Improve pointcloud visualization with colormaps #1581

aecins · 2016-04-04T01:00:08Z

This pull request addresses #1574. The following functionality is added:

Can control which colormap is used to visualize the cloud
Can control the range of the colormap used to visualize the cloud
JET, HSV and GREY colormaps are generated the same way as the ones for meshes.
Added BLUE2RED colormap

Here is a minimal example code to test the new functionality.
If the maintainers agree to these changes I would also like to update the colormaps for mesh visualization.

Here is an example of a pointcloud of a bicycle helmet visualized using different colormaps:

taketwo · 2016-06-06T09:15:11Z

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

+      * \note The list of available colormaps can be found in \ref pcl::visualization::LookUpTableRepresentationProperties.
+      */    
+    PCL_EXPORTS bool
+    getColormapLUT  (int colormap_type, vtkSmartPointer<vtkLookupTable> &table);


Can we use enum type LookUpTableRepresentationProperties here for clarity?

taketwo · 2016-06-06T09:19:26Z

Apart from the commented lines looks good to me.

VictorLamoine · 2016-06-06T10:19:30Z

👍 in general, I'm glad my work inspired you to solve this issue.

The only problem of this PR is that it duplicates the color map generation code (pcl_visualizer.cpp#L1644-L1672).

Can you change pcl_visualizer.cpp so that it calls pcl::visualization::getColormapLUT (which is now in common.cpp)?

aecins · 2016-06-06T20:05:19Z

Thanks for looking at the code @taketwo and @VictorLamoine. I have made the changes that you have suggested.
@VictorLamoine, the only thing is that I did not check if setShapeRenderingProperties works correctly after the change. I could not figure out how to colormap a mesh. Do you have sample code for it?

VictorLamoine · 2016-06-06T21:57:25Z

Here is an example:

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

project(pcl-color_plane_distances)

find_package(PCL 1.8.0 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable (color_plane_distances color_plane_distances.cpp)
target_link_libraries (color_plane_distances ${PCL_LIBRARIES})

#include <iostream>

#include <pcl/console/parse.h>
#include <pcl/point_cloud.h>
#include <pcl/common/centroid.h>
#include <pcl/io/vtk_lib_io.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/sample_consensus/sac_model_plane.h>
#include <pcl/visualization/pcl_visualizer.h>

/** @brief PCL point object */
typedef pcl::PointXYZ PointT;

/** @brief PCL Point cloud object */
typedef pcl::PointCloud<PointT> PointCloudT;

bool mesh_1_change_LUT = false;
bool mesh_2_change_LUT = false;

void
keyboardEventOccurred (const pcl::visualization::KeyboardEvent& event,
                       void* nothing)
{
  if (event.getKeySym () == "a" && event.keyDown ())
    mesh_1_change_LUT = true;

  if (event.getKeySym () == "b" && event.keyDown ())
    mesh_2_change_LUT = true;
}

int
main (int argc,
      char *argv[])
{
  // Parse the command line arguments for mesh files
  std::vector<int> ply_file_indices = pcl::console::parse_file_extension_argument (argc, argv, ".ply");
  std::vector<int> stl_file_indices = pcl::console::parse_file_extension_argument (argc, argv, ".stl");

  if (ply_file_indices.size () != 0 && stl_file_indices.size () != 0)
  {
    PCL_ERROR("Please provide two meshes in the same format (PLY or STL).\n");
    return (-1);
  }

  pcl::PolygonMesh mesh_1, mesh_2;
  if (ply_file_indices.size () != 0)
  {
    if (pcl::io::loadPolygonFilePLY (argv[ply_file_indices[0]], mesh_1) == 0 ||
        pcl::io::loadPolygonFilePLY (argv[ply_file_indices[1]], mesh_2) == 0 )
    {
      PCL_ERROR("Failed to read mesh file\n");
      return -1;
    }
  }
  else
  {
    if (pcl::io::loadPolygonFileSTL (argv[stl_file_indices[0]], mesh_1) == 0 ||
        pcl::io::loadPolygonFileSTL (argv[stl_file_indices[1]], mesh_2) == 0 )
    {
      PCL_ERROR("Failed to read mesh file\n");
      return -1;
    }
  }

  // Segment plane
  PointCloudT::Ptr cloud_1 (new PointCloudT),
                   cloud_2 (new PointCloudT);
  pcl::fromPCLPointCloud2(mesh_1.cloud, *cloud_1);
  pcl::fromPCLPointCloud2(mesh_2.cloud, *cloud_2);

  pcl::ModelCoefficients::Ptr plane_1 (new pcl::ModelCoefficients),
                              plane_2 (new pcl::ModelCoefficients);
  plane_1->values.resize (4);
  plane_2->values.resize (4);
  pcl::PointIndices::Ptr inliers_plane (new pcl::PointIndices);

  pcl::SACSegmentation<PointT> seg;
  seg.setOptimizeCoefficients (true);
  seg.setMethodType (pcl::SAC_RANSAC);
  seg.setModelType (pcl::SACMODEL_PLANE);
  seg.setDistanceThreshold (.01f);
  seg.setInputCloud (cloud_1);
  seg.segment (*inliers_plane, *plane_1);

  if (inliers_plane->indices.size () == 0)
  {
    PCL_ERROR ("Could not estimate a planar model for the given dataset.\n");
    return (-1);
  }

  seg.setInputCloud (cloud_2);
  seg.segment (*inliers_plane, *plane_2);

  if (inliers_plane->indices.size () == 0)
  {
    PCL_ERROR ("Could not estimate a planar model for the given dataset.\n");
    return (-1);
  }

  //std::cout << "Model coefficients (plane 1)\n" << *plane_1 << std::endl;
  //std::cout << "Model coefficients (plane 2)\n" << *plane_2 << std::endl;

  // Compute point to plane distances
  vtkSmartPointer<vtkFloatArray> mesh_distances_1 = vtkSmartPointer<vtkFloatArray>::New ();
  size_t i = 0;
  for (PointCloudT::iterator cloud_it (cloud_1->begin ()); cloud_it != cloud_1->end (); ++cloud_it)
  {
    double distance;
    distance = pcl::pointToPlaneDistanceSigned (*cloud_it, plane_1->values[0], plane_1->values[1],  plane_1->values[2], plane_1->values[3]);
    mesh_distances_1->InsertTuple1 (i, distance);
    i++;
  }

  vtkSmartPointer<vtkFloatArray> mesh_distances_2 = vtkSmartPointer<vtkFloatArray>::New ();
  i = 0;
  for (PointCloudT::iterator cloud_it (cloud_2->begin ()); cloud_it != cloud_2->end (); ++cloud_it)
  {
    double distance;
    distance = pcl::pointToPlaneDistanceSigned (*cloud_it, plane_2->values[0], plane_2->values[1],  plane_2->values[2], plane_2->values[3]);
    mesh_distances_2->InsertTuple1 (i, distance);
    i++;
  }

  // Color mesh distances from the plane
  vtkSmartPointer<vtkPolyData> poly_data_1 = vtkSmartPointer<vtkPolyData>::New ();
  pcl::io::mesh2vtk (mesh_1, poly_data_1);
  poly_data_1->GetPointData ()->SetScalars (mesh_distances_1);

  vtkSmartPointer<vtkPolyData> poly_data_2 = vtkSmartPointer<vtkPolyData>::New ();
  pcl::io::mesh2vtk (mesh_2, poly_data_2);
  poly_data_2->GetPointData ()->SetScalars (mesh_distances_2);

  // Display
  pcl::visualization::PCLVisualizer viewer;
  //viewer.addPolygonMesh (mesh_1, "mesh_1");
  //viewer.addPolygonMesh (mesh_2, "mesh_2");

  viewer.addModelFromPolyData (poly_data_1, "mesh_1");
  viewer.addModelFromPolyData (poly_data_2, "mesh_2");
  viewer.addCoordinateSystem(10);
  viewer.registerKeyboardCallback (&keyboardEventOccurred, (void*) NULL);
  viewer.resetCamera ();

  int mesh_1_lut_color (1),
      mesh_2_lut_color (1);
  while (!viewer.wasStopped ())
  {
    viewer.spinOnce ();
    // The user pressed "a" or "b" :
    if (mesh_1_change_LUT)
    {
      viewer.setLookUpTableID ("mesh_1");
      mesh_1_change_LUT = false;
      mesh_1_lut_color > 4 ? mesh_1_lut_color = 1 : mesh_1_lut_color++;
      switch (mesh_1_lut_color)
      {
        case 1:
          viewer.setShapeRenderingProperties (pcl::visualization::PCL_VISUALIZER_LUT, pcl::visualization::PCL_VISUALIZER_LUT_JET, "mesh_1");
          break;
        case 2:
          viewer.setShapeRenderingProperties (pcl::visualization::PCL_VISUALIZER_LUT, pcl::visualization::PCL_VISUALIZER_LUT_JET_INVERSE, "mesh_1");
          break;
        case 3:
          viewer.setShapeRenderingProperties (pcl::visualization::PCL_VISUALIZER_LUT, pcl::visualization::PCL_VISUALIZER_LUT_HSV, "mesh_1");
          break;
        case 4:
          viewer.setShapeRenderingProperties (pcl::visualization::PCL_VISUALIZER_LUT, pcl::visualization::PCL_VISUALIZER_LUT_HSV_INVERSE, "mesh_1");
          break;
        default:
          viewer.setShapeRenderingProperties (pcl::visualization::PCL_VISUALIZER_LUT, pcl::visualization::PCL_VISUALIZER_LUT_GREY, "mesh_1");
          break;
      }
    }
    if (mesh_2_change_LUT)
    {
      viewer.setLookUpTableID ("mesh_2");
      mesh_2_change_LUT = false;
      mesh_2_lut_color > 4 ? mesh_2_lut_color = 1 : mesh_2_lut_color++;
      switch (mesh_2_lut_color)
      {
        case 1:
          viewer.setShapeRenderingProperties (pcl::visualization::PCL_VISUALIZER_LUT, pcl::visualization::PCL_VISUALIZER_LUT_JET, "mesh_2");
          break;
        case 2:
          viewer.setShapeRenderingProperties (pcl::visualization::PCL_VISUALIZER_LUT, pcl::visualization::PCL_VISUALIZER_LUT_JET_INVERSE, "mesh_2");
          break;
        case 3:
          viewer.setShapeRenderingProperties (pcl::visualization::PCL_VISUALIZER_LUT, pcl::visualization::PCL_VISUALIZER_LUT_HSV, "mesh_2");
          break;
        case 4:
          viewer.setShapeRenderingProperties (pcl::visualization::PCL_VISUALIZER_LUT, pcl::visualization::PCL_VISUALIZER_LUT_HSV_INVERSE, "mesh_2");
          break;
        default:
          viewer.setShapeRenderingProperties (pcl::visualization::PCL_VISUALIZER_LUT, pcl::visualization::PCL_VISUALIZER_LUT_GREY, "mesh_2");
          break;
      }
    }
  }
  return 0;
}

/color_plane_distances ocean_1.ply ocean_2.ply

Press a and b to change the color map.

aecins · 2016-06-06T22:14:09Z

Thanks for the code! Everything works as expected. Here is the data visualized using the BLUE2RED colormap.

VictorLamoine · 2016-06-07T07:57:33Z

👍 perfect

taketwo · 2016-06-08T17:05:25Z

👍

Jaykob · 2018-09-11T10:33:11Z

Could somebody please provide some usage examples?
The provided code examples aren't available anymore and I didn't find any other examples...

VictorLamoine · 2018-09-11T11:36:07Z

@Jaykob I have updated an old comment to add the code:
#1581 (comment)

I did not test this code with the latest PCL trunk!

SiddhantNadkarni · 2020-01-25T02:57:46Z

Hey I couldn't get this working. Can we please have some good examples of the color jet features to point clouds?

VictorLamoine · 2020-01-25T13:55:50Z

#1581 (comment)

SiddhantNadkarni · 2020-01-25T23:51:16Z

Hi Victor, thanks for replying. But I had already tried the code and it isn't working. Have you tried it out?

aecins changed the title ~~[WIP] Improve pointcloud visualization with colormaps~~ Improve pointcloud visualization with colormaps Apr 4, 2016

taketwo reviewed Jun 6, 2016
View reviewed changes

aecins force-pushed the colormap_cloud branch from fc24cef to a08d599 Compare June 6, 2016 19:38

aecins added 4 commits June 6, 2016 15:54

Added method to generate a LUT for a colormap

cbd0ab4

Allow changing the colormap used to visualize a cloud

dee99a6

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

cd7cd0d

Change setShapeRenderingProperties to call getColormapLUT

2b27820

aecins force-pushed the colormap_cloud branch from a08d599 to 2b27820 Compare June 6, 2016 19:57

VictorLamoine merged commit e6e986d into PointCloudLibrary:master Jun 8, 2016

aecins mentioned this pull request Jun 10, 2016

Improve pointcloud visualization with colormaps #1574

Closed

aecins mentioned this pull request Aug 1, 2016

Allow changing LUT properties of a shape actor #1668

Merged

SiddhantNadkarni mentioned this pull request Jan 25, 2020

Hey I couldn't get this working. Can we please have some good examples of the color jet features to point clouds? #3600

Closed

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Improve pointcloud visualization with colormaps #1581

Improve pointcloud visualization with colormaps #1581

aecins commented Apr 4, 2016

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VictorLamoine commented Jan 25, 2020

SiddhantNadkarni commented Jan 25, 2020

Improve pointcloud visualization with colormaps #1581

Improve pointcloud visualization with colormaps #1581

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