Point Cloud Library (PCL) 1.15.0
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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 (!pcl::isXYZFinite((*cloud_)[cp]))
175 continue;
176 memcpy (&rgb, (reinterpret_cast<const char *> (&(*cloud_)[cp])) + rgba_offset, sizeof (pcl::RGB));
177 colors[j ] = rgb.r;
178 colors[j + 1] = rgb.g;
179 colors[j + 2] = rgb.b;
180 j += 3;
181 }
182 }
183 else
184 {
185 // Color every point
186 for (vtkIdType cp = 0; cp < nr_points; ++cp)
187 {
188 int idx = static_cast<int> (cp) * 3;
189 memcpy (&rgb, (reinterpret_cast<const char *> (&(*cloud_)[cp])) + rgba_offset, sizeof (pcl::RGB));
190 colors[idx ] = rgb.r;
191 colors[idx + 1] = rgb.g;
192 colors[idx + 2] = rgb.b;
193 }
194 }
195 return scalars;
196}
197
198
199template <typename PointT>
202{
203 // Check for the presence of the "H" field
204 field_idx_ = pcl::getFieldIndex<PointT> ("h", fields_);
205 if (field_idx_ == -1)
206 {
207 capable_ = false;
208 return;
209 }
210
211 // Check for the presence of the "S" field
212 s_field_idx_ = pcl::getFieldIndex<PointT> ("s", fields_);
213 if (s_field_idx_ == -1)
214 {
215 capable_ = false;
216 return;
217 }
218
219 // Check for the presence of the "V" field
220 v_field_idx_ = pcl::getFieldIndex<PointT> ("v", fields_);
221 if (v_field_idx_ == -1)
222 {
223 capable_ = false;
224 return;
225 }
226 capable_ = true;
227}
228
229
230template <typename PointT> vtkSmartPointer<vtkDataArray>
232{
233 if (!capable_ || !cloud_)
234 return nullptr;
235
237 scalars->SetNumberOfComponents (3);
238
239 vtkIdType nr_points = cloud_->size ();
240 scalars->SetNumberOfTuples (nr_points);
241 unsigned char* colors = scalars->GetPointer (0);
242
243 int idx = 0;
244 // If XYZ present, check if the points are invalid
245 int x_idx = -1;
246
247 for (std::size_t d = 0; d < fields_.size (); ++d)
248 if (fields_[d].name == "x")
249 x_idx = static_cast<int> (d);
250
251 if (x_idx != -1)
252 {
253 // Color every point
254 for (vtkIdType cp = 0; cp < nr_points; ++cp)
255 {
256 // Copy the value at the specified field
257 if (!pcl::isXYZFinite((*cloud_)[cp]))
258 continue;
259
260 ///@todo do this with the point_types_conversion in common, first template it!
261
262 float h = (*cloud_)[cp].h;
263 float v = (*cloud_)[cp].v;
264 float s = (*cloud_)[cp].s;
265
266 // Fill color data with HSV here:
267 // restrict the hue value to [0,360[
268 h = h < 0.0f ? h - (((int)h)/360 - 1)*360 : h - (((int)h)/360)*360;
269
270 // restrict s and v to [0,1]
271 if (s > 1.0f) s = 1.0f;
272 if (s < 0.0f) s = 0.0f;
273 if (v > 1.0f) v = 1.0f;
274 if (v < 0.0f) v = 0.0f;
275
276 if (s == 0.0f)
277 {
278 colors[idx] = colors[idx+1] = colors[idx+2] = v*255;
279 }
280 else
281 {
282 // calculate p, q, t from HSV-values
283 float a = h / 60;
284 int i = std::floor (a);
285 float f = a - i;
286 float p = v * (1 - s);
287 float q = v * (1 - s * f);
288 float t = v * (1 - s * (1 - f));
289
290 switch (i)
291 {
292 case 0:
293 colors[idx] = v*255; colors[idx+1] = t*255; colors[idx+2] = p*255; break;
294 case 1:
295 colors[idx] = q*255; colors[idx+1] = v*255; colors[idx+2] = p*255; break;
296 case 2:
297 colors[idx] = p*255; colors[idx+1] = v*255; colors[idx+2] = t*255; break;
298 case 3:
299 colors[idx] = p*255; colors[idx+1] = q*255; colors[idx+2] = v*255; break;
300 case 4:
301 colors[idx] = t*255; colors[idx+1] = p*255; colors[idx+2] = v*255; break;
302 case 5:
303 colors[idx] = v*255; colors[idx+1] = p*255; colors[idx+2] = q*255; break;
304 }
305 }
306 idx +=3;
307 }
308 }
309 else
310 {
311 // Color every point
312 for (vtkIdType cp = 0; cp < nr_points; ++cp)
313 {
314 float h = (*cloud_)[cp].h;
315 float v = (*cloud_)[cp].v;
316 float s = (*cloud_)[cp].s;
317
318 // Fill color data with HSV here:
319 // restrict the hue value to [0,360[
320 h = h < 0.0f ? h - (((int)h)/360 - 1)*360 : h - (((int)h)/360)*360;
321
322 // restrict s and v to [0,1]
323 if (s > 1.0f) s = 1.0f;
324 if (s < 0.0f) s = 0.0f;
325 if (v > 1.0f) v = 1.0f;
326 if (v < 0.0f) v = 0.0f;
327
328 if (s == 0.0f)
329 {
330 colors[idx] = colors[idx+1] = colors[idx+2] = v*255;
331 }
332 else
333 {
334 // calculate p, q, t from HSV-values
335 float a = h / 60;
336 int i = std::floor (a);
337 float f = a - i;
338 float p = v * (1 - s);
339 float q = v * (1 - s * f);
340 float t = v * (1 - s * (1 - f));
341
342 switch (i)
343 {
344 case 0:
345 colors[idx] = v*255; colors[idx+1] = t*255; colors[idx+2] = p*255; break;
346 case 1:
347 colors[idx] = q*255; colors[idx+1] = v*255; colors[idx+2] = p*255; break;
348 case 2:
349 colors[idx] = p*255; colors[idx+1] = v*255; colors[idx+2] = t*255; break;
350 case 3:
351 colors[idx] = p*255; colors[idx+1] = q*255; colors[idx+2] = v*255; break;
352 case 4:
353 colors[idx] = t*255; colors[idx+1] = p*255; colors[idx+2] = v*255; break;
354 case 5:
355 colors[idx] = v*255; colors[idx+1] = p*255; colors[idx+2] = q*255; break;
356 }
357 }
358 idx +=3;
359 }
360 }
361 return scalars;
362}
363
364
365template <typename PointT> void
367 const PointCloudConstPtr &cloud)
368{
370 field_idx_ = pcl::getFieldIndex<PointT> (field_name_, fields_);
371 if (field_idx_ == -1) {
372 capable_ = false;
373 return;
374 }
375 if (fields_[field_idx_].datatype != pcl::PCLPointField::PointFieldTypes::FLOAT32) {
376 capable_ = false;
377 PCL_ERROR("[pcl::PointCloudColorHandlerGenericField::setInputCloud] This currently only works with float32 fields, but field %s has a different type.\n", field_name_.c_str());
378 return;
379 }
380 capable_ = true;
381}
382
383
384template <typename PointT> vtkSmartPointer<vtkDataArray>
386{
387 if (!capable_ || !cloud_)
388 return nullptr;
389
390 auto scalars = vtkSmartPointer<vtkFloatArray>::New ();
391 scalars->SetNumberOfComponents (1);
392
393 vtkIdType nr_points = cloud_->size ();
394 scalars->SetNumberOfTuples (nr_points);
395
396 using FieldList = typename pcl::traits::fieldList<PointT>::type;
397
398 float* colors = new float[nr_points];
399 float field_data;
400
401 int j = 0;
402 // If XYZ present, check if the points are invalid
403 int x_idx = -1;
404 for (std::size_t d = 0; d < fields_.size (); ++d)
405 if (fields_[d].name == "x")
406 x_idx = static_cast<int> (d);
407
408 if (x_idx != -1)
409 {
410 // Color every point
411 for (vtkIdType cp = 0; cp < nr_points; ++cp)
412 {
413 // Copy the value at the specified field
414 if (!pcl::isXYZFinite((*cloud_)[cp]))
415 continue;
416
417 const std::uint8_t* pt_data = reinterpret_cast<const std::uint8_t*> (&(*cloud_)[cp]);
418 memcpy (&field_data, pt_data + fields_[field_idx_].offset, pcl::getFieldSize (fields_[field_idx_].datatype));
419
420 colors[j] = field_data;
421 j++;
422 }
423 }
424 else
425 {
426 // Color every point
427 for (vtkIdType cp = 0; cp < nr_points; ++cp)
428 {
429 const std::uint8_t* pt_data = reinterpret_cast<const std::uint8_t*> (&(*cloud_)[cp]);
430 memcpy (&field_data, pt_data + fields_[field_idx_].offset, pcl::getFieldSize (fields_[field_idx_].datatype));
431
432 if (!std::isfinite (field_data))
433 continue;
434
435 colors[j] = field_data;
436 j++;
437 }
438 }
439 scalars->SetArray (colors, j, 0, vtkFloatArray::VTK_DATA_ARRAY_DELETE);
440 return scalars;
441}
442
443
444template <typename PointT> void
446 const PointCloudConstPtr &cloud)
447{
449 // Handle the 24-bit packed RGBA values
450 field_idx_ = pcl::getFieldIndex<PointT> ("rgba", fields_);
451 if (field_idx_ != -1)
452 capable_ = true;
453 else
454 capable_ = false;
455}
456
457
458template <typename PointT> vtkSmartPointer<vtkDataArray>
460{
461 if (!capable_ || !cloud_)
462 return nullptr;
463
465 scalars->SetNumberOfComponents (4);
466
467 vtkIdType nr_points = cloud_->size ();
468 scalars->SetNumberOfTuples (nr_points);
469 unsigned char* colors = scalars->GetPointer (0);
470
471 // If XYZ present, check if the points are invalid
472 int x_idx = -1;
473 for (std::size_t d = 0; d < fields_.size (); ++d)
474 if (fields_[d].name == "x")
475 x_idx = static_cast<int> (d);
476
477 if (x_idx != -1)
478 {
479 int j = 0;
480 // Color every point
481 for (vtkIdType cp = 0; cp < nr_points; ++cp)
482 {
483 // Copy the value at the specified field
484 if (!pcl::isXYZFinite((*cloud_)[cp]))
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
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:127
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
constexpr bool isXYZFinite(const PointT &) noexcept
Defines all the PCL and non-PCL macros used.
#define pcl_lrint(x)
Definition pcl_macros.h:254
A point structure representing Euclidean xyz coordinates, and the RGB color.
A structure representing RGB color information.