LVRPointBufferBridge.cpp

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#include "LVRPointBufferBridge.hpp"
#include "LVRModelBridge.hpp"
 
#include <vtkSmartPointer.h>
#include <vtkPolyData.h>
#include <vtkCellArray.h>
#include <vtkPolyDataMapper.h>
#include <vtkPoints.h>
#include <vtkActor.h>
#include <vtkProperty.h>
#include <vtkPointData.h>
#include <vtkFloatArray.h>
#include <vtkIdFilter.h>
#include <vtkDataSetSurfaceFilter.h>
 
#include "lvr2/util/Util.hpp"
 
namespace lvr2
{
 
LVRPointBufferBridge::LVRPointBufferBridge(PointBufferPtr pointCloud)
{
 
    m_vtk_polyData = vtkSmartPointer<vtkPolyData>::New();
    // use all silders with channel 0
    m_useSpectralChannel.r = true;
    m_useSpectralChannel.g = true;
    m_useSpectralChannel.b = true;
    m_spectralChannels.r = 0;
    m_spectralChannels.g = 0;
    m_spectralChannels.b = 0;
    m_useGradient = false;
    m_useNDVI = false;
    m_useNormalizedGradient = false;
    m_spectralGradientChannel = 0;
    m_spectralGradient = HOT; // default gradientype: HOT
 
    m_numPoints = 0;
    m_hasNormals = false;
    m_hasColors = false;
 
    if(pointCloud)
    {
        // Save pc data
        m_pointBuffer = pointCloud;
        
        if(pointCloud->hasColors()) m_hasColors = true;
        if(pointCloud->hasNormals()) m_hasNormals = true;
 
        // default: visible light
        m_spectralChannels.r = Util::getSpectralChannel(612, pointCloud);
        m_spectralChannels.g = Util::getSpectralChannel(552, pointCloud);
        m_spectralChannels.b = Util::getSpectralChannel(462, pointCloud);
 
        // Generate vtk actor representation
        computePointCloudActor(pointCloud);
 
        // Save meta information
        m_numPoints = pointCloud->numPoints();
 
    }
}
 
template <typename T>
bool color_equal(const color<T> &col1, const color<T> &col2)
{
    return col1.r == col2.r && col1.g == col2.g && col1.b == col2.b;
}
 
void LVRPointBufferBridge::setSpectralChannels(color<size_t> channels, color<bool> use_channel)
{
    // do not update if nothing has changed
    if (color_equal(channels, m_spectralChannels) && color_equal(use_channel, m_useSpectralChannel))
    {
        return;
    }
 
    // set new values
    m_spectralChannels = channels;
    m_useSpectralChannel = use_channel;
 
    // update the view
    refreshSpectralChannel();
}
 
 
void LVRPointBufferBridge::refreshSpectralChannel()
{
    size_t n;
    size_t n_channels;
    ucharArr spec = m_pointBuffer->getUCharArray("spectral_channels", n, n_channels);
 
    // check if we have spectral data
    if (!spec)
    {
        return;
    }
 
    // create colorbuffer
    vtkSmartPointer<vtkUnsignedCharArray> scalars = vtkSmartPointer<vtkUnsignedCharArray>::New();
    scalars->SetNumberOfComponents(3);
    scalars->SetName("Colors");
    scalars->SetNumberOfTuples(n);
 
    #pragma omp parallel for
    for (vtkIdType i = 0; i < n; i++)
    {
        int specIndex = n_channels * i;
        unsigned char speccolor[3];
        // if the silder is not enabled the color get the value 0
        speccolor[0] = m_useSpectralChannel.r ? spec[specIndex + m_spectralChannels.r] : 0;
        speccolor[1] = m_useSpectralChannel.g ? spec[specIndex + m_spectralChannels.g] : 0;
        speccolor[2] = m_useSpectralChannel.b ? spec[specIndex + m_spectralChannels.b] : 0;
 
#if VTK_MAJOR_VERSION < 7
        scalars->SetTupleValue(i, speccolor);
#else
        scalars->SetTypedTuple(i, speccolor); // no idea how the new method is called
#endif
    }
 
    // set new colors
    m_pointCloudActor->GetMapper()->GetInput()->GetPointData()->SetScalars(scalars);
}
 
void LVRPointBufferBridge::getSpectralChannels(color<size_t> &channels, color<bool> &use_channel) const
{
    channels = m_spectralChannels;
    use_channel = m_useSpectralChannel;
}
 
void LVRPointBufferBridge::setSpectralColorGradient(GradientType gradient, size_t channel, bool normalized, bool useNDVI)
{
    // do not update if nothing has changed
    if (m_spectralGradient == gradient && m_spectralGradientChannel == channel
        && m_useNormalizedGradient == normalized && m_useNDVI == useNDVI)
    {
        return;
    }
 
    // set new values
    m_spectralGradient = gradient;
    m_spectralGradientChannel = channel;
    m_useNormalizedGradient = normalized;
    m_useNDVI = useNDVI;
 
    // update the view
    refreshSpectralGradient();
}
 
void LVRPointBufferBridge::refreshSpectralGradient()
{
    size_t n;
    size_t n_channels;
    ucharArr spec = m_pointBuffer->getUCharArray("spectral_channels", n, n_channels);
 
    // check if we have spectral data
    if (!spec)
    {
        return;
    }
 
    // calculate the ndvi values
    float ndviMax = 0;
    float ndviMin = 1;
 
    floatArr ndvi;
    if (m_useNDVI)
    {
        ndvi = floatArr(new float[n]);
 
        size_t redStart     = Util::getSpectralChannel(400, m_pointBuffer, 0);
        size_t redEnd       = Util::getSpectralChannel(700, m_pointBuffer, 1);
        size_t nearRedStart = Util::getSpectralChannel(700, m_pointBuffer, n_channels - 2);
        size_t nearRedEnd   = Util::getSpectralChannel(1100, m_pointBuffer, n_channels - 1);
 
        #pragma omp parallel for reduction(max : ndviMax), reduction(min : ndviMin)
        for (int i = 0; i < n; i++)
        {
            float redTotal = 0;
            float nearRedTotal = 0;
            unsigned char* specPixel = spec.get() + n_channels * i;
 
            // sum red and nir
            for (int channel = redStart; channel < redEnd; channel++)
            {
                redTotal += specPixel[channel];
            }
            for (int channel = nearRedStart; channel < nearRedEnd; channel++)
            {
                nearRedTotal += specPixel[channel];
            }
 
            // use NDVI formula:
            float red = redTotal / (redEnd - redStart);
            float nearRed = nearRedTotal / (nearRedEnd - nearRedStart);
 
            float val = (nearRed - red) / (nearRed + red);
            val = (val + 1) / 2; // NDVI is in range [-1, 1] => transform to [0, 1]
            ndvi[i] = val;
 
            // get min and max
            if (val < ndviMin) ndviMin = val;
            if (val > ndviMax) ndviMax = val;
        }
    }
 
    // create colorbuffer
    vtkSmartPointer<vtkUnsignedCharArray> scalars = vtkSmartPointer<vtkUnsignedCharArray>::New();
    scalars->SetNumberOfComponents(3);
    scalars->SetName("Colors");
    scalars->SetNumberOfTuples(n);
 
    // normalize data
    unsigned char min = 0;
    unsigned char max = 255;
    if(m_useNormalizedGradient && !m_useNDVI)
    {
        // get min and max
        float max_val = spec[m_spectralGradientChannel], min_val = spec[m_spectralGradientChannel];
        #pragma omp parallel for reduction(max : max_val), reduction(min : min_val)
        for (int i = 0; i < n; i++)
        {
            int specIndex = n_channels * i + m_spectralGradientChannel;
            if(spec[specIndex] > max_val)
            {
                max_val = spec[specIndex];
            }
            if(spec[specIndex] < min_val)
            {
                min_val = spec[specIndex];
            }
        }
        min = min_val;
        max = max_val;
    }
 
    if(m_useNormalizedGradient && m_useNDVI)
    {
        min = ndviMin * 255;
        max = ndviMax * 255;
    }
 
    // Colormap is used to calculate gradients
    ColorMap colorMap(max - min);
 
    // update all colors
        #pragma omp parallel for
    for (int i = 0; i < n; i++)
    {
        int specIndex = n_channels * i;
        float color[3];
 
        // get gradient colors
        if (m_useNDVI)
        {
            colorMap.getColor(color, (unsigned char) ((ndvi[i] * 255) - min) , m_spectralGradient);
        }
        else
        {
            colorMap.getColor(color, spec[specIndex + m_spectralGradientChannel] - min, m_spectralGradient);
        }
 
        unsigned char speccolor[3];
        speccolor[0] = color[0] * 255;
        speccolor[1] = color[1] * 255;
        speccolor[2] = color[2] * 255;
 
#if VTK_MAJOR_VERSION < 7
        scalars->SetTupleValue(i, speccolor);
#else
        scalars->SetTypedTuple(i, speccolor); // no idea how the new method is called
#endif
    }
 
    // set new colors
    m_pointCloudActor->GetMapper()->GetInput()->GetPointData()->SetScalars(scalars);
}
 
void LVRPointBufferBridge::getSpectralColorGradient(GradientType &gradient, size_t &channel, bool &normalized, bool &useNDVI) const
{
    gradient = m_spectralGradient;
    channel = m_spectralGradientChannel;
    normalized = m_useNormalizedGradient;
    useNDVI = m_useNDVI;
}
 
void LVRPointBufferBridge::useGradient(bool useGradient)
{
    m_useGradient = useGradient;
 
    // update the view
    if(useGradient)
    {
        refreshSpectralGradient();
    }
    else
    {
        refreshSpectralChannel();
    }
}
 
PointBufferPtr LVRPointBufferBridge::getPointBuffer()
{
    return m_pointBuffer;
}
 
size_t  LVRPointBufferBridge::getNumPoints()
{
    return m_numPoints;
}
 
bool LVRPointBufferBridge::hasNormals()
{
    return m_pointBuffer->hasNormals();
}
 
bool LVRPointBufferBridge::hasColors()
{
    return m_hasColors;
}
 
LVRPointBufferBridge::~LVRPointBufferBridge()
{
}
 
void LVRPointBufferBridge::computePointCloudActor(PointBufferPtr pc)
{
    if(pc)
    {
        m_pointCloudActor = vtkSmartPointer<vtkActor>::New();
 
        // Setup a poly data object
        vtkSmartPointer<vtkPolyData>    vtk_polyData = vtkSmartPointer<vtkPolyData>::New();
        vtkSmartPointer<vtkPoints>      vtk_points = vtkSmartPointer<vtkPoints>::New();
//        vtkSmartPointer<vtkCellArray>   vtk_cells = vtkSmartPointer<vtkCellArray>::New();
        
        //vtkSmartPointer<vtkUnsignedCharArray> scalars = vtkSmartPointer<vtkUnsignedCharArray>::New();
        //scalars->SetNumberOfComponents(3);
        //scalars->SetName("Colors");
 
        double point[3];
        double normal[3];
        size_t n, n_c, n_s_p;
        size_t n_s_channels, w_color;
        n = pc->numPoints();
        n_c = n;
 
        floatArr points = pc->getPointArray();
        ucharArr colors = pc->getColorArray(w_color);
        ucharArr spec = pc->getUCharArray("spectral_channels", n_s_p, n_s_channels);
        floatArr normals = pc->getNormalArray();
 
 
        std::cout << lvr2::timestamp << " " << n << " Points" << std::endl;
        vtkSmartPointer<vtkFloatArray> pts_data = vtkSmartPointer<vtkFloatArray>::New();
        pts_data->SetNumberOfComponents(3);
        pts_data->SetVoidArray(points.get(), n * 3, 1);
        vtk_points->SetData(pts_data);
        std::cout << lvr2::timestamp << "Mapped" << std::endl;
 
        vtkSmartPointer<vtkCellArray> vtk_cells = vtkSmartPointer<vtkCellArray>::New();
        vtkSmartPointer<vtkIdTypeArray> cells = vtkSmartPointer<vtkIdTypeArray>::New();
        vtkIdType* cell_buf = new vtkIdType[n * 2];
        for(size_t i = 0; i < n; i++)
        {
            size_t i2 = 2 * i;
            cell_buf[i2 + 0] = static_cast<vtkIdType>(1);
            cell_buf[i2 + 1] = i;
//            (*tri_data).InsertValue(i2 + 0 , static_cast<vtkIdType>(3));
//            (*tri_data).InsertValue(i2 + 1 , static_cast<vtkIdType>(indices[index + 0]));
//            (*tri_data).InsertValue(i2 + 2 , static_cast<vtkIdType>(indices[index + 1]));
//            (*tri_data).InsertValue(i2 + 3 , static_cast<vtkIdType>(indices[index + 2]));
        }
 
        cells->SetVoidArray(cell_buf, n * 2, 0, vtkIdTypeArray::VTK_DATA_ARRAY_DELETE);
        //tri_data->SetVoidArray(tri_buf, n_i * 4, 1);
        vtk_cells->SetCells(n, cells);
 
       vtkSmartPointer<vtkUnsignedCharArray> scalars = vtkSmartPointer<vtkUnsignedCharArray>::New();
        scalars->SetNumberOfComponents(3);
        scalars->SetName("Colors");
 
//        what was it good for? (Nanana)        
//        if (spec || colors)
//        {
//            scalars->SetNumberOfTuples(n_s_p ? n_s_p : n);
//        }
 
        if(spec)
        {
            // TODO IS this correct?!
            // This only works correctly if every  point has a spectral value 
            //if (n >= n_s_p) // only take points with spectral information
            //{
            //    break;
            //}
 
            if(n_s_p == n)
            {
                // need to copy spectral values to buffer
                unsigned char* spec_buf = new unsigned char[n * 3];
                for(size_t i = 0; i < n; ++i)
                {
                    size_t specIndex = n_s_channels * i;
                    size_t i2 = 3 * i;
                    spec_buf[i2 + 0] = spec[specIndex + m_spectralChannels.r];
                    spec_buf[i2 + 1] = spec[specIndex + m_spectralChannels.g];
                    spec_buf[i2 + 2] = spec[specIndex + m_spectralChannels.b];
                }
                // map buffer and let vtk delete it
                scalars->SetVoidArray(spec_buf, n * 3, vtkIdTypeArray::VTK_DATA_ARRAY_DELETE);
            }
        }
        else if(colors)
        {
            // simply map colors buffer and prevent vtk from deleting it
            scalars->SetVoidArray(colors.get(), n * w_color, 1);
        }
 
        m_vtk_normals = vtkSmartPointer<vtkDoubleArray>::New();
        m_vtk_normals->SetNumberOfComponents(3);
        m_vtk_normals->SetName("Normals");
 
        if(normals)
        {
            // We need to copy normals becaus of they are not binary compatible
            // lvr=float -> vtk=double
            // maybe there will be an api in newer vtk versions..
            // is there an vtk double type?
            double* normal_buf = new double[n * 3];
            for(size_t i = 0; i < n; ++i)
            {
                size_t index = 3 * i;
                normal_buf[index + 0] = normals[index + 0];
                normal_buf[index + 1] = normals[index + 1];
                normal_buf[index + 2] = normals[index + 2];
            }
            // map buffer and let vtk delete it
            m_vtk_normals->SetVoidArray(normal_buf, n * 3, vtkIdTypeArray::VTK_DATA_ARRAY_DELETE);
 
        }
 
 
        m_vtk_polyData->SetPoints(vtk_points);
        m_vtk_polyData->SetVerts(vtk_cells);
 
        
        vtkSmartPointer<vtkIdFilter> pointFilter = 
                vtkSmartPointer<vtkIdFilter>::New();
 
        pointFilter->SetInputData(m_vtk_polyData);
#if VTK890
        pointFilter->SetCellIdsArrayName("OriginalIds");
        pointFilter->SetPointIdsArrayName("OriginalIds");
#else
        pointFilter->SetIdsArrayName("OriginalIds");
#endif
        pointFilter->Update();
 
//      vtkSmartPointer<vtkDataSetSurfaceFilter> surfaceFilter = 
//              vtkSmartPointer<vtkDataSetSurfaceFilter>::New();
//      surfaceFilter->SetInputConnection(pointFilter->GetOutputPort());
//      surfaceFilter->Update();
//
//      m_id_polyData = surfaceFilter->GetOutput();
 
//m_vtk_polyData->GetPointData()->AddArray(ids);
 
        if(hasColors() || n_s_p)
        {
            m_vtk_polyData->GetPointData()->SetScalars(scalars);
        }
 
        // Create poly data mapper and generate actor
        vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
#ifdef LVR2_USE_VTK5
        mapper->SetInput(m_vtk_polyData);
#else
        mapper->SetInputData(m_vtk_polyData);
#endif
        m_pointCloudActor->SetMapper(mapper);
        m_pointCloudActor->GetProperty()->SetColor(1.0, 1.0, 1.0);
        m_pointCloudActor->GetProperty()->SetPointSize(5);
    }
}
 
LVRPointBufferBridge::LVRPointBufferBridge(const LVRPointBufferBridge& b)
{
    m_pointCloudActor   = b.m_pointCloudActor;
    m_hasColors         = b.m_hasColors;
    m_hasNormals        = b.m_hasNormals;
    m_numPoints         = b.m_numPoints;
    m_spectralChannels  = b.m_spectralChannels;
    m_useSpectralChannel= b.m_useSpectralChannel;
    m_useGradient       = b.m_useGradient;
    m_useNDVI           = b.m_useNDVI;
    m_spectralGradient  = b.m_spectralGradient;
    m_useNormalizedGradient = b.m_useNormalizedGradient;
    m_spectralGradientChannel = b.m_spectralGradientChannel;
}
 
void LVRPointBufferBridge::setBaseColor(float r, float g, float b)
{
    m_pointCloudActor->GetProperty()->SetColor(r, g, b);
}
 
void LVRPointBufferBridge::setPointSize(int pointSize)
{
    vtkSmartPointer<vtkProperty> p = m_pointCloudActor->GetProperty();
    p->SetPointSize(pointSize);
}
 
void LVRPointBufferBridge::setOpacity(float opacityValue)
{
    vtkSmartPointer<vtkProperty> p = m_pointCloudActor->GetProperty();
    p->SetOpacity(opacityValue);
}
 
void LVRPointBufferBridge::setColorsVisibility(bool visible)
{
    m_pointCloudActor->GetMapper()->SetScalarVisibility(visible);
}
 
void LVRPointBufferBridge::setVisibility(bool visible)
{
    m_pointCloudActor->SetVisibility(visible);
}
 
void LVRPointBufferBridge::setNormalsVisibility(bool visible)
{
    if(m_hasNormals)
    {
        if(visible)
        {
            m_pointCloudActor->GetMapper()->GetInput()->GetPointData()->SetNormals(
                m_vtk_normals
            );
        } else {
            m_pointCloudActor->GetMapper()->GetInput()->GetPointData()->SetNormals(
                NULL
            );
        }
    }
}
 
vtkSmartPointer<vtkPolyData> LVRPointBufferBridge::getPolyData()
{
        return m_vtk_polyData;
}
 
vtkSmartPointer<vtkPolyData> LVRPointBufferBridge::getPolyIDData()
{
    return m_id_polyData;
}
vtkSmartPointer<vtkActor> LVRPointBufferBridge::getPointCloudActor()
{
    return m_pointCloudActor;
}
 
 
} /* namespace lvr2 */