CPointCloud.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>
#include <mrpt/opengl/CPointCloud.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/serialization/CSchemeArchiveBase.h>

#include <mrpt/opengl/opengl_api.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)

CPointCloud::CPointCloud() { markAllPointsAsNew(); }

void CPointCloud::onUpdateBuffers_Points()
{
    {
        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;

    if (m_colorFromDepth != colNone)
    {
        if (!m_minmax_valid)
        {
            m_minmax_valid = true;
            if (!m_points.empty())
            {
                const float* vs = m_colorFromDepth == CPointCloud::colZ
                                      ? &m_points[0].z
                                      : (m_colorFromDepth == CPointCloud::colY
                                             ? &m_points[0].y
                                             : &m_points[0].x);
                m_min = m_max = vs[0];
                for (size_t i = 1; i < N; i++)
                {
                    float v = vs[3 * i];
                    if (v < m_min) m_min = v;
                    if (v > m_max) m_max = v;
                }
            }
            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 = 1.0f / m_max_m_min;
    }

    // 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;

    // 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:
    auto& cbd = CRenderizableShaderPoints::m_color_buffer_data;
    cbd.clear();
    cbd.reserve(N);

    // color for each point:
    if (m_colorFromDepth != colNone && m_max_m_min > 0)
    {
        for (size_t i = 0; i < N; i++)
        {
            const float depthCol =
                (m_colorFromDepth == colX
                     ? m_points[i].x
                     : (m_colorFromDepth == colY ? m_points[i].y
                                                 : m_points[i].z));

            float f = (depthCol - m_min) * m_max_m_min_inv;
            f = std::max(0.0f, min(1.0f, f));

            cbd.push_back({f2u8(m_colorFromDepth_min.R + f * m_col_slop_inv.R),
                           f2u8(m_colorFromDepth_min.G + f * m_col_slop_inv.G),
                           f2u8(m_colorFromDepth_min.B + f * m_col_slop_inv.B),
                           m_color.A});
        }
    }
    else
    {
        // all points: same color
        cbd.assign(N, m_color);
    }

    m_last_rendered_count = m_last_rendered_count_ongoing;
}

inline void CPointCloud::internal_render_one_point([
    [maybe_unused]] size_t i) const
{
#if MRPT_HAS_OPENGL_GLUT
#endif
}

/** Render a subset of points (required by octree renderer) */
void CPointCloud::render_subset(
    [[maybe_unused]] const bool all,
    [[maybe_unused]] const std::vector<size_t>& idxs,
    [[maybe_unused]] const float render_area_sqpixels) const
{
#if 0 && MRPT_HAS_OPENGL_GLUT
    // Disabled for now... (Feb 2020)

    const size_t N = (all ? m_xs.size() : idxs.size());
    const size_t decimation = mrpt::round(std::max(
        1.0f, d2f(
                  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]);
    }
#endif
}
void CPointCloud::serializeTo(
    mrpt::serialization::CSchemeArchiveBase& out) const
{
    SCHEMA_SERIALIZE_DATATYPE_VERSION(1);
    out["colorFromDepth"] = static_cast<int32_t>(m_colorFromDepth);
    out["pointSize"] = m_pointSize;
    const auto N = m_points.size();
    out["N"] = static_cast<uint64_t>(N);
    for (size_t i = 0; i < N; i++)
    {
        out["xs"][i] = m_points[i].x;
        out["ys"][i] = m_points[i].y;
        out["zs"][i] = m_points[i].z;
    }
    out["colorFromDepth_min"]["R"] = m_colorFromDepth_min.R;
    out["colorFromDepth_min"]["G"] = m_colorFromDepth_min.G;
    out["colorFromDepth_min"]["B"] = m_colorFromDepth_min.B;
    out["colorFromDepth_max"]["R"] = m_colorFromDepth_max.R;
    out["colorFromDepth_max"]["G"] = m_colorFromDepth_max.G;
    out["colorFromDepth_max"]["B"] = m_colorFromDepth_max.B;
    out["pointSmooth"] = m_pointSmooth;
}
void CPointCloud::serializeFrom(mrpt::serialization::CSchemeArchiveBase& in)
{
    uint8_t version;
    SCHEMA_DESERIALIZE_DATATYPE_VERSION();
    switch (version)
    {
        case 1:
        {
            /**
             *  currently below is being left to what is being set by
             *  the default constructor i.e.,CPointCloud::colNone
             */
            // m_colorFromDepth = static_cast<float>(in["colorDepth"]);
            m_pointSize = static_cast<float>(in["pointSize"]);
            const size_t N = static_cast<uint64_t>(in["N"]);
            m_points.resize(N);
            for (size_t i = 0; i < N; i++)
            {
                m_points[i].x = static_cast<float>(in["xs"][i]);
                m_points[i].y = static_cast<float>(in["ys"][i]);
                m_points[i].z = static_cast<float>(in["zs"][i]);
            }
            m_colorFromDepth_min.R =
                static_cast<float>(in["colorFromDepth_min"]["R"]);
            m_colorFromDepth_min.G =
                static_cast<float>(in["colorFromDepth_min"]["G"]);
            m_colorFromDepth_min.B =
                static_cast<float>(in["colorFromDepth_min"]["B"]);
            m_colorFromDepth_max.R =
                static_cast<float>(in["colorFromDepth_max"]["R"]);
            m_colorFromDepth_max.G =
                static_cast<float>(in["colorFromDepth_max"]["G"]);
            m_colorFromDepth_max.B =
                static_cast<float>(in["colorFromDepth_max"]["B"]);
            m_pointSmooth = static_cast<bool>(in["pointSmooth"]);
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    }
}
uint8_t CPointCloud::serializeGetVersion() const { return 6; }
void CPointCloud::serializeTo(mrpt::serialization::CArchive& out) const
{
    writeToStreamRender(out);
    // Changed from bool to enum/int32_t in version 3.
    out.WriteAs<int32_t>(m_colorFromDepth);

    // out << m_xs << m_ys << m_zs;// was: v4
    out.WriteAs<uint32_t>(m_points.size());
    for (const auto& pt : m_points) out << pt;

    // 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;

    // new v6:
    CRenderizableShaderPoints::params_serialize(out);
}

void CPointCloud::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        case 1:
        case 2:
        case 3:
        case 4:
        case 5:
        case 6:
        {
            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;
            }
            if (version < 5)
            {
                std::vector<float> xs, ys, zs;
                in >> xs >> ys >> zs;
                this->setAllPoints(xs, ys, zs);
            }
            else
            {
                // New in v5:
                auto N = in.ReadAs<uint32_t>();
                m_points.resize(N);
                for (auto& pt : m_points) in >> pt;
            }

            if (version >= 1 && version < 6)
                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;

            if (version >= 6) CRenderizableShaderPoints::params_deserialize(in);
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };

    markAllPointsAsNew();
    CRenderizable::notifyChange();
}

void CPointCloud::clear()
{
    m_points.clear();
    markAllPointsAsNew();
    CRenderizable::notifyChange();
}

void CPointCloud::insertPoint(float x, float y, float z)
{
    m_points.emplace_back(x, y, z);

    m_minmax_valid = false;

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

/** 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)
{
    m_points.at(i) = {x, y, z};

    m_minmax_valid = false;

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

/*---------------------------------------------------------------
                    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,
    [[maybe_unused]] const mrpt::img::TColorf* 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,
    [[maybe_unused]] mrpt::img::TColorf& pt_color) const
{
    pt_has_color = false;

    pt = m_points[idx];
}

void CPointCloud::setAllPoints(const std::vector<mrpt::math::TPoint3D>& pts)
{
    const auto N = pts.size();
    m_points.resize(N);
    for (size_t i = 0; i < N; i++) m_points[i] = pts[i];
    m_minmax_valid = false;
    markAllPointsAsNew();
    CRenderizable::notifyChange();
}