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Improve pointcloud visualization with colormaps #1581

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Jun 8, 2016
Merged

Improve pointcloud visualization with colormaps #1581

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cbd0ab4
Added method to generate a LUT for a colormap
aecins Jun 6, 2016
dee99a6
Allow changing the colormap used to visualize a cloud
aecins Jun 6, 2016
cd7cd0d
Allow changing the range of the LUT used to visualize a cloud
aecins Jun 6, 2016
2b27820
Change setShapeRenderingProperties to call getColormapLUT
aecins Jun 6, 2016
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45 changes: 26 additions & 19 deletions visualization/include/pcl/visualization/common/common.h
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Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,8 @@
#include <pcl/pcl_macros.h>
#include <pcl/visualization/eigen.h>
#include <vtkMatrix4x4.h>
#include <vtkSmartPointer.h>
#include <vtkLookupTable.h>

namespace pcl
{
Expand Down Expand Up @@ -91,23 +93,19 @@ namespace pcl
PCL_EXPORTS float
viewScreenArea (const Eigen::Vector3d &eye, const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, const Eigen::Matrix4d &view_projection_matrix, int width, int height);

/** \brief Set of rendering properties
* \c PCL_VISUALIZER_POINT_SIZE: integer starting from 1
* \c PCL_VISUALIZER_OPACITY: Float going from 0.0 (transparent) to 1.0 (opaque)
* \c PCL_VISUALIZER_LINE_WIDTH: Integer starting from 1
* \c PCL_VISUALIZER_COLOR: 3 floats (R, G, B) going from 0.0 (dark) to 1.0 (light)
*/
/** \brief Set of rendering properties. */
enum RenderingProperties
{
PCL_VISUALIZER_POINT_SIZE,
PCL_VISUALIZER_OPACITY,
PCL_VISUALIZER_LINE_WIDTH,
PCL_VISUALIZER_POINT_SIZE, /**< integer starting from 1 */
PCL_VISUALIZER_OPACITY, /**< Float going from 0.0 (transparent) to 1.0 (opaque) */
PCL_VISUALIZER_LINE_WIDTH, /**< Integer starting from 1 */
PCL_VISUALIZER_FONT_SIZE,
PCL_VISUALIZER_COLOR,
PCL_VISUALIZER_COLOR, /**< 3 floats (R, G, B) going from 0.0 (dark) to 1.0 (light) */
PCL_VISUALIZER_REPRESENTATION,
PCL_VISUALIZER_IMMEDIATE_RENDERING,
PCL_VISUALIZER_SHADING,
PCL_VISUALIZER_LUT
PCL_VISUALIZER_LUT, /**< colormap type \ref pcl::visualization::LookUpTableRepresentationProperties */
PCL_VISUALIZER_LUT_RANGE /**< two doubles (min and max) or \ref pcl::visualization::LookUpTableRepresentationProperties::PCL_VISUALIZER_LUT_RANGE_AUTO */
};

enum RenderingRepresentationProperties
Expand All @@ -124,17 +122,26 @@ namespace pcl
PCL_VISUALIZER_SHADING_PHONG
};

/*! Look up table for color representation of vtkPolyDataMapper.\n
* See [mathworks colormap page](http://www.mathworks.com/help/matlab/ref/colormap.html#input_argument_name) for images representations of the LUTs */
/*! Colormap properties. See [mathworks colormap page](http://www.mathworks.com/help/matlab/ref/colormap.html#input_argument_name) for image representations of the colormaps. */
enum LookUpTableRepresentationProperties
{ //
PCL_VISUALIZER_LUT_JET,
PCL_VISUALIZER_LUT_JET_INVERSE,
PCL_VISUALIZER_LUT_HSV,
PCL_VISUALIZER_LUT_HSV_INVERSE,
PCL_VISUALIZER_LUT_GREY
{
PCL_VISUALIZER_LUT_JET, /**< Jet colormap */
PCL_VISUALIZER_LUT_JET_INVERSE, /**< Inverse jet colormap */
PCL_VISUALIZER_LUT_HSV, /**< HSV colormap */
PCL_VISUALIZER_LUT_HSV_INVERSE, /**< Inverse HSV colormap */
PCL_VISUALIZER_LUT_GREY, /**< Grey colormap (black to white) */
PCL_VISUALIZER_LUT_BLUE2RED, /**< Blue to red colormap (blue to white to red) */
PCL_VISUALIZER_LUT_RANGE_AUTO /**< Set LUT range to min and max values of the data */
};

/** \brief Generate a lookup table for a colormap.
* \param[in] colormap_type
* \param[out] table a vtk lookup table
* \note The list of available colormaps can be found in \ref pcl::visualization::LookUpTableRepresentationProperties.
*/
PCL_EXPORTS bool
getColormapLUT (LookUpTableRepresentationProperties colormap_type, vtkSmartPointer<vtkLookupTable> &table);

//////////////////////////////////////////////////////////////////////////////////////////////
/** \brief Camera class holds a set of camera parameters together with the window pos/size. */
class PCL_EXPORTS Camera
Expand Down
12 changes: 12 additions & 0 deletions visualization/include/pcl/visualization/pcl_visualizer.h
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Expand Up @@ -1148,6 +1148,18 @@ namespace pcl
setPointCloudRenderingProperties (int property, double val1, double val2, double val3,
const std::string &id = "cloud", int viewport = 0);

/** \brief Set the rendering properties of a PointCloud (2x values - e.g., LUT minmax values)
* \param[in] property the property type
* \param[in] val1 the first value to be set
* \param[in] val2 the second value to be set
* \param[in] id the point cloud object id (default: cloud)
* \param[in] viewport the view port where the Point Cloud's rendering properties should be modified (default: all)
* \note The list of properties can be found in \ref pcl::visualization::LookUpTableRepresentationProperties.
*/
bool
setPointCloudRenderingProperties (int property, double val1, double val2,
const std::string &id = "cloud", int viewport = 0);

/** \brief Set the rendering properties of a PointCloud
* \param[in] property the property type
* \param[in] value the value to be set
Expand Down
86 changes: 86 additions & 0 deletions visualization/src/common/common.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,7 @@

#include <pcl/point_types.h>
#include <pcl/visualization/common/common.h>
#include <pcl/console/print.h>
#include <stdlib.h>

//////////////////////////////////////////////////////////////////////////////////////////////
Expand Down Expand Up @@ -357,6 +358,91 @@ pcl::visualization::viewScreenArea (
return (fabsf (float (sum * 0.5f)));
}

/////////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::visualization::getColormapLUT (LookUpTableRepresentationProperties colormap_type, vtkSmartPointer<vtkLookupTable> &table)
{
table = vtkSmartPointer<vtkLookupTable>::New ();
switch (colormap_type)
{
case PCL_VISUALIZER_LUT_JET:
{
table->SetHueRange (0, 0.667);
table->SetSaturationRange (1, 1);
table->SetAlphaRange (1, 1);
break;
}

case PCL_VISUALIZER_LUT_JET_INVERSE:
{
table->SetHueRange (0.667, 0);
table->SetSaturationRange (1, 1);
table->SetAlphaRange (1, 1);
break;
}

case PCL_VISUALIZER_LUT_HSV:
{
table->SetHueRange (0, 1);
table->SetSaturationRange (1, 1);
table->SetAlphaRange (1, 1);
break;
}

case PCL_VISUALIZER_LUT_HSV_INVERSE:
{
table->SetHueRange (1, 0);
table->SetSaturationRange (1, 1);
table->SetAlphaRange (1, 1);
break;
}

case PCL_VISUALIZER_LUT_GREY:
{
table->SetValueRange (0, 1);
table->SetHueRange (0, 0);
table->SetSaturationRange (0, 0);
table->SetAlphaRange (1, 1);
break;
}

case PCL_VISUALIZER_LUT_BLUE2RED:
{
table->SetSaturationRange (1, 1);
table->SetAlphaRange (1, 1);
table->SetNumberOfTableValues (256);

double red[3] = {1.0, 0.0, 0.0};
double white[3] = {1.0, 1.0, 1.0};
double blue[3] = {0.0, 0.0, 1.0};

for (size_t i = 0; i < 128; i++)
{
double weight = static_cast<double>(i) / 128.0;
table->SetTableValue ( i,
white[0] * weight + blue[0] * (1 - weight),
white[1] * weight + blue[1] * (1 - weight),
white[2] * weight + blue[2] * (1 - weight) );
}

for (size_t i = 128; i < 256; i++)
{
double weight = (static_cast<double>(i) -128.0) / 128.0;
table->SetTableValue ( i,
red[0] * weight + white[0] * (1 - weight),
red[1] * weight + white[1] * (1 - weight),
red[2] * weight + white[2] * (1 - weight) );
}
break;
}
default:
PCL_WARN ("[pcl::visualization::getColormapLUT] Requested colormap type does not exist!\n");
return false;
}
table->Build ();
return true;
}

/////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::Camera::computeViewMatrix (Eigen::Matrix4d &view_mat) const
Expand Down
131 changes: 100 additions & 31 deletions visualization/src/pcl_visualizer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -98,6 +98,7 @@

#include <pcl/visualization/common/shapes.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/common/common.h>
#include <pcl/common/time.h>
#include <boost/uuid/sha1.hpp>
#include <boost/filesystem.hpp>
Expand Down Expand Up @@ -1330,6 +1331,58 @@ pcl::visualization::PCLVisualizer::setPointCloudRenderingProperties (
return (true);
}

/////////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::visualization::PCLVisualizer::setPointCloudRenderingProperties (
int property, double val1, double val2, const std::string &id, int)
{
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
CloudActorMap::iterator am_it = cloud_actor_map_->find (id);

if (am_it == cloud_actor_map_->end ())
{
pcl::console::print_error ("[setPointCloudRenderingProperties] Could not find any PointCloud datasets with id <%s>!\n", id.c_str ());
return (false);
}
// Get the actor pointer
vtkLODActor* actor = vtkLODActor::SafeDownCast (am_it->second.actor);
if (!actor)
return (false);

switch (property)
{
case PCL_VISUALIZER_LUT_RANGE:
{
// Check if the mapper has scalars
if (!actor->GetMapper ()->GetInput ()->GetPointData ()->GetScalars ())
break;

// Check that scalars are not unisgned char (i.e. check if a LUT is used to colormap scalars assuming vtk ColorMode is Default)
if (actor->GetMapper ()->GetInput ()->GetPointData ()->GetScalars ()->IsA ("vtkUnsignedCharArray"))
break;

// Check that range values are correct
if (val1 >= val2)
{
PCL_WARN ("[setPointCloudRenderingProperties] Range max must be greater than range min!\n");
return (false);
}

// Update LUT
actor->GetMapper ()->GetLookupTable ()->SetRange (val1, val2);
actor->GetMapper()->UseLookupTableScalarRangeOn ();
style_->updateLookUpTableDisplay (false);
break;
}
default:
{
pcl::console::print_error ("[setPointCloudRenderingProperties] Unknown property (%d) specified!\n", property);
return (false);
}
}
return (true);
}

/////////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::visualization::PCLVisualizer::getPointCloudRenderingProperties (int property, double &value, const std::string &id)
Expand Down Expand Up @@ -1422,6 +1475,52 @@ pcl::visualization::PCLVisualizer::setPointCloudRenderingProperties (
actor->Modified ();
break;
}
case PCL_VISUALIZER_LUT:
{
// Check if the mapper has scalars
if (!actor->GetMapper ()->GetInput ()->GetPointData ()->GetScalars ())
break;

// Check that scalars are not unisgned char (i.e. check if a LUT is used to colormap scalars assuming vtk ColorMode is Default)
if (actor->GetMapper ()->GetInput ()->GetPointData ()->GetScalars ()->IsA ("vtkUnsignedCharArray"))
break;

// Get range limits from existing LUT
double *range;
range = actor->GetMapper ()->GetLookupTable ()->GetRange ();

actor->GetMapper ()->ScalarVisibilityOn ();
actor->GetMapper ()->SetScalarRange (range[0], range[1]);
vtkSmartPointer<vtkLookupTable> table;
if (!pcl::visualization::getColormapLUT (static_cast<LookUpTableRepresentationProperties>(value), table))
break;
table->SetRange (range[0], range[1]);
actor->GetMapper ()->SetLookupTable (table);
style_->updateLookUpTableDisplay (false);
break;
}
case PCL_VISUALIZER_LUT_RANGE:
{
// Check if the mapper has scalars
if (!actor->GetMapper ()->GetInput ()->GetPointData ()->GetScalars ())
break;

// Check that scalars are not unisgned char (i.e. check if a LUT is used to colormap scalars assuming vtk ColorMode is Default)
if (actor->GetMapper ()->GetInput ()->GetPointData ()->GetScalars ()->IsA ("vtkUnsignedCharArray"))
break;

switch (int(value))
{
case PCL_VISUALIZER_LUT_RANGE_AUTO:
double range[2];
actor->GetMapper ()->GetInput ()->GetPointData ()->GetScalars ()->GetRange (range);
actor->GetMapper ()->GetLookupTable ()->SetRange (range[0], range[1]);
actor->GetMapper ()->UseLookupTableScalarRangeOn ();
style_->updateLookUpTableDisplay (false);
break;
}
break;
}
default:
{
pcl::console::print_error ("[setPointCloudRenderingProperties] Unknown property (%d) specified!\n", property);
Expand Down Expand Up @@ -1639,38 +1738,8 @@ pcl::visualization::PCLVisualizer::setShapeRenderingProperties (
actor->GetMapper ()->ScalarVisibilityOn ();
actor->GetMapper ()->SetScalarRange (range[0], range[1]);
vtkSmartPointer<vtkLookupTable> table = vtkSmartPointer<vtkLookupTable>::New ();
getColormapLUT (static_cast<LookUpTableRepresentationProperties>(value), table);
table->SetRange (range[0], range[1]);

switch (int (value))
{
case PCL_VISUALIZER_LUT_JET:
table->SetHueRange (0, 0.667);
table->SetSaturationRange (1, 1);
table->SetAlphaRange (1, 1);
break;
case PCL_VISUALIZER_LUT_JET_INVERSE:
table->SetHueRange (0.667, 0);
table->SetSaturationRange (1, 1);
table->SetAlphaRange (1, 1);
break;
case PCL_VISUALIZER_LUT_HSV:
table->SetHueRange (0, 1);
table->SetSaturationRange (1, 1);
table->SetAlphaRange (1, 1);
break;
case PCL_VISUALIZER_LUT_HSV_INVERSE:
table->SetHueRange (1, 0);
table->SetSaturationRange (1, 1);
table->SetAlphaRange (1, 1);
break;
case PCL_VISUALIZER_LUT_GREY:
table->SetValueRange (0, 1);
table->SetHueRange (0, 0);
table->SetSaturationRange (0, 0);
table->SetAlphaRange (1, 1);
break;
}
table->Build ();
actor->GetMapper ()->SetLookupTable (table);
style_->updateLookUpTableDisplay (false);
break;
Expand Down