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octree_viewer.cpp
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octree_viewer.cpp
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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Willow Garage, Inc.
* 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 copyright holder(s) 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 OWNER 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.
*
*
* \author Raphael Favier
* */
#include <pcl/io/auto_io.h>
#include <pcl/common/time.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/point_cloud_handlers.h>
#include <pcl/visualization/common/common.h>
#include <pcl/octree/octree_pointcloud_voxelcentroid.h>
#include <pcl/common/centroid.h>
#include <pcl/filters/filter.h>
#include "boost.h"
#include <vtkRenderer.h>
#include <vtkRenderWindow.h>
#include <vtkCubeSource.h>
#include <vtkCleanPolyData.h>
//=============================
// Displaying cubes is very long!
// so we limit their numbers.
const int MAX_DISPLAYED_CUBES(15000);
//=============================
class OctreeViewer
{
public:
OctreeViewer (std::string &filename, double resolution) :
viz ("Octree visualizator"),
cloud (new pcl::PointCloud<pcl::PointXYZ>()),
displayCloud (new pcl::PointCloud<pcl::PointXYZ>()),
cloudVoxel (new pcl::PointCloud<pcl::PointXYZ>()),
octree (resolution),
wireframe (true),
show_cubes_ (true),
show_centroids_ (false),
show_original_points_ (false),
point_size_ (1.0)
{
//try to load the cloud
if (!loadCloud(filename))
return;
//register keyboard callbacks
viz.registerKeyboardCallback(&OctreeViewer::keyboardEventOccurred, *this, 0);
//key legends
viz.addText ("Keys:", 0, 170, 0.0, 1.0, 0.0, "keys_t");
viz.addText ("a -> Increment displayed depth", 10, 155, 0.0, 1.0, 0.0, "key_a_t");
viz.addText ("z -> Decrement displayed depth", 10, 140, 0.0, 1.0, 0.0, "key_z_t");
viz.addText ("v -> Toggle octree cubes representation", 10, 125, 0.0, 1.0, 0.0, "key_v_t");
viz.addText ("b -> Toggle centroid points representation", 10, 110, 0.0, 1.0, 0.0, "key_b_t");
viz.addText ("n -> Toggle original point cloud representation", 10, 95, 0.0, 1.0, 0.0, "key_n_t");
//set current level to half the maximum one
displayedDepth = static_cast<int> (floor (octree.getTreeDepth() / 2.0));
if (displayedDepth == 0)
displayedDepth = 1;
// assign point cloud to octree
octree.setInputCloud (cloud);
// add points from cloud to octree
octree.addPointsFromInputCloud ();
//show octree at default depth
extractPointsAtLevel(displayedDepth);
//reset camera
viz.resetCameraViewpoint("cloud");
//run main loop
run();
}
private:
//========================================================
// PRIVATE ATTRIBUTES
//========================================================
//visualizer
pcl::PointCloud<pcl::PointXYZ>::Ptr xyz;
pcl::visualization::PCLVisualizer viz;
//original cloud
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
//displayed_cloud
pcl::PointCloud<pcl::PointXYZ>::Ptr displayCloud;
// cloud which contains the voxel center
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudVoxel;
//octree
pcl::octree::OctreePointCloudVoxelCentroid<pcl::PointXYZ> octree;
//level
int displayedDepth;
//bool to decide what should be display
bool wireframe;
bool show_cubes_, show_centroids_, show_original_points_;
float point_size_;
//========================================================
/* \brief Callback to interact with the keyboard
*
*/
void keyboardEventOccurred (const pcl::visualization::KeyboardEvent &event, void *)
{
if (event.getKeySym () == "a" && event.keyDown ())
{
IncrementLevel ();
}
else if (event.getKeySym () == "z" && event.keyDown ())
{
DecrementLevel ();
}
else if (event.getKeySym () == "v" && event.keyDown ())
{
show_cubes_ = !show_cubes_;
update ();
}
else if (event.getKeySym () == "b" && event.keyDown ())
{
show_centroids_ = !show_centroids_;
update ();
}
else if (event.getKeySym () == "n" && event.keyDown ())
{
show_original_points_ = !show_original_points_;
update ();
}
else if (event.getKeySym () == "w" && event.keyDown ())
{
if (!wireframe)
wireframe = true;
update ();
}
else if (event.getKeySym () == "s" && event.keyDown ())
{
if (wireframe)
wireframe = false;
update ();
}
else if ((event.getKeyCode () == '-') && event.keyDown ())
{
point_size_ = std::max(1.0f, point_size_ * (1 / 2.0f));
update ();
}
else if ((event.getKeyCode () == '+') && event.keyDown ())
{
point_size_ *= 2.0f;
update ();
}
}
/* \brief Graphic loop for the viewer
*
*/
void run()
{
while (!viz.wasStopped())
{
//main loop of the visualizer
viz.spinOnce(100);
boost::this_thread::sleep(boost::posix_time::microseconds(100000));
}
}
/* \brief Helper function that read a pointcloud file (returns false if pbl)
* Also initialize the octree
*
*/
bool loadCloud(std::string &filename)
{
std::cout << "Loading file " << filename.c_str() << std::endl;
//read cloud
if (pcl::io::load (filename, *cloud))
{
return false;
}
//remove NaN Points
std::vector<int> nanIndexes;
pcl::removeNaNFromPointCloud(*cloud, *cloud, nanIndexes);
std::cout << "Loaded " << cloud->points.size() << " points" << std::endl;
//create octree structure
octree.setInputCloud(cloud);
//update bounding box automatically
octree.defineBoundingBox();
//add points in the tree
octree.addPointsFromInputCloud();
return true;
}
/* \brief Helper function that draw info for the user on the viewer
*
*/
void showLegend ()
{
char dataDisplay[256];
sprintf (dataDisplay, "Displaying octree cubes: %s", (show_cubes_) ? ("True") : ("False"));
viz.removeShape ("disp_octree_cubes");
viz.addText (dataDisplay, 0, 75, 1.0, 0.0, 0.0, "disp_octree_cubes");
sprintf (dataDisplay, "Displaying centroids voxel: %s", (show_centroids_) ? ("True") : ("False"));
viz.removeShape ("disp_centroids_voxel");
viz.addText (dataDisplay, 0, 60, 1.0, 0.0, 0.0, "disp_centroids_voxel");
sprintf (dataDisplay, "Displaying original point cloud: %s", (show_original_points_) ? ("True") : ("False"));
viz.removeShape ("disp_original_points");
viz.addText (dataDisplay, 0, 45, 1.0, 0.0, 0.0, "disp_original_points");
char level[256];
sprintf (level, "Displayed depth is %d on %d", displayedDepth, octree.getTreeDepth());
viz.removeShape ("level_t1");
viz.addText (level, 0, 30, 1.0, 0.0, 0.0, "level_t1");
viz.removeShape ("level_t2");
sprintf (level, "Voxel size: %.4fm [%lu voxels]", std::sqrt (octree.getVoxelSquaredSideLen (displayedDepth)),
cloudVoxel->points.size ());
viz.addText (level, 0, 15, 1.0, 0.0, 0.0, "level_t2");
}
/* \brief Visual update. Create visualizations and add them to the viewer
*
*/
void update()
{
//remove existing shapes from visualizer
clearView ();
showLegend ();
if (show_cubes_)
{
//show octree as cubes
showCubes (std::sqrt (octree.getVoxelSquaredSideLen (displayedDepth)));
}
if (show_centroids_)
{
//show centroid points
pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZ> color_handler (cloudVoxel, "x");
viz.addPointCloud (cloudVoxel, color_handler, "cloud_centroid");
viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, point_size_, "cloud_centroid");
}
if (show_original_points_)
{
//show origin point cloud
pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZ> color_handler (cloud, "z");
viz.addPointCloud (cloud, color_handler, "cloud");
viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, point_size_, "cloud");
}
}
/* \brief remove dynamic objects from the viewer
*
*/
void clearView()
{
//remove cubes if any
vtkRenderer *renderer = viz.getRenderWindow ()->GetRenderers ()->GetFirstRenderer ();
while (renderer->GetActors ()->GetNumberOfItems () > 0)
renderer->RemoveActor (renderer->GetActors ()->GetLastActor ());
//remove point clouds if any
viz.removePointCloud ("cloud");
viz.removePointCloud ("cloud_centroid");
}
/* \brief display octree cubes via vtk-functions
*
*/
void showCubes(double voxelSideLen)
{
vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New ();
// Create every cubes to be displayed
double s = voxelSideLen / 2.0;
for (size_t i = 0; i < cloudVoxel->points.size (); i++)
{
double x = cloudVoxel->points[i].x;
double y = cloudVoxel->points[i].y;
double z = cloudVoxel->points[i].z;
vtkSmartPointer<vtkCubeSource> wk_cubeSource = vtkSmartPointer<vtkCubeSource>::New ();
wk_cubeSource->SetBounds (x - s, x + s, y - s, y + s, z - s, z + s);
wk_cubeSource->Update ();
#if VTK_MAJOR_VERSION < 6
appendFilter->AddInput (wk_cubeSource->GetOutput ());
#else
appendFilter->AddInputData (wk_cubeSource->GetOutput ());
#endif
}
// Remove any duplicate points
vtkSmartPointer<vtkCleanPolyData> cleanFilter = vtkSmartPointer<vtkCleanPolyData>::New ();
cleanFilter->SetInputConnection (appendFilter->GetOutputPort ());
cleanFilter->Update ();
//Create a mapper and actor
vtkSmartPointer<vtkPolyDataMapper> multiMapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
multiMapper->SetInputConnection (cleanFilter->GetOutputPort ());
vtkSmartPointer<vtkActor> multiActor = vtkSmartPointer<vtkActor>::New ();
multiActor->SetMapper (multiMapper);
multiActor->GetProperty ()->SetColor (1.0, 1.0, 1.0);
multiActor->GetProperty ()->SetAmbient (1.0);
multiActor->GetProperty ()->SetLineWidth (1);
multiActor->GetProperty ()->EdgeVisibilityOn ();
multiActor->GetProperty ()->SetOpacity (1.0);
if (wireframe)
{
multiActor->GetProperty ()->SetRepresentationToWireframe ();
}
else
{
multiActor->GetProperty ()->SetRepresentationToSurface ();
}
// Add the actor to the scene
viz.getRenderWindow ()->GetRenderers ()->GetFirstRenderer ()->AddActor (multiActor);
// Render and interact
viz.getRenderWindow ()->Render ();
}
/* \brief Extracts all the points of depth = level from the octree
*
*/
void extractPointsAtLevel(int depth)
{
displayCloud->points.clear();
cloudVoxel->points.clear();
pcl::octree::OctreePointCloudVoxelCentroid<pcl::PointXYZ>::Iterator tree_it;
pcl::octree::OctreePointCloudVoxelCentroid<pcl::PointXYZ>::Iterator tree_it_end = octree.end();
pcl::PointXYZ pt_voxel_center;
pcl::PointXYZ pt_centroid;
std::cout << "===== Extracting data at depth " << depth << "... " << std::flush;
double start = pcl::getTime ();
for (tree_it = octree.begin(depth); tree_it!=tree_it_end; ++tree_it)
{
// If the iterator is not at the right depth, continue
if (tree_it.getCurrentOctreeDepth () != depth)
continue;
// Compute the point at the center of the voxel which represents the current OctreeNode
Eigen::Vector3f voxel_min, voxel_max;
octree.getVoxelBounds (tree_it, voxel_min, voxel_max);
pt_voxel_center.x = (voxel_min.x () + voxel_max.x ()) / 2.0f;
pt_voxel_center.y = (voxel_min.y () + voxel_max.y ()) / 2.0f;
pt_voxel_center.z = (voxel_min.z () + voxel_max.z ()) / 2.0f;
cloudVoxel->points.push_back (pt_voxel_center);
// If the asked depth is the depth of the octree, retrieve the centroid at this LeafNode
if (octree.getTreeDepth () == depth)
{
pcl::octree::OctreePointCloudVoxelCentroid<pcl::PointXYZ>::LeafNode* container = static_cast<pcl::octree::OctreePointCloudVoxelCentroid<pcl::PointXYZ>::LeafNode*> (tree_it.getCurrentOctreeNode ());
container->getContainer ().getCentroid (pt_centroid);
}
// Else, compute the centroid of the LeafNode under the current BranchNode
else
{
// Retrieve every centroid under the current BranchNode
pcl::octree::OctreeKey dummy_key;
pcl::PointCloud<pcl::PointXYZ>::VectorType voxelCentroids;
octree.getVoxelCentroidsRecursive (static_cast<pcl::octree::OctreePointCloudVoxelCentroid<pcl::PointXYZ>::BranchNode*> (*tree_it), dummy_key, voxelCentroids);
// Iterate over the leafs to compute the centroid of all of them
pcl::CentroidPoint<pcl::PointXYZ> centroid;
for (int j = 0; j < voxelCentroids.size (); ++j)
{
centroid.add (voxelCentroids[j]);
}
centroid.get (pt_centroid);
}
displayCloud->points.push_back (pt_centroid);
}
double end = pcl::getTime ();
printf("%lu pts, %.4gs. %.4gs./pt. =====\n", displayCloud->points.size (), end - start,
(end - start) / static_cast<double> (displayCloud->points.size ()));
update();
}
/* \brief Helper function to increase the octree display level by one
*
*/
bool IncrementLevel()
{
if (displayedDepth < static_cast<int> (octree.getTreeDepth ()))
{
displayedDepth++;
extractPointsAtLevel(displayedDepth);
return true;
}
else
return false;
}
/* \brief Helper function to decrease the octree display level by one
*
*/
bool DecrementLevel()
{
if (displayedDepth > 0)
{
displayedDepth--;
extractPointsAtLevel(displayedDepth);
return true;
}
return false;
}
};
int main(int argc, char ** argv)
{
if (argc != 3)
{
std::cerr << "ERROR: Syntax is octreeVisu <pcd file> <resolution>" << std::endl;
std::cerr << "EXAMPLE: ./octreeVisu bun0.pcd 0.001" << std::endl;
return -1;
}
std::string cloud_path(argv[1]);
OctreeViewer v(cloud_path, atof(argv[2]));
}