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CloudViewer: added scan red colormap and max intensity options

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This commit is contained in:
matlabbe
2020-02-20 15:33:50 -05:00
parent bd979cca34
commit e7a7ab8031
2 changed files with 85 additions and 6 deletions
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84
guilib/src/CloudViewer.cpp
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@@ -121,7 +121,8 @@ CloudViewer::CloudViewer(QWidget *parent, CloudViewerInteractorStyle * style) :
_currentBgColor(Qt::black),
_frontfaceCulling(false),
_renderingRate(5.0),
_octomapActor(0)
_octomapActor(0),
_intensityAbsMax(0.0f)
{
UDEBUG("");
this->setMinimumSize(200, 200);
@@ -248,6 +249,10 @@ void CloudViewer::createMenu()
_aShowNormals->setCheckable(true);
_aSetNormalsStep = new QAction("Set normals step...", this);
_aSetNormalsScale = new QAction("Set normals scale...", this);
_aSetIntensityRedColormap = new QAction("Red/Yellow Colormap", this);
_aSetIntensityRedColormap->setCheckable(true);
_aSetIntensityRedColormap->setChecked(false);
_aSetIntensityMaximum = new QAction("Set maximum absolute intensity...", this);
_aSetBackgroundColor = new QAction("Set background color...", this);
_aSetRenderingRate = new QAction("Set rendering rate...", this);
_aSetLighting = new QAction("Lighting", this);
@@ -299,6 +304,10 @@ void CloudViewer::createMenu()
normalsMenu->addAction(_aSetNormalsStep);
normalsMenu->addAction(_aSetNormalsScale);
QMenu * scanMenu = new QMenu("Scan", this);
scanMenu->addAction(_aSetIntensityRedColormap);
scanMenu->addAction(_aSetIntensityMaximum);
//menus
_menu = new QMenu(this);
_menu->addMenu(cameraMenu);
@@ -306,6 +315,7 @@ void CloudViewer::createMenu()
_menu->addMenu(frustumMenu);
_menu->addMenu(gridMenu);
_menu->addMenu(normalsMenu);
_menu->addMenu(scanMenu);
_menu->addAction(_aSetBackgroundColor);
_menu->addAction(_aSetRenderingRate);
_menu->addAction(_aSetLighting);
@@ -353,6 +363,9 @@ void CloudViewer::saveSettings(QSettings & settings, const QString & group) cons
settings.setValue("normals_step", this->getNormalsStep());
settings.setValue("normals_scale", (double)this->getNormalsScale());
settings.setValue("intensity_red_colormap", this->isIntensityRedColormap());
settings.setValue("normals_scale", (double)this->getIntensityMax());
settings.setValue("trajectory_shown", this->isTrajectoryShown());
settings.setValue("trajectory_size", this->getTrajectorySize());
@@ -397,6 +410,9 @@ void CloudViewer::loadSettings(QSettings & settings, const QString & group)
this->setNormalsStep(settings.value("normals_step", this->getNormalsStep()).toInt());
this->setNormalsScale(settings.value("normals_scale", this->getNormalsScale()).toFloat());
this->setIntensityRedColormap(settings.value("intensity_red_colormap", this->isIntensityRedColormap()).toBool());
this->setIntensityMax(settings.value("normals_scale", this->getIntensityMax()).toFloat());
this->setTrajectoryShown(settings.value("trajectory_shown", this->isTrajectoryShown()).toBool());
this->setTrajectorySize(settings.value("trajectory_size", this->getTrajectorySize()).toUInt());
@@ -464,8 +480,10 @@ public:
typedef boost::shared_ptr<const PointCloudColorHandlerIntensityField > ConstPtr;
/** \brief Constructor. */
PointCloudColorHandlerIntensityField (const PointCloudConstPtr &cloud) :
pcl::visualization::PointCloudColorHandler<pcl::PCLPointCloud2>::PointCloudColorHandler (cloud)
PointCloudColorHandlerIntensityField (const PointCloudConstPtr &cloud, float maxAbsIntensity = 0.0f, bool redYellowColormap = true) :
pcl::visualization::PointCloudColorHandler<pcl::PCLPointCloud2>::PointCloudColorHandler (cloud),
maxAbsIntensity_(maxAbsIntensity),
redColormap_(redYellowColormap)
{
field_idx_ = pcl::getFieldIndex (*cloud, "intensity");
if (field_idx_ != -1)
@@ -541,10 +559,22 @@ public:
// Allocate enough memory to hold all colors
unsigned char* colors = new unsigned char[j * 3];
float min, max;
uMinMax(intensities, j, 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)(intensities[k]/max*255.0f):0;
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(redColormap_)
{
colors[k*3+0] = 255;
colors[k*3+2] = 0;
}
}
reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->SetNumberOfTuples (j);
reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->SetArray (colors, j*3, 0, vtkUnsignedCharArray::VTK_DATA_ARRAY_DELETE);
@@ -564,6 +594,10 @@ protected:
/** \brief Get the name of the field used. */
virtual std::string
getFieldName () const { return ("intensity"); }
private:
float maxAbsIntensity_;
bool redColormap_;
};
bool CloudViewer::addCloud(
@@ -627,7 +661,7 @@ bool CloudViewer::addCloud(
else if(hasIntensity)
{
//intensity
colorHandler.reset(new PointCloudColorHandlerIntensityField(binaryCloud));
colorHandler.reset(new PointCloudColorHandlerIntensityField(binaryCloud, _intensityAbsMax, _aSetIntensityRedColormap->isChecked()));
_visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id, 1);
}
else if(previousColorIndex == 5)
@@ -2940,6 +2974,31 @@ void CloudViewer::setNormalsScale(float scale)
}
}
bool CloudViewer::isIntensityRedColormap() const
{
return _aSetIntensityRedColormap->isChecked();
}
float CloudViewer::getIntensityMax() const
{
return _intensityAbsMax;
}
void CloudViewer::setIntensityRedColormap(bool on)
{
_aSetIntensityRedColormap->setChecked(on);
}
void CloudViewer::setIntensityMax(float value)
{
if(value >= 0.0f)
{
_intensityAbsMax = value;
}
else
{
UERROR("Cannot set normals scale < 0, value=%f", value);
}
}
void CloudViewer::buildPickingLocator(bool enable)
{
_buildLocator = enable;
@@ -3275,6 +3334,19 @@ void CloudViewer::handleAction(QAction * a)
this->setNormalsScale(value);
}
}
else if(a == _aSetIntensityMaximum)
{
bool ok;
double value = QInputDialog::getDouble(this, tr("Set maximum absolute intensity"), tr("Intensity (0=auto)"), _intensityAbsMax, 0.0, 99999, 2, &ok);
if(ok)
{
this->setIntensityMax(value);
}
}
else if(a == _aShowNormals)
{
this->setIntensityRedColormap(_aSetIntensityRedColormap->isChecked());
}
else if(a == _aSetBackgroundColor)
{
QColor color = this->getDefaultBackgroundColor();