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Visualizer.cpp
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Visualizer.cpp
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#include "Visualizer.h"
Visualizer::Visualizer(double relative_alpha, double relative_offset)
{
this->relative_alpha = relative_alpha;
this->relative_offset = relative_offset;
poseConsumerThread = std::thread(&Visualizer::poseConsumer, this);
}
Visualizer::~Visualizer()
{
if (pointCloudConsumerThread.joinable())
{
pointCloudConsumerThread.join();
}
if (poseConsumerThread.joinable())
{
poseConsumerThread.join();
}
}
/// @brief Add a set of points to the existing point cloud to be processed
/// @param points
void Visualizer::addPointCloud(std::vector<Point_3> points)
{
std::unique_lock<std::mutex> lock(pointCloudMutex);
pointsToProcess.insert(pointsToProcess.end(), points.begin(), points.end());
pointCloudReady = true;
pointCloudSignal.notify_one();
}
/// @brief Set the point cloud to be processed. This will overwrite any existing point cloud
/// @param points
void Visualizer::setPointCloud(std::vector<Point_3> points)
{
std::unique_lock<std::mutex> lock(pointCloudMutex);
this->pointCloudSignal.wait(lock, [&]
{ return !pointCloudReady; });
pointsToProcess = points;
pointCloudReady = true;
pointCloudSignal.notify_one();
}
/// @brief Update the pose of the device
/// @param pose
void Visualizer::updatePose(Point_3 pose)
{
std::unique_lock<std::mutex> lock(poseMutex);
this->pose = pose;
poseReady = true;
poseSignal.notify_one();
}
/// @brief Trigger wrapping of the point cloud.
/// @details This process is asynchronous and will run in a separate thread created by this function.
void Visualizer::triggerWrap()
{
pointCloudConsumerThread = std::thread(&Visualizer::pointCloudConsumer, this);
}
/// @brief The main point cloud consumer thread.
/// @details This thread will wait for the point cloud set to be ready, wrap them, display them, and then terminate.
void Visualizer::pointCloudConsumer()
{
std::unique_lock<std::mutex> lock(pointCloudMutex);
pointCloudSignal.wait(lock, [&]
{ return pointCloudReady; });
processPointCloud();
std::vector<Point_3> points = pointsProcessed;
pointCloudReady = false;
pointCloudSignal.notify_one();
initDiagonalLength(points);
this->alpha = diag_length / relative_alpha;
this->offset = diag_length / relative_offset;
CGAL::alpha_wrap_3(points, alpha, offset, previewMesh);
/**
* Note: This is just binding the draw function to the drawPreviewMesh function. The lambda function is used
* instead of std::bind such that the drawPreviewMesh function can be called with the current previewMesh
* instead of the previewMesh captured by the bind function.
*/
// this->drawFunction = std::bind(&Visualizer::drawPreviewMesh, this, previewMesh);
this->drawFunction = [this]()
{ this->drawPreviewMesh(this->previewMesh); };
// Terminate the thread
pointCloudConsumerThread.detach();
}
/// @brief Draw the point cloud
/// @param points
void Visualizer::drawPointCloud(std::vector<Point_3> points)
{
glPointSize(2.0);
glBegin(GL_POINTS);
glColor3f(1.0, 0.0, 0.0);
for (auto p : points)
{
glVertex3f(p.x(), p.y(), p.z());
}
glEnd();
}
/// @brief Semi-transparent preview of the wrapped point cloud.
/// @param mesh
void Visualizer::drawPreviewMesh(Mesh mesh)
{
// Draw the points of the mesh
glPointSize(2.0);
glBegin(GL_POINTS);
glColor3f(1.0, 0.0, 0.0);
for (auto v : mesh.vertices())
{
Point_3 p = mesh.point(v);
glVertex3f(p.x(), p.y(), p.z());
}
glEnd();
// Draw the edges of the mesh
glBegin(GL_LINES);
glColor3f(0.0, 0.0, 1.0);
for (auto e : mesh.edges())
{
CGAL::Surface_mesh<Point_3>::Halfedge_index h = mesh.halfedge(e, 0);
Point_3 p1 = mesh.point(mesh.source(h));
Point_3 p2 = mesh.point(mesh.target(h));
glVertex3f(p1.x(), p1.y(), p1.z());
glVertex3f(p2.x(), p2.y(), p2.z());
h = mesh.halfedge(e, 1);
p1 = mesh.point(mesh.source(h));
p2 = mesh.point(mesh.target(h));
glVertex3f(p1.x(), p1.y(), p1.z());
glVertex3f(p2.x(), p2.y(), p2.z());
}
glEnd();
}
/// @brief Draw the final mesh
/// @param mesh
void Visualizer::drawMesh(Mesh mesh)
{
// Draw the points of the mesh
glPointSize(2.0);
glBegin(GL_POINTS);
glColor3f(1.0, 0.0, 0.0);
for (auto v : mesh.vertices())
{
Point_3 p = mesh.point(v);
glVertex3f(p.x(), p.y(), p.z());
}
glEnd();
// Draw the faces of the mesh
glBegin(GL_TRIANGLES);
glColor3f(0.0, 1.0, 0.0);
for (auto f : mesh.faces())
{
// Random color
glColor3f((float)rand() / RAND_MAX, 0, (float)rand() / RAND_MAX);
auto h = mesh.halfedge(f);
auto p1 = mesh.point(mesh.source(h));
auto p2 = mesh.point(mesh.target(h));
auto p3 = mesh.point(mesh.target(mesh.next(h)));
glVertex3f(p1.x(), p1.y(), p1.z());
glVertex3f(p2.x(), p2.y(), p2.z());
glVertex3f(p3.x(), p3.y(), p3.z());
}
glEnd();
}
/// @brief Draw the pose of the device
/// @param pose
void Visualizer::drawPose(Point_3 pose)
{
glPointSize(5.0);
glBegin(GL_POINTS);
glColor3f(1.0, 1.0, 1.0);
glVertex3f(pose.x(), pose.y(), pose.z());
glEnd();
glLineWidth(2.0);
glBegin(GL_LINES);
glColor3f(1.0, 1.0, 1.0);
glVertex3f(pose.x(), pose.y(), pose.z());
glVertex3f(pose.x() + 1.0, pose.y(), pose.z());
glVertex3f(pose.x(), pose.y(), pose.z());
glVertex3f(pose.x(), pose.y() + 1.0, pose.z());
glVertex3f(pose.x(), pose.y(), pose.z());
glVertex3f(pose.x(), pose.y(), pose.z() + 1.0);
glEnd();
}
/// @brief The main pose consumer thread.
/// @details This thread will wait for the pose to be ready, update the pose, and then display the wrapped point cloud.
void Visualizer::poseConsumer()
{
// ------------------------------------------------
// Pangolin stuff
// ------------------------------------------------
pangolin::CreateWindowAndBind("Main", 1024, 768);
// 3D Mouse handler requires depth testing to be enabled
glEnable(GL_DEPTH_TEST);
// Issue specific OpenGl we might need
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
// ------------------------------------------------
// Menu panel
// ------------------------------------------------
// Functions
std::function<void()> triggerWrapFunction = [this]()
{
std::unique_lock<std::mutex> lock(pointCloudMutex);
this->pointCloudReady = true;
this->triggerWrap();
};
std::function<void()> acceptWrapFunction = [this]()
{
std::unique_lock<std::mutex> lock(pointCloudMutex);
this->finalMesh = this->previewMesh;
};
// Menu
pangolin::CreatePanel("menu").SetBounds(0.0, 1.0, 0.0, pangolin::Attach::Pix(225));
pangolin::Var<bool> menuTogglePoints("menu.Toggle Points", false, true);
pangolin::Var<bool> menuToggleFinalMesh("menu.Toggle Final Mesh", false, true);
pangolin::Var<double> menuOutlierPercentage("menu.Outlier Percentage", outlier_percentage, 0.0, 1.0);
pangolin::Var<double> menuAlpha("menu.Alpha", this->relative_alpha, 0.5, 100.0, true);
pangolin::Var<double> menuOffset("menu.Offset", this->relative_offset, 0.5, 1000.0, true);
pangolin::Var<std::function<void()>> menuTriggerWrap("menu.Trigger Wrap", triggerWrapFunction, false);
pangolin::Var<std::function<void()>> menuAcceptWrap("menu.Accept Wrap", acceptWrapFunction, false);
// ...
// Define Camera Render Object (for view / scene browsing)
pangolin::OpenGlRenderState s_cam(
pangolin::ProjectionMatrix(1024, 768, 420, 420, 512, 389, 0.1, 1000),
pangolin::ModelViewLookAt(-0, 0, -1, 0, 0, 1, pangolin::AxisY));
// Add named OpenGL viewport to window and provide 3D Handler
pangolin::View &d_cam = pangolin::CreateDisplay()
.SetBounds(0.0, 1.0, pangolin::Attach::Pix(225), 1.0, -1024.0f / 768.0f)
.SetHandler(new pangolin::Handler3D(s_cam));
// ------------------------------------------------
// Reusable variables
// ------------------------------------------------
Point_3 pose;
// ------------------------------------------------
// Main loop
// ------------------------------------------------
while (!pangolin::ShouldQuit())
{
// Acquire lock to the pose
std::unique_lock<std::mutex> lock(poseMutex);
poseSignal.wait(lock, [&]
{ return poseReady; });
pose = this->pose;
poseReady = false;
lock.unlock();
// Clear screen and activate view to render into
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glClearColor(0.0f, 0.0f, 0.0f, 1.0f);
d_cam.Activate(s_cam);
std::unique_lock<std::mutex> meshLock(pointCloudMutex);
this->drawFunction();
this->relative_alpha = menuAlpha;
this->relative_offset = menuOffset;
this->outlier_percentage = menuOutlierPercentage;
meshLock.unlock();
if (menuTogglePoints)
{
this->drawPointCloud(pointsProcessed);
}
if (menuToggleFinalMesh)
{
this->drawMesh(finalMesh);
}
this->drawPose(pose);
// Swap frames and Process Events
pangolin::FinishFrame();
}
// Terminate the thread
poseConsumerThread.detach();
}
// ------------------------------------------------
// Auxiliary functions ----------------------------
// ------------------------------------------------
/// @brief Calculate the diagonal length of the bounding box of the point cloud
/// @param points
void Visualizer::initDiagonalLength(std::vector<Point_3> points)
{
CGAL::Bbox_3 bbox = CGAL::bbox_3(std::cbegin(points), std::cend(points));
this->diag_length = std::sqrt(CGAL::square(bbox.xmax() - bbox.xmin()) +
CGAL::square(bbox.ymax() - bbox.ymin()) +
CGAL::square(bbox.zmax() - bbox.zmin()));
}
/// @brief Process the point cloud (e.g. remove outliers)
void Visualizer::processPointCloud()
{
const int num_neighbors = 30;
const double avg_distance = CGAL::compute_average_spacing<CGAL::Sequential_tag>(pointsToProcess, num_neighbors);
std::vector<Point_3> points = pointsToProcess;
points.erase(CGAL::remove_outliers<CGAL::Parallel_if_available_tag>(points, num_neighbors, CGAL::parameters::threshold_percent(this->outlier_percentage)), points.end());
pointsProcessed = points;
}
/// @brief Get the final mesh
/// @return Mesh
Mesh Visualizer::getFinalMesh()
{
std::unique_lock<std::mutex> lock(pointCloudMutex);
return finalMesh;
}