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ImageView: Depth color map in base frame (#1553)

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* ImageView: Depth colormap in base frame option. CloudViewer: added min/max range options for XYZ axes coloring.

* CloudViewer: saving rendering options of the 3D view, re-apply current color index when moving through nodes.

* reset color inverted when reset
This commit is contained in:
matlabbe
2025-07-12 10:07:47 -07:00
committed by GitHub
parent e5655b0b96
commit d34962f908
8 changed files with 635 additions and 172 deletions
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15
guilib/include/rtabmap/gui/CloudViewer.h
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@@ -334,6 +334,9 @@ public:
bool getPose(const std::string & id, Transform & pose); //including meshes
bool getCloudVisibility(const std::string & id);
int getCloudColorIndex(const std::string & id) const;
double getCloudOpacity(const std::string & id) const;
int getCloudPointSize(const std::string & id) const;
const QMap<std::string, Transform> & getAddedClouds() const {return _addedClouds;} //including meshes
const QColor & getDefaultBackgroundColor() const;
@@ -399,6 +402,12 @@ public:
void setIntensityRedColormap(bool value);
void setIntensityRainbowColormap(bool value);
void setIntensityMax(float value);
float getCloudColorRangeMin() const;
float getCloudColorRangeMax() const;
bool isCloudColorRangeInverted() const;
void setCloudColorRangeMin(float value);
void setCloudColorRangeMax(float value);
void setCloudColorRangeInverted(bool enabled);
void buildPickingLocator(bool enable);
const std::map<std::string, vtkSmartPointer<vtkOBBTree> > & getLocators() const {return _locators;}
@@ -454,6 +463,10 @@ private:
QAction * _aSetIntensityRedColormap;
QAction * _aSetIntensityRainbowColormap;
QAction * _aSetIntensityMaximum;
QAction * _aSetCloudColorRangeMin;
QAction * _aSetCloudColorRangeMax;
QAction * _aCloudColorRangeInverted;
QAction * _aClearCloudColorRanges;
QAction * _aSetBackgroundColor;
QAction * _aSetRenderingRate;
QAction * _aSetEDLShading;
@@ -494,6 +507,8 @@ private:
double _renderingRate;
vtkProp * _octomapActor;
float _intensityAbsMax;
float _cloudColorRangeMin;
float _cloudColorRangeMax;
double _coordinateFrameScale;
};

3
guilib/include/rtabmap/gui/ImageView.h
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@@ -77,6 +77,7 @@ public:
float getDepthColorMapMinRange() const;
float getDepthColorMapMaxRange() const;
uCvQtDepthColorMap getDepthColorMap() const;
bool isDepthColorMapInCameraFrame() const;
float viewScale() const;
@@ -94,6 +95,7 @@ public:
void setDefaultMatchingLineColor(const QColor & color);
void setBackgroundColor(const QColor & color);
void setDepthColorMapRange(float min, float max);
void setDepthColorMapInCameraFrame(bool enabled);
void setFeatures(const std::multimap<int, cv::KeyPoint> & refWords, const cv::Mat & depth = cv::Mat(), const QColor & color = Qt::yellow);
void setFeatures(const std::vector<cv::KeyPoint> & features, const cv::Mat & depth = cv::Mat(), const QColor & color = Qt::yellow);
@@ -167,6 +169,7 @@ private:
QAction * _colorMapBlackToWhite;
QAction * _colorMapRedToBlue;
QAction * _colorMapBlueToRed;
QAction * _colorMapInCameraFrame;
QAction * _colorMapMinRange;
QAction * _colorMapMaxRange;
QAction * _mouseTracking;

186
guilib/include/rtabmap/gui/PointCloudColorHandlerIntensityField.h Normal file
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@@ -0,0 +1,186 @@
/*
Copyright (c) 2010-2025, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef GUILIB_SRC_POINTCLOUDCOLORHANDLEINTENSITYFIELD_H_
#define GUILIB_SRC_POINTCLOUDCOLORHANDLEINTENSITYFIELD_H_
#include <pcl/visualization/point_cloud_color_handlers.h>
#include <pcl/pcl_config.h>
#include <rtabmap/core/util2d.h>
#include <rtabmap/utilite/UMath.h>
namespace rtabmap
{
class PointCloudColorHandlerIntensityField : public pcl::visualization::PointCloudColorHandler<pcl::PCLPointCloud2>
{
typedef pcl::visualization::PointCloudColorHandler<pcl::PCLPointCloud2>::PointCloud PointCloud;
typedef PointCloud::Ptr PointCloudPtr;
typedef PointCloud::ConstPtr PointCloudConstPtr;
public:
/** \brief Constructor. */
PointCloudColorHandlerIntensityField(const PointCloudConstPtr &cloud, float maxAbsIntensity = 0.0f, int colorMap = 0) : pcl::visualization::PointCloudColorHandler<pcl::PCLPointCloud2>::PointCloudColorHandler(cloud),
maxAbsIntensity_(maxAbsIntensity),
colormap_(colorMap)
{
field_idx_ = pcl::getFieldIndex(*cloud, "intensity");
if (field_idx_ != -1)
capable_ = true;
else
capable_ = false;
}
/** \brief Empty destructor */
virtual ~PointCloudColorHandlerIntensityField() {}
/** \brief Obtain the actual color for the input dataset as vtk scalars.
* \param[out] scalars the output scalars containing the color for the dataset
* \return true if the operation was successful (the handler is capable and
* the input cloud was given as a valid pointer), false otherwise
*/
#if PCL_VERSION_COMPARE(>, 1, 11, 1)
virtual vtkSmartPointer<vtkDataArray> getColor() const
{
vtkSmartPointer<vtkDataArray> scalars;
if (!capable_ || !cloud_)
return scalars;
#else
virtual bool getColor(vtkSmartPointer<vtkDataArray> &scalars) const
{
if (!capable_ || !cloud_)
return (false);
#endif
if (!scalars)
scalars = vtkSmartPointer<vtkUnsignedCharArray>::New();
scalars->SetNumberOfComponents(3);
vtkIdType nr_points = cloud_->width * cloud_->height;
// Allocate enough memory to hold all colors
float *intensities = new float[nr_points];
float intensity;
size_t point_offset = cloud_->fields[field_idx_].offset;
size_t j = 0;
// If XYZ present, check if the points are invalid
int x_idx = pcl::getFieldIndex(*cloud_, "x");
if (x_idx != -1)
{
float x_data, y_data, z_data;
size_t x_point_offset = cloud_->fields[x_idx].offset;
// Color every point
for (vtkIdType cp = 0; cp < nr_points; ++cp,
point_offset += cloud_->point_step,
x_point_offset += cloud_->point_step)
{
// Copy the value at the specified field
memcpy(&intensity, &cloud_->data[point_offset], sizeof(float));
memcpy(&x_data, &cloud_->data[x_point_offset], sizeof(float));
memcpy(&y_data, &cloud_->data[x_point_offset + sizeof(float)], sizeof(float));
memcpy(&z_data, &cloud_->data[x_point_offset + 2 * sizeof(float)], sizeof(float));
if (!std::isfinite(x_data) || !std::isfinite(y_data) || !std::isfinite(z_data))
continue;
intensities[j++] = intensity;
}
}
// No XYZ data checks
else
{
// Color every point
for (vtkIdType cp = 0; cp < nr_points; ++cp, point_offset += cloud_->point_step)
{
// Copy the value at the specified field
memcpy(&intensity, &cloud_->data[point_offset], sizeof(float));
intensities[j++] = intensity;
}
}
if (j != 0)
{
// Allocate enough memory to hold all colors
unsigned char *colors = new unsigned char[j * 3];
float min, max;
if (maxAbsIntensity_ > 0.0f)
{
max = maxAbsIntensity_;
}
else
{
uMinMax(intensities, j, min, max);
}
for (size_t k = 0; k < j; ++k)
{
colors[k * 3 + 0] = colors[k * 3 + 1] = colors[k * 3 + 2] = max > 0 ? (unsigned char)(std::min(intensities[k] / max * 255.0f, 255.0f)) : 255;
if (colormap_ == 1)
{
colors[k * 3 + 0] = 255;
colors[k * 3 + 2] = 0;
}
else if (colormap_ == 2)
{
float r, g, b;
util2d::HSVtoRGB(&r, &g, &b, colors[k * 3 + 0] * 299.0f / 255.0f, 1.0f, 1.0f);
colors[k * 3 + 0] = r * 255.0f;
colors[k * 3 + 1] = g * 255.0f;
colors[k * 3 + 2] = b * 255.0f;
}
}
reinterpret_cast<vtkUnsignedCharArray *>(&(*scalars))->SetNumberOfTuples(j);
reinterpret_cast<vtkUnsignedCharArray *>(&(*scalars))->SetArray(colors, j * 3, 0, vtkUnsignedCharArray::VTK_DATA_ARRAY_DELETE);
}
else
reinterpret_cast<vtkUnsignedCharArray *>(&(*scalars))->SetNumberOfTuples(0);
// delete [] colors;
delete[] intensities;
#if PCL_VERSION_COMPARE(>, 1, 11, 1)
return scalars;
#else
return (true);
#endif
}
protected:
/** \brief Get the name of the class. */
virtual std::string
getName() const { return ("PointCloudColorHandlerIntensityField"); }
/** \brief Get the name of the field used. */
virtual std::string
getFieldName() const { return ("intensity"); }
private:
float maxAbsIntensity_;
int colormap_; // 0=grayscale, 1=redYellow, 2=RainbowHSV
};
} /* namespace rtabmap */
#endif /* GUILIB_SRC_POINTCLOUDCOLORHANDLEINTENSITYFIELD_H_ */

187
guilib/include/rtabmap/gui/PointCloudColorHandlerMinMaxGenericField.h Normal file
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@@ -0,0 +1,187 @@
/*
Copyright (c) 2010-2025, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef GUILIB_SRC_POINTCLOUDCOLORHANDLEMINMAXGENERICFIELD_H_
#define GUILIB_SRC_POINTCLOUDCOLORHANDLEMINMAXGENERICFIELD_H_
#include <limits>
#include <pcl/visualization/point_cloud_color_handlers.h>
#include <pcl/pcl_config.h>
namespace rtabmap
{
/// Same than pcl::visualization::PointCloudColorHandlerGenericField but with min and max parameters
class PointCloudColorHandlerMinMaxGenericField : public pcl::visualization::PointCloudColorHandler<pcl::PCLPointCloud2>
{
using PointCloud = typename PointCloudColorHandler<pcl::PCLPointCloud2>::PointCloud;
using PointCloudPtr = typename PointCloud::Ptr;
using PointCloudConstPtr = typename PointCloud::ConstPtr;
public:
/** \brief Constructor. */
PointCloudColorHandlerMinMaxGenericField(const PointCloudConstPtr &cloud,
const std::string &field_name,
float min = std::numeric_limits<float>::lowest(),
float max = std::numeric_limits<float>::max(),
bool inverted_color_scale = false)
: pcl::visualization::PointCloudColorHandler<pcl::PCLPointCloud2>(cloud),
field_name_(field_name),
min_(min),
max_(max),
inverted_color_scale_(inverted_color_scale)
{
setInputCloud(cloud);
}
/** \brief Destructor. */
virtual ~PointCloudColorHandlerMinMaxGenericField() {}
/** \brief Get the name of the field used. */
virtual std::string getFieldName() const { return (field_name_); }
#if PCL_VERSION_COMPARE(>, 1, 11, 1)
virtual vtkSmartPointer<vtkDataArray> getColor() const
{
vtkSmartPointer<vtkDataArray> scalars;
if (!capable_ || !cloud_)
return scalars;
#else
virtual bool getColor(vtkSmartPointer<vtkDataArray> &scalars) const
{
if (!capable_ || !cloud_)
return (false);
#endif
if (!scalars)
scalars = vtkSmartPointer<vtkFloatArray>::New ();
scalars->SetNumberOfComponents(1);
vtkIdType nr_points = cloud_->width * cloud_->height;
scalars->SetNumberOfTuples(nr_points);
float *colors = new float[nr_points];
float field_data;
int j = 0;
int point_offset = cloud_->fields[field_idx_].offset;
// If XYZ present, check if the points are invalid
int x_idx = pcl::getFieldIndex(*cloud_, "x");
if (x_idx != -1)
{
float x_data, y_data, z_data;
int x_point_offset = cloud_->fields[x_idx].offset;
// Color every point
for (vtkIdType cp = 0; cp < nr_points; ++cp,
point_offset += cloud_->point_step,
x_point_offset += cloud_->point_step)
{
memcpy(&x_data, &cloud_->data[x_point_offset], sizeof(float));
memcpy(&y_data, &cloud_->data[x_point_offset + sizeof(float)], sizeof(float));
memcpy(&z_data, &cloud_->data[x_point_offset + 2 * sizeof(float)], sizeof(float));
if (!std::isfinite(x_data) || !std::isfinite(y_data) || !std::isfinite(z_data))
continue;
// Copy the value at the specified field
memcpy(&field_data, &cloud_->data[point_offset], pcl::getFieldSize(cloud_->fields[field_idx_].datatype));
if(field_data < min_) {
field_data = min_;
}
if(field_data > max_) {
field_data = max_;
}
colors[j] = field_data * (inverted_color_scale_?-1.0f:1.0f);
j++;
}
}
// No XYZ data checks
else
{
// Color every point
for (vtkIdType cp = 0; cp < nr_points; ++cp, point_offset += cloud_->point_step)
{
// Copy the value at the specified field
// memcpy (&field_data, &cloud_->data[point_offset], sizeof (float));
memcpy(&field_data, &cloud_->data[point_offset], pcl::getFieldSize(cloud_->fields[field_idx_].datatype));
if (!std::isfinite(field_data))
continue;
if(field_data < min_) {
field_data = min_;
}
if(field_data > max_) {
field_data = max_;
}
colors[j] = field_data * (inverted_color_scale_?-1.0f:1.0f);
j++;
}
}
reinterpret_cast<vtkFloatArray *>(&(*scalars))->SetArray(colors, j, 0, vtkFloatArray::VTK_DATA_ARRAY_DELETE);
#if PCL_VERSION_COMPARE(>, 1, 11, 1)
return scalars;
#else
return (true);
#endif
}
using PointCloudColorHandler<pcl::PCLPointCloud2>::getColor;
/** \brief Set the input cloud to be used.
* \param[in] cloud the input cloud to be used by the handler
*/
virtual void
setInputCloud(const PointCloudConstPtr &cloud)
{
PointCloudColorHandler<pcl::PCLPointCloud2>::setInputCloud(cloud);
field_idx_ = pcl::getFieldIndex(*cloud, field_name_);
capable_ = field_idx_ != -1;
if (field_idx_ != -1 && cloud_->fields[field_idx_].datatype != pcl::PCLPointField::PointFieldTypes::FLOAT32)
{
capable_ = false;
PCL_ERROR("[pcl::PointCloudColorHandlerGenericField] This currently only works with float32 fields, but field %s has a different type.\n", field_name_.c_str());
}
}
protected:
/** \brief Class getName method. */
virtual std::string
getName() const { return ("PointCloudColorHandlerMinMaxGenericField"); }
private:
/** \brief Name of the field used to create the color handler. */
std::string field_name_;
float min_;
float max_;
bool inverted_color_scale_;
};
} /* namespace rtabmap */
#endif /* GUILIB_SRC_POINTCLOUDCOLORHANDLEMINMAXGENERICFIELD_H_ */

24
guilib/include/rtabmap/utilite/UCv2Qt.h
View File

@@ -117,7 +117,7 @@ inline QImage uCvMat2QImage(
// Assume depth image (float in meters)
const float * data = (const float *)image.data;
float min,max;
if(depthMax>depthMin)
if(depthMin != 0 && depthMax != 0 && depthMax > depthMin)
{
min = depthMin;
max = depthMax;
@@ -127,23 +127,23 @@ inline QImage uCvMat2QImage(
min = max = data[0];
for(unsigned int i=1; i<image.total(); ++i)
{
if(uIsFinite(data[i]) && data[i] > 0)
if(uIsFinite(data[i]) && data[i] != 0)
{
if(!uIsFinite(min) || (data[i] > 0 && data[i]<min))
if(!uIsFinite(min) || (data[i] != 0 && data[i]<min))
{
min = data[i];
}
if(!uIsFinite(max) || (data[i] > 0 && data[i]>max))
if(!uIsFinite(max) || (data[i] != 0 && data[i]>max))
{
max = data[i];
}
}
}
if(depthMax > 0 && depthMax > depthMin)
if(depthMax != 0 && depthMax > depthMin)
{
max = depthMax;
}
if(depthMin>0 && (depthMin < depthMax || depthMin < max))
if(depthMin != 0 && (depthMin < depthMax || depthMin < max))
{
min = depthMin;
}
@@ -198,7 +198,7 @@ inline QImage uCvMat2QImage(
// Assume depth image (unsigned short in mm)
const unsigned short * data = (const unsigned short *)image.data;
unsigned short min,max;
if(depthMax>depthMin)
if(depthMin != 0 && depthMax != 0 && depthMax > depthMin)
{
min = depthMin*1000;
max = depthMax*1000;
@@ -208,23 +208,23 @@ inline QImage uCvMat2QImage(
min = max = data[0];
for(unsigned int i=1; i<image.total(); ++i)
{
if(uIsFinite(data[i]) && data[i] > 0)
if(uIsFinite(data[i]) && data[i] != 0)
{
if(!uIsFinite(min) || (data[i] > 0 && data[i]<min))
if(!uIsFinite(min) || (data[i] != 0 && data[i]<min))
{
min = data[i];
}
if(!uIsFinite(max) || (data[i] > 0 && data[i]>max))
if(!uIsFinite(max) || (data[i] != 0 && data[i]>max))
{
max = data[i];
}
}
}
if(depthMax > 0 && depthMax > depthMin)
if(depthMax != 0 && depthMax > depthMin)
{
max = depthMax*1000;
}
if(depthMin>0 && (depthMin < depthMax || depthMin*1000 < max))
if(depthMin != 0 && (depthMin < depthMax || depthMin*1000 < max))
{
min = depthMin*1000;
}