Allow changing the range of the LUT used to visualize a cloud

Author: aecins

visualization/include/pcl/visualization/common/common.h

@@ -105,6 +105,7 @@ namespace pcl
       PCL_VISUALIZER_IMMEDIATE_RENDERING,
       PCL_VISUALIZER_SHADING,
       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
@@ -130,6 +131,7 @@ namespace pcl
       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.

visualization/include/pcl/visualization/pcl_visualizer.h

@@ -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

visualization/src/pcl_visualizer.cpp

@@ -1331,6 +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 ("[setShapeRenderingProperties] 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)
@@ -1447,6 +1499,28 @@ pcl::visualization::PCLVisualizer::setPointCloudRenderingProperties (
       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);