). */
    inline const TPointColour& getPoint(size_t i) const
    {
#ifdef _DEBUG
        ASSERT_BELOW_(i, size());
#endif
        return m_points[i];
    }

    /** Read access to each individual point (checks for "i" in the valid range
     * only in Debug). */
    inline mrpt::math::TPoint3Df getPointf(size_t i) const
    {
#ifdef _DEBUG
        ASSERT_BELOW_(i, size());
#endif
        return mrpt::math::TPoint3Df(
            m_points[i].x, m_points[i].y, m_points[i].z);
    }

    /** Write an individual point (checks for "i" in the valid range only in
     * Debug). */
    void setPoint(size_t i, const TPointColour& p);

    /** Like \a setPoint() but does not check for index out of bounds */
    inline void setPoint_fast(const size_t i, const TPointColour& p)
    {
        m_points[i] = p;
        markAllPointsAsNew();
    }

    /** Like \a setPoint() but does not check for index out of bounds */
    inline void setPoint_fast(
        const size_t i, const float x, const float y, const float z)
    {
        TPointColour& p = m_points[i];
        p.x = x;
        p.y = y;
        p.z = z;
        markAllPointsAsNew();
    }

    /** Like \c setPointColor but without checking for out-of-index erors */
    inline void setPointColor_fast(size_t index, float R, float G, float B)
    {
        m_points[index].R = R;
        m_points[index].G = G;
        m_points[index].B = B;
    }
    /** Like \c getPointColor but without checking for out-of-index erors */
    inline void getPointColor_fast(
        size_t index, float& R, float& G, float& B) const
    {
        R = m_points[index].R;
        G = m_points[index].G;
        B = m_points[index].B;
    }

    /** Return the number of points */
    inline size_t size() const { return m_points.size(); }
    /** Erase all the points */
    inline void clear()
    {
        m_points.clear();
        markAllPointsAsNew();
    }

    /** Load the points from any other point map class supported by the adapter
     * mrpt::opengl::PointCloudAdapter. */
    template <class POINTSMAP>
    void loadFromPointsMap(const POINTSMAP* themap);
    // Must be implemented at the end of the header.

    /** Get the number of elements actually rendered in the last render event.
     */
    size_t getActuallyRendered() const { return m_last_rendered_count; }
    /** @} */

    /** @name Modify the appearance of the rendered points
        @{ */

    inline void setPointSize(float pointSize) { m_pointSize = pointSize; }
    inline float getPointSize() const { return m_pointSize; }
    inline void enablePointSmooth(bool enable = true)
    {
        m_pointSmooth = enable;
    }
    inline void disablePointSmooth() { m_pointSmooth = false; }
    inline bool isPointSmoothEnabled() const { return m_pointSmooth; }
    /** Regenerates the color of each point according the one coordinate
     * (coord_index:0,1,2 for X,Y,Z) and the given color map. */
    void recolorizeByCoordinate(
        const float coord_min, const float coord_max, const int coord_index = 2,
        const mrpt::img::TColormap color_map = mrpt::img::cmJET);
    /** @} */

    /** Render */
    void render() const override;

    /** Render a subset of points (required by octree renderer) */
    void render_subset(
        const bool all, const std::vector<size_t>& idxs,
        const float render_area_sqpixels) const;

   protected:
    /** @name PLY Import virtual methods to implement in base classes
        @{ */
    /** In a base class, reserve memory to prepare subsequent calls to
     * PLY_import_set_vertex */
    virtual void PLY_import_set_vertex_count(const size_t N) override;
    /** In a base class, reserve memory to prepare subsequent calls to
     * PLY_import_set_face */
    virtual void PLY_import_set_face_count(const size_t N) override
    {
        MRPT_UNUSED_PARAM(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.
     */
    virtual void PLY_import_set_vertex(
        const size_t idx, const mrpt::math::TPoint3Df& pt,
        const mrpt::img::TColorf* pt_color = nullptr) override;
    /** @} */

    /** @name PLY Export virtual methods to implement in base classes
        @{ */
    size_t PLY_export_get_vertex_count() const override;
    size_t PLY_export_get_face_count() const override { return 0; }
    void PLY_export_get_vertex(
        const size_t idx, mrpt::math::TPoint3Df& pt, bool& pt_has_color,
        mrpt::img::TColorf& pt_color) const override;
    /** @} */
};

mrpt::serialization::CArchive& operator>>(
    mrpt::serialization::CArchive& in, CPointCloudColoured::TPointColour& o);
mrpt::serialization::CArchive& operator<<(
    mrpt::serialization::CArchive& out,
    const CPointCloudColoured::TPointColour& o);

/** Specialization
 * mrpt::opengl::PointCloudAdapter<mrpt::opengl::CPointCloudColoured>  \ingroup
 * mrpt_adapters_grp*/
template <>
class PointCloudAdapter<mrpt::opengl::CPointCloudColoured>
{
   private:
    mrpt::opengl::CPointCloudColoured& m_obj;

   public:
    /** The type of each point XYZ coordinates */
    using coords_t = float;
    /** Has any color RGB info? */
    static const int HAS_RGB = 1;
    /** Has native RGB info (as floats)? */
    static const int HAS_RGBf = 1;
    /** Has native RGB info (as uint8_t)? */
    static const int HAS_RGBu8 = 0;

    /** Constructor (accept a const ref for convenience) */
    inline PointCloudAdapter(const mrpt::opengl::CPointCloudColoured& obj)
        : m_obj(*const_cast<mrpt::opengl::CPointCloudColoured*>(&obj))
    {
    }
    /** Get number of points */
    inline size_t size() const { return m_obj.size(); }
    /** Set number of points (to uninitialized values) */
    inline void resize(const size_t N) { m_obj.resize(N); }
    /** Does nothing as of now */
    inline void setDimensions(const size_t& height, const size_t& width)
    {
    }
    /** Get XYZ coordinates of i'th point */
    template <typename T>
    inline void getPointXYZ(const size_t idx, T& x, T& y, T& z) const
    {
        const mrpt::opengl::CPointCloudColoured::TPointColour& pc = m_obj[idx];
        x = pc.x;
        y = pc.y;
        z = pc.z;
    }
    /** Set XYZ coordinates of i'th point */
    inline void setPointXYZ(
        const size_t idx, const coords_t x, const coords_t y, const coords_t z)
    {
        m_obj.setPoint_fast(idx, x, y, z);
    }

    inline void setInvalidPoint(const size_t idx)
    {
        THROW_EXCEPTION("mrpt::opengl::CPointCloudColoured needs to be dense");
    }

    /** Get XYZ_RGBf coordinates of i'th point */
    template <typename T>
    inline void getPointXYZ_RGBf(
        const size_t idx, T& x, T& y, T& z, float& r, float& g, float& b) const
    {
        const mrpt::opengl::CPointCloudColoured::TPointColour& pc = m_obj[idx];
        x = pc.x;
        y = pc.y;
        z = pc.z;
        r = pc.R;
        g = pc.G;
        b = pc.B;
    }
    /** Set XYZ_RGBf coordinates of i'th point */
    inline void setPointXYZ_RGBf(
        const size_t idx, const coords_t x, const coords_t y, const coords_t z,
        const float r, const float g, const float b)
    {
        m_obj.setPoint_fast(
            idx,
            mrpt::opengl::CPointCloudColoured::TPointColour(x, y, z, r, g, b));
    }

    /** Get XYZ_RGBu8 coordinates of i'th point */
    template <typename T>
    inline void getPointXYZ_RGBu8(
        const size_t idx, T& x, T& y, T& z, uint8_t& r, uint8_t& g,
        uint8_t& b) const
    {
        const mrpt::opengl::CPointCloudColoured::TPointColour& pc = m_obj[idx];
        x = pc.x;
        y = pc.y;
        z = pc.z;
        r = pc.R * 255;
        g = pc.G * 255;
        b = pc.B * 255;
    }
    /** Set XYZ_RGBu8 coordinates of i'th point */
    inline void setPointXYZ_RGBu8(
        const size_t idx, const coords_t x, const coords_t y, const coords_t z,
        const uint8_t r, const uint8_t g, const uint8_t b)
    {
        m_obj.setPoint_fast(
            idx, mrpt::opengl::CPointCloudColoured::TPointColour(
                     x, y, z, r / 255.f, g / 255.f, b / 255.f));
    }

    /** Get RGBf color of i'th point */
    inline void getPointRGBf(
        const size_t idx, float& r, float& g, float& b) const
    {
        m_obj.getPointColor_fast(idx, r, g, b);
    }
    /** Set XYZ_RGBf coordinates of i'th point */
    inline void setPointRGBf(
        const size_t idx, const float r, const float g, const float b)
    {
        m_obj.setPointColor_fast(idx, r, g, b);
    }

    /** Get RGBu8 color of i'th point */
    inline void getPointRGBu8(
        const size_t idx, uint8_t& r, uint8_t& g, uint8_t& b) const
    {
        float R, G, B;
        m_obj.getPointColor_fast(idx, R, G, B);
        r = R * 255;
        g = G * 255;
        b = B * 255;
    }
    /** Set RGBu8 coordinates of i'th point */
    inline void setPointRGBu8(
        const size_t idx, const uint8_t r, const uint8_t g, const uint8_t b)
    {
        m_obj.setPointColor_fast(idx, r / 255.f, g / 255.f, b / 255.f);
    }

};  // end of PointCloudAdapter<mrpt::opengl::CPointCloudColoured>
}  // namespace opengl
namespace opengl
{
// After declaring the adapter we can here implement this method:
template <class POINTSMAP>
void CPointCloudColoured::loadFromPointsMap(const POINTSMAP* themap)
{
    mrpt::opengl::PointCloudAdapter<CPointCloudColoured> pc_dst(*this);
    const mrpt::opengl::PointCloudAdapter<POINTSMAP> pc_src(*themap);
    const size_t N = pc_src.size();
    pc_dst.resize(N);
    for (size_t i = 0; i < N; i++)
    {
        float x, y, z, r, g, b;
        pc_src.getPointXYZ_RGBf(i, x, y, z, r, g, b);
        pc_dst.setPointXYZ_RGBf(i, x, y, z, r, g, b);
    }
}
}  // namespace opengl
namespace typemeta
{
// Specialization must occur in the same namespace
MRPT_DECLARE_TTYPENAME_NAMESPACE(
    CPointCloudColoured::TPointColour, mrpt::opengl)
}  // namespace typemeta
}  // namespace mrpt