CPointCloud.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

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

namespace mrpt::opengl
{
/** A cloud of points, all with the same color or each depending on its value
 * along a particular coordinate axis.
 *  This class is just an OpenGL representation of a point cloud. For operating
 * with maps of points, see mrpt::maps::CPointsMap and derived classes.
 *
 *  To load from a points-map, CPointCloud::loadFromPointsMap().
 *
 *   This class uses smart optimizations while rendering to efficiently draw
 * clouds of millions of points,
 *   as described in this page:
 * https://www.mrpt.org/Efficiently_rendering_point_clouds_of_millions_of_points
 *
 *  \sa opengl::CPlanarLaserScan, opengl::COpenGLScene,
 * opengl::CPointCloudColoured, mrpt::maps::CPointsMap
 *
 *  <div align="center">
 *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px;
 * border-style: solid;">
 *   <tr> <td> mrpt::opengl::CPointCloud </td> <td> \image html
 * preview_CPointCloud.png </td> </tr>
 *  </table>
 *  </div>
 *
 * \ingroup mrpt_opengl_grp
 */
class CPointCloud : public CRenderizable,
                    public COctreePointRenderer<CPointCloud>,
                    public mrpt::opengl::PLY_Importer,
                    public mrpt::opengl::PLY_Exporter
{
    DEFINE_SERIALIZABLE(CPointCloud)
    DEFINE_SCHEMA_SERIALIZABLE()
   protected:
    enum Axis
    {
        colNone = 0,
        colZ,
        colY,
        colX
    } m_colorFromDepth{CPointCloud::colNone};
    std::vector<float> m_xs, m_ys, m_zs;
    /** By default is 1.0 */
    float m_pointSize{1};
    /** Default: false */
    bool m_pointSmooth{false};

    mutable volatile size_t m_last_rendered_count{0},
        m_last_rendered_count_ongoing{0};

    /** Do needed internal work if all points are new (octree rebuilt,...) */
    void markAllPointsAsNew();

   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 */
    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 */
    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.
     */
    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;
    /** @} */

   public:
    /** Evaluates the bounding box of this object (including possible children)
     * in the coordinate frame of the object parent. */
    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
        @{ */

    inline size_t size() const { return m_xs.size(); }
    /** Set the number of points (with contents undefined) */
    inline void resize(size_t N)
    {
        m_xs.resize(N);
        m_ys.resize(N);
        m_zs.resize(N);
        m_minmax_valid = false;
        markAllPointsAsNew();
    }

    /** Like STL std::vector's reserve */
    inline void reserve(size_t N)
    {
        m_xs.reserve(N);
        m_ys.reserve(N);
        m_zs.reserve(N);
    }

    /** Set the list of (X,Y,Z) point coordinates, all at once, from three
     * vectors with their coordinates */
    void setAllPoints(
        const std::vector<float>& x, const std::vector<float>& y,
        const std::vector<float>& z)
    {
        m_xs = x;
        m_ys = y;
        m_zs = z;
        m_minmax_valid = false;
        markAllPointsAsNew();
    }

    /** Set the list of (X,Y,Z) point coordinates, DESTROYING the contents of
     * the input vectors (via swap) */
    void setAllPointsFast(
        std::vector<float>& x, std::vector<float>& y, std::vector<float>& z)
    {
        this->clear();
        m_xs.swap(x);
        m_ys.swap(y);
        m_zs.swap(z);
        m_minmax_valid = false;
        markAllPointsAsNew();
    }

    /** Get a const reference to the internal array of X coordinates */
    inline const std::vector<float>& getArrayX() const { return m_xs; }
    /** Get a const reference to the internal array of Y coordinates */
    inline const std::vector<float>& getArrayY() const { return m_ys; }
    /** Get a const reference to the internal array of Z coordinates */
    inline const std::vector<float>& getArrayZ() const { return m_zs; }
    /** Empty the list of points. */
    void clear();

    /** Adds a new point to the cloud */
    void insertPoint(float x, float y, float z);

    /** Read access to each individual point (checks for "i" in the valid range
     * only in Debug). */
    inline mrpt::math::TPoint3D operator[](size_t i) const
    {
#ifdef _DEBUG
        ASSERT_BELOW_(i, size());
#endif
        return mrpt::math::TPoint3D(m_xs[i], m_ys[i], m_zs[i]);
    }

    /** Read access to each individual point (checks for "i" in the valid range
     * only in Debug). */
    inline mrpt::math::TPoint3D getPoint(size_t i) const
    {
#ifdef _DEBUG
        ASSERT_BELOW_(i, size());
#endif
        return mrpt::math::TPoint3D(m_xs[i], m_ys[i], m_zs[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_xs[i], m_ys[i], m_zs[i]);
    }

    /** Write an individual point (checks for "i" in the valid range only in
     * Debug). */
    void setPoint(size_t i, const float x, const float y, const float z);

    /** Write an individual point (without checking validity of the index). */
    inline void setPoint_fast(
        size_t i, const float x, const float y, const float z)
    {
        m_xs[i] = x;
        m_ys[i] = y;
        m_zs[i] = z;
        m_minmax_valid = false;
        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.

    /** Load the points from a list of mrpt::math::TPoint3D
     */
    template <class LISTOFPOINTS>
    void loadFromPointsList(LISTOFPOINTS& pointsList)
    {
        MRPT_START
        const size_t N = pointsList.size();

        m_xs.resize(N);
        m_ys.resize(N);
        m_zs.resize(N);

        size_t idx;
        typename LISTOFPOINTS::const_iterator it;
        for (idx = 0, it = pointsList.begin(); idx < N; ++idx, ++it)
        {
            m_xs[idx] = it->x;
            m_ys[idx] = it->y;
            m_zs[idx] = it->z;
        }
        markAllPointsAsNew();
        MRPT_END
    }

    /** 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 enableColorFromX(bool v = true)
    {
        m_colorFromDepth = v ? CPointCloud::colX : CPointCloud::colNone;
    }
    inline void enableColorFromY(bool v = true)
    {
        m_colorFromDepth = v ? CPointCloud::colY : CPointCloud::colNone;
    }
    inline void enableColorFromZ(bool v = true)
    {
        m_colorFromDepth = v ? CPointCloud::colZ : CPointCloud::colNone;
    }

    /** By default is 1.0 */
    inline void setPointSize(float p) { m_pointSize = p; }
    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; }
    /** Sets the colors used as extremes when colorFromDepth is enabled. */
    void setGradientColors(
        const mrpt::img::TColorf& colorMin, const mrpt::img::TColorf& colorMax);

    /** @} */

    /** 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;

    /** Constructor */
    CPointCloud();

    /** Private, virtual destructor: only can be deleted from smart pointers */
    ~CPointCloud() override = default;

   private:
    /** Buffer for min/max coords when m_colorFromDepth is true. */
    mutable float m_min{0}, m_max{0}, m_max_m_min{0}, m_max_m_min_inv{0};
    /** Color linear function slope */
    mutable mrpt::img::TColorf m_col_slop, m_col_slop_inv;
    mutable bool m_minmax_valid{false};

    /** The colors used to interpolate when m_colorFromDepth is true. */
    mrpt::img::TColorf m_colorFromDepth_min, m_colorFromDepth_max;

    inline void internal_render_one_point(size_t i) const;
};

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

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

    /** Constructor (accept a const ref for convenience) */
    inline PointCloudAdapter(const mrpt::opengl::CPointCloud& obj)
        : m_obj(*const_cast<mrpt::opengl::CPointCloud*>(&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
    {
        x = m_obj.getArrayX()[idx];
        y = m_obj.getArrayY()[idx];
        z = m_obj.getArrayZ()[idx];
    }
    /** 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);
    }

    /** Set XYZ coordinates of i'th point */
    inline void setInvalidPoint(const size_t idx)
    {
        THROW_EXCEPTION("mrpt::opengl::CPointCloud needs to be dense");
    }

};  // end of PointCloudAdapter<mrpt::opengl::CPointCloud>

// After declaring the adapter we can here implement this method:
template <class POINTSMAP>
void CPointCloud::loadFromPointsMap(const POINTSMAP* themap)
{
    ASSERT_(themap != nullptr);
    mrpt::opengl::PointCloudAdapter<CPointCloud> 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;
        pc_src.getPointXYZ(i, x, y, z);
        pc_dst.setPointXYZ(i, x, y, z);
    }
}
}  // namespace mrpt::opengl