Point Cloud Library (PCL) 1.13.0
point_cloud_color_handlers.hpp
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37
38#pragma once
39
40#include <set>
41#include <map>
42
43#include <pcl/pcl_macros.h>
44#include <pcl/common/colors.h>
45#include <pcl/common/io.h> // for getFieldIndex
46#include <pcl/common/point_tests.h> // for pcl::isFinite
47
48
49namespace pcl
50{
51
52namespace visualization
53{
54
55template <typename PointT> vtkSmartPointer<vtkDataArray>
57{
58 if (!capable_ || !cloud_)
59 return nullptr;
60
62 scalars->SetNumberOfComponents (3);
63
64 vtkIdType nr_points = cloud_->size ();
65 scalars->SetNumberOfTuples (nr_points);
66
67 // Get a random color
68 unsigned char* colors = new unsigned char[nr_points * 3];
69
70 // Color every point
71 for (vtkIdType cp = 0; cp < nr_points; ++cp)
72 {
73 colors[cp * 3 + 0] = static_cast<unsigned char> (r_);
74 colors[cp * 3 + 1] = static_cast<unsigned char> (g_);
75 colors[cp * 3 + 2] = static_cast<unsigned char> (b_);
76 }
77 scalars->SetArray (colors, 3 * nr_points, 0, vtkUnsignedCharArray::VTK_DATA_ARRAY_DELETE);
78 return scalars;
79}
80
81
82template <typename PointT> vtkSmartPointer<vtkDataArray>
84{
85 if (!capable_ || !cloud_)
86 return nullptr;
87
89 scalars->SetNumberOfComponents (3);
90
91 vtkIdType nr_points = cloud_->size ();
92 scalars->SetNumberOfTuples (nr_points);
93
94 // Get a random color
95 unsigned char* colors = new unsigned char[nr_points * 3];
96 double r, g, b;
98
99 int r_ = static_cast<int> (pcl_lrint (r * 255.0)),
100 g_ = static_cast<int> (pcl_lrint (g * 255.0)),
101 b_ = static_cast<int> (pcl_lrint (b * 255.0));
102
103 // Color every point
104 for (vtkIdType cp = 0; cp < nr_points; ++cp)
105 {
106 colors[cp * 3 + 0] = static_cast<unsigned char> (r_);
107 colors[cp * 3 + 1] = static_cast<unsigned char> (g_);
108 colors[cp * 3 + 2] = static_cast<unsigned char> (b_);
109 }
110 scalars->SetArray (colors, 3 * nr_points, 0, vtkUnsignedCharArray::VTK_DATA_ARRAY_DELETE);
111 return scalars;
112}
113
114
115template <typename PointT> void
117 const PointCloudConstPtr &cloud)
118{
120 // Handle the 24-bit packed RGB values
121 field_idx_ = pcl::getFieldIndex<PointT> ("rgb", fields_);
122 if (field_idx_ != -1)
123 {
124 capable_ = true;
125 return;
126 }
127 else
128 {
129 field_idx_ = pcl::getFieldIndex<PointT> ("rgba", fields_);
130 if (field_idx_ != -1)
131 capable_ = true;
132 else
133 capable_ = false;
134 }
135}
136
137
138template <typename PointT> vtkSmartPointer<vtkDataArray>
140{
141 if (!capable_ || !cloud_)
142 return nullptr;
143
144 // Get the RGB field index
145 std::vector<pcl::PCLPointField> fields;
146 int rgba_index = -1;
147 rgba_index = pcl::getFieldIndex<PointT> ("rgb", fields);
148 if (rgba_index == -1)
149 rgba_index = pcl::getFieldIndex<PointT> ("rgba", fields);
150
151 int rgba_offset = fields[rgba_index].offset;
152
154 scalars->SetNumberOfComponents (3);
155
156 vtkIdType nr_points = cloud_->size ();
157 scalars->SetNumberOfTuples (nr_points);
158 unsigned char* colors = scalars->GetPointer (0);
159
160 // If XYZ present, check if the points are invalid
161 int x_idx = -1;
162 for (std::size_t d = 0; d < fields_.size (); ++d)
163 if (fields_[d].name == "x")
164 x_idx = static_cast<int> (d);
165
166 pcl::RGB rgb;
167 if (x_idx != -1)
168 {
169 int j = 0;
170 // Color every point
171 for (vtkIdType cp = 0; cp < nr_points; ++cp)
172 {
173 // Copy the value at the specified field
174 if (!std::isfinite ((*cloud_)[cp].x) ||
175 !std::isfinite ((*cloud_)[cp].y) ||
176 !std::isfinite ((*cloud_)[cp].z))
177 continue;
178 memcpy (&rgb, (reinterpret_cast<const char *> (&(*cloud_)[cp])) + rgba_offset, sizeof (pcl::RGB));
179 colors[j ] = rgb.r;
180 colors[j + 1] = rgb.g;
181 colors[j + 2] = rgb.b;
182 j += 3;
183 }
184 }
185 else
186 {
187 // Color every point
188 for (vtkIdType cp = 0; cp < nr_points; ++cp)
189 {
190 int idx = static_cast<int> (cp) * 3;
191 memcpy (&rgb, (reinterpret_cast<const char *> (&(*cloud_)[cp])) + rgba_offset, sizeof (pcl::RGB));
192 colors[idx ] = rgb.r;
193 colors[idx + 1] = rgb.g;
194 colors[idx + 2] = rgb.b;
195 }
196 }
197 return scalars;
198}
199
200
201template <typename PointT>
204{
205 // Check for the presence of the "H" field
206 field_idx_ = pcl::getFieldIndex<PointT> ("h", fields_);
207 if (field_idx_ == -1)
208 {
209 capable_ = false;
210 return;
211 }
212
213 // Check for the presence of the "S" field
214 s_field_idx_ = pcl::getFieldIndex<PointT> ("s", fields_);
215 if (s_field_idx_ == -1)
216 {
217 capable_ = false;
218 return;
219 }
220
221 // Check for the presence of the "V" field
222 v_field_idx_ = pcl::getFieldIndex<PointT> ("v", fields_);
223 if (v_field_idx_ == -1)
224 {
225 capable_ = false;
226 return;
227 }
228 capable_ = true;
229}
230
231
232template <typename PointT> vtkSmartPointer<vtkDataArray>
234{
235 if (!capable_ || !cloud_)
236 return nullptr;
237
239 scalars->SetNumberOfComponents (3);
240
241 vtkIdType nr_points = cloud_->size ();
242 scalars->SetNumberOfTuples (nr_points);
243 unsigned char* colors = scalars->GetPointer (0);
244
245 int idx = 0;
246 // If XYZ present, check if the points are invalid
247 int x_idx = -1;
248
249 for (std::size_t d = 0; d < fields_.size (); ++d)
250 if (fields_[d].name == "x")
251 x_idx = static_cast<int> (d);
252
253 if (x_idx != -1)
254 {
255 // Color every point
256 for (vtkIdType cp = 0; cp < nr_points; ++cp)
257 {
258 // Copy the value at the specified field
259 if (!std::isfinite ((*cloud_)[cp].x) ||
260 !std::isfinite ((*cloud_)[cp].y) ||
261 !std::isfinite ((*cloud_)[cp].z))
262 continue;
263
264 ///@todo do this with the point_types_conversion in common, first template it!
265
266 float h = (*cloud_)[cp].h;
267 float v = (*cloud_)[cp].v;
268 float s = (*cloud_)[cp].s;
269
270 // Fill color data with HSV here:
271 // restrict the hue value to [0,360[
272 h = h < 0.0f ? h - (((int)h)/360 - 1)*360 : h - (((int)h)/360)*360;
273
274 // restrict s and v to [0,1]
275 if (s > 1.0f) s = 1.0f;
276 if (s < 0.0f) s = 0.0f;
277 if (v > 1.0f) v = 1.0f;
278 if (v < 0.0f) v = 0.0f;
279
280 if (s == 0.0f)
281 {
282 colors[idx] = colors[idx+1] = colors[idx+2] = v*255;
283 }
284 else
285 {
286 // calculate p, q, t from HSV-values
287 float a = h / 60;
288 int i = std::floor (a);
289 float f = a - i;
290 float p = v * (1 - s);
291 float q = v * (1 - s * f);
292 float t = v * (1 - s * (1 - f));
293
294 switch (i)
295 {
296 case 0:
297 colors[idx] = v*255; colors[idx+1] = t*255; colors[idx+2] = p*255; break;
298 case 1:
299 colors[idx] = q*255; colors[idx+1] = v*255; colors[idx+2] = p*255; break;
300 case 2:
301 colors[idx] = p*255; colors[idx+1] = v*255; colors[idx+2] = t*255; break;
302 case 3:
303 colors[idx] = p*255; colors[idx+1] = q*255; colors[idx+2] = v*255; break;
304 case 4:
305 colors[idx] = t*255; colors[idx+1] = p*255; colors[idx+2] = v*255; break;
306 case 5:
307 colors[idx] = v*255; colors[idx+1] = p*255; colors[idx+2] = q*255; break;
308 }
309 }
310 idx +=3;
311 }
312 }
313 else
314 {
315 // Color every point
316 for (vtkIdType cp = 0; cp < nr_points; ++cp)
317 {
318 float h = (*cloud_)[cp].h;
319 float v = (*cloud_)[cp].v;
320 float s = (*cloud_)[cp].s;
321
322 // Fill color data with HSV here:
323 // restrict the hue value to [0,360[
324 h = h < 0.0f ? h - (((int)h)/360 - 1)*360 : h - (((int)h)/360)*360;
325
326 // restrict s and v to [0,1]
327 if (s > 1.0f) s = 1.0f;
328 if (s < 0.0f) s = 0.0f;
329 if (v > 1.0f) v = 1.0f;
330 if (v < 0.0f) v = 0.0f;
331
332 if (s == 0.0f)
333 {
334 colors[idx] = colors[idx+1] = colors[idx+2] = v*255;
335 }
336 else
337 {
338 // calculate p, q, t from HSV-values
339 float a = h / 60;
340 int i = std::floor (a);
341 float f = a - i;
342 float p = v * (1 - s);
343 float q = v * (1 - s * f);
344 float t = v * (1 - s * (1 - f));
345
346 switch (i)
347 {
348 case 0:
349 colors[idx] = v*255; colors[idx+1] = t*255; colors[idx+2] = p*255; break;
350 case 1:
351 colors[idx] = q*255; colors[idx+1] = v*255; colors[idx+2] = p*255; break;
352 case 2:
353 colors[idx] = p*255; colors[idx+1] = v*255; colors[idx+2] = t*255; break;
354 case 3:
355 colors[idx] = p*255; colors[idx+1] = q*255; colors[idx+2] = v*255; break;
356 case 4:
357 colors[idx] = t*255; colors[idx+1] = p*255; colors[idx+2] = v*255; break;
358 case 5:
359 colors[idx] = v*255; colors[idx+1] = p*255; colors[idx+2] = q*255; break;
360 }
361 }
362 idx +=3;
363 }
364 }
365 return scalars;
366}
367
368
369template <typename PointT> void
371 const PointCloudConstPtr &cloud)
372{
374 field_idx_ = pcl::getFieldIndex<PointT> (field_name_, fields_);
375 if (field_idx_ != -1)
376 capable_ = true;
377 else
378 capable_ = false;
379}
380
381
382template <typename PointT> vtkSmartPointer<vtkDataArray>
384{
385 if (!capable_ || !cloud_)
386 return nullptr;
387
388 auto scalars = vtkSmartPointer<vtkFloatArray>::New ();
389 scalars->SetNumberOfComponents (1);
390
391 vtkIdType nr_points = cloud_->size ();
392 scalars->SetNumberOfTuples (nr_points);
393
394 using FieldList = typename pcl::traits::fieldList<PointT>::type;
395
396 float* colors = new float[nr_points];
397 float field_data;
398
399 int j = 0;
400 // If XYZ present, check if the points are invalid
401 int x_idx = -1;
402 for (std::size_t d = 0; d < fields_.size (); ++d)
403 if (fields_[d].name == "x")
404 x_idx = static_cast<int> (d);
405
406 if (x_idx != -1)
407 {
408 // Color every point
409 for (vtkIdType cp = 0; cp < nr_points; ++cp)
410 {
411 // Copy the value at the specified field
412 if (!std::isfinite ((*cloud_)[cp].x) || !std::isfinite ((*cloud_)[cp].y) || !std::isfinite ((*cloud_)[cp].z))
413 continue;
414
415 const std::uint8_t* pt_data = reinterpret_cast<const std::uint8_t*> (&(*cloud_)[cp]);
416 memcpy (&field_data, pt_data + fields_[field_idx_].offset, pcl::getFieldSize (fields_[field_idx_].datatype));
417
418 colors[j] = field_data;
419 j++;
420 }
421 }
422 else
423 {
424 // Color every point
425 for (vtkIdType cp = 0; cp < nr_points; ++cp)
426 {
427 const std::uint8_t* pt_data = reinterpret_cast<const std::uint8_t*> (&(*cloud_)[cp]);
428 memcpy (&field_data, pt_data + fields_[field_idx_].offset, pcl::getFieldSize (fields_[field_idx_].datatype));
429
430 if (!std::isfinite (field_data))
431 continue;
432
433 colors[j] = field_data;
434 j++;
435 }
436 }
437 scalars->SetArray (colors, j, 0, vtkFloatArray::VTK_DATA_ARRAY_DELETE);
438 return scalars;
439}
440
441
442template <typename PointT> void
444 const PointCloudConstPtr &cloud)
445{
447 // Handle the 24-bit packed RGBA values
448 field_idx_ = pcl::getFieldIndex<PointT> ("rgba", fields_);
449 if (field_idx_ != -1)
450 capable_ = true;
451 else
452 capable_ = false;
453}
454
455
456template <typename PointT> vtkSmartPointer<vtkDataArray>
458{
459 if (!capable_ || !cloud_)
460 return nullptr;
461
463 scalars->SetNumberOfComponents (4);
464
465 vtkIdType nr_points = cloud_->size ();
466 scalars->SetNumberOfTuples (nr_points);
467 unsigned char* colors = scalars->GetPointer (0);
468
469 // If XYZ present, check if the points are invalid
470 int x_idx = -1;
471 for (std::size_t d = 0; d < fields_.size (); ++d)
472 if (fields_[d].name == "x")
473 x_idx = static_cast<int> (d);
474
475 if (x_idx != -1)
476 {
477 int j = 0;
478 // Color every point
479 for (vtkIdType cp = 0; cp < nr_points; ++cp)
480 {
481 // Copy the value at the specified field
482 if (!std::isfinite ((*cloud_)[cp].x) ||
483 !std::isfinite ((*cloud_)[cp].y) ||
484 !std::isfinite ((*cloud_)[cp].z))
485 continue;
486
487 colors[j ] = (*cloud_)[cp].r;
488 colors[j + 1] = (*cloud_)[cp].g;
489 colors[j + 2] = (*cloud_)[cp].b;
490 colors[j + 3] = (*cloud_)[cp].a;
491 j += 4;
492 }
493 }
494 else
495 {
496 // Color every point
497 for (vtkIdType cp = 0; cp < nr_points; ++cp)
498 {
499 int idx = static_cast<int> (cp) * 4;
500 colors[idx ] = (*cloud_)[cp].r;
501 colors[idx + 1] = (*cloud_)[cp].g;
502 colors[idx + 2] = (*cloud_)[cp].b;
503 colors[idx + 3] = (*cloud_)[cp].a;
504 }
505 }
506 return scalars;
507}
508
509
510template <typename PointT> void
512{
514 field_idx_ = pcl::getFieldIndex<PointT> ("label", fields_);
515 if (field_idx_ != -1)
516 {
517 capable_ = true;
518 return;
519 }
520}
521
522
523template <typename PointT> vtkSmartPointer<vtkDataArray>
525{
526 if (!capable_ || !cloud_)
527 return nullptr;
528
530 scalars->SetNumberOfComponents (3);
531
532 vtkIdType nr_points = cloud_->size ();
533 scalars->SetNumberOfTuples (nr_points);
534 unsigned char* colors = scalars->GetPointer (0);
535
536
537 std::map<std::uint32_t, pcl::RGB> colormap;
538 if (!static_mapping_)
539 {
540 std::set<std::uint32_t> labels;
541 // First pass: find unique labels
542 for (vtkIdType i = 0; i < nr_points; ++i)
543 labels.insert ((*cloud_)[i].label);
544
545 // Assign Glasbey colors in ascending order of labels
546 std::size_t color = 0;
547 for (std::set<std::uint32_t>::iterator iter = labels.begin (); iter != labels.end (); ++iter, ++color)
548 colormap[*iter] = GlasbeyLUT::at (color % GlasbeyLUT::size ());
549 }
550
551 int j = 0;
552 for (vtkIdType cp = 0; cp < nr_points; ++cp)
553 {
554 if (pcl::isFinite ((*cloud_)[cp]))
555 {
556 const pcl::RGB& color = static_mapping_ ? GlasbeyLUT::at ((*cloud_)[cp].label % GlasbeyLUT::size ()) : colormap[(*cloud_)[cp].label];
557 colors[j ] = color.r;
558 colors[j + 1] = color.g;
559 colors[j + 2] = color.b;
560 j += 3;
561 }
562 }
563
564 return scalars;
565}
566
567} // namespace visualization
568} // namespace pcl
569
static std::size_t size()
Get the number of colors in the lookup table.
static RGB at(std::size_t color_id)
Get a color from the lookup table with a given id.
vtkSmartPointer< vtkDataArray > getColor() const override
Obtain the actual color for the input dataset as a VTK data array.
vtkSmartPointer< vtkDataArray > getColor() const override
Obtain the actual color for the input dataset as a VTK data array.
virtual void setInputCloud(const PointCloudConstPtr &cloud)
Set the input cloud to be used.
PointCloudColorHandlerHSVField(const PointCloudConstPtr &cloud)
Constructor.
vtkSmartPointer< vtkDataArray > getColor() const override
Obtain the actual color for the input dataset as a VTK data array.
Base Handler class for PointCloud colors.
bool capable_
True if this handler is capable of handling the input data, false otherwise.
virtual void setInputCloud(const PointCloudConstPtr &cloud)
Set the input cloud to be used.
std::vector< pcl::PCLPointField > fields_
The list of fields available for this PointCloud.
int field_idx_
The index of the field holding the data that represents the color.
virtual void setInputCloud(const PointCloudConstPtr &cloud)
Set the input cloud to be used.
vtkSmartPointer< vtkDataArray > getColor() const override
Obtain the actual color for the input dataset as a VTK data array.
vtkSmartPointer< vtkDataArray > getColor() const override
Obtain the actual color for the input dataset as a VTK data array.
virtual void setInputCloud(const PointCloudConstPtr &cloud)
Set the input cloud to be used.
vtkSmartPointer< vtkDataArray > getColor() const override
Obtain the actual color for the input dataset as a VTK data array.
virtual void setInputCloud(const PointCloudConstPtr &cloud)
Set the input cloud to be used.
vtkSmartPointer< vtkDataArray > getColor() const override
Obtain the actual color for the input dataset as a VTK data array.
int getFieldSize(const int datatype)
Obtains the size of a specific field data type in bytes.
Definition: io.h:119
PCL_EXPORTS void getRandomColors(double &r, double &g, double &b, double min=0.2, double max=2.8)
Get (good) random values for R/G/B.
bool isFinite(const PointT &pt)
Tests if the 3D components of a point are all finite param[in] pt point to be tested return true if f...
Definition: point_tests.h:55
Defines all the PCL and non-PCL macros used.
#define pcl_lrint(x)
Definition: pcl_macros.h:253
A point structure representing Euclidean xyz coordinates, and the RGB color.
A structure representing RGB color information.