Functions to modify points labels

README.md

@@ -124,6 +124,9 @@ segmentation\_param `D` `R`   | セグメンテーション時の分離距離を
 fit\_inserting `AXIS`...      | 貼り付け中の点群を既存の点群に位置合わせ [\*2](#footnoteKey2) (位置合わせを行う軸 `AXIS` をスペース区切りで複数指定 [\*3](#footnoteKey3))
 label_segmentation\_param         | ラベルを元にしてのセグメンテーション時の範囲と隣接する点群の最大距離を表示 [\*1](#footnoteKey1)
 label_segmentation\_param `D` `R` | ラベルを元にしてのセグメンテーション時の隣接する点群の最大距離を `D` \[メートル\]、範囲を `R` \[メートル\]に設定
+render_label_range\_param `Min` `Max` | `Min` - `Max`の範囲内のラベルのみに色をつけて表示
+relabel\_param `Min` `Max` `New` | `Min` - `Max`の範囲内のラベルを`New`値に設定
+unlabel\_param `label1` `label2` `...` | `label1, label2, ...`以外のラベルを`0`に設定
 
 <dl>
   <dt><a id="footnoteKey1">[1] 数値の表示</a></dt><dd>

command.go

@@ -1004,3 +1004,27 @@ func (c *commandContext) SelectLabelSegment(p mat.Vec3) error {
 	c.selectMode = selectModeMask
 	return nil
 }
+
+func (c *commandContext) RelabelPointsInLabelRange(minLabel, maxLabel, newLabel uint32) error {
+	err := c.editor.relabelPointsInLabelRange(minLabel, maxLabel, newLabel)
+	if err != nil {
+		return err
+	}
+
+	c.pointCloudUpdated = true
+	return nil
+}
+
+func (c *commandContext) UnlabelPoints(labelsToKeep []uint32) error {
+	if len(labelsToKeep) == 0 {
+		return nil
+	}
+
+	err := c.editor.unlabelPoints(labelsToKeep)
+	if err != nil {
+		return err
+	}
+
+	c.pointCloudUpdated = true
+	return nil
+}

command_test.go

@@ -1,6 +1,7 @@
 package main
 
 import (
+	"reflect"
 	"testing"
 
 	"github.com/seqsense/pcgol/mat"
@@ -230,7 +231,7 @@ func (dummyPCDIO) exportPCD(pp *pc.PointCloud) (interface{}, error) {
 	return pp, nil
 }
 
-func TestBaseFileter(t *testing.T) {
+func TestBaseFilter(t *testing.T) {
 	c := &commandContext{
 		selectMask: []uint32{
 			0,
@@ -316,3 +317,164 @@ func TestAddSurface(t *testing.T) {
 		}
 	})
 }
+
+func TestRelabelPointsInLabelRange(t *testing.T) {
+	header := pc.PointCloudHeader{
+		Fields: []string{"x", "y", "z", "label"},
+		Size:   []int{4, 4, 4, 4},
+		Type:   []string{"F", "F", "F", "U"},
+		Count:  []int{1, 1, 1, 1},
+		Width:  4,
+		Height: 1,
+	}
+	pp := &pc.PointCloud{
+		PointCloudHeader: header,
+		Points:           4,
+		Data:             make([]byte, 4*4*4),
+	}
+	it, err := pp.Vec3Iterator()
+	if err != nil {
+		t.Fatal(err)
+	}
+	it.SetVec3(mat.Vec3{1, 2, 3})
+	it.Incr()
+	it.SetVec3(mat.Vec3{4, 5, 6})
+	it.Incr()
+	it.SetVec3(mat.Vec3{7, 8, 9})
+	it.Incr()
+	it.SetVec3(mat.Vec3{10, 11, 12})
+
+	lt, err := pp.Uint32Iterator("label")
+	if err != nil {
+		t.Fatal(err)
+	}
+	lt.SetUint32(0)
+	lt.Incr()
+	lt.SetUint32(1)
+	lt.Incr()
+	lt.SetUint32(2)
+	lt.Incr()
+	lt.SetUint32(3)
+	lt.Incr()
+
+	c := newCommandContext(&dummyPCDIO{}, nil)
+
+	testCases := map[string]struct {
+		minLabel, maxLabel, newLabel uint32
+		expectedLabels               []uint32
+	}{
+		"NoChange": {
+			minLabel:       4,
+			maxLabel:       10,
+			newLabel:       0,
+			expectedLabels: []uint32{0, 1, 2, 3},
+		},
+		"SetLabel1&2to0": {
+			minLabel:       1,
+			maxLabel:       2,
+			newLabel:       0,
+			expectedLabels: []uint32{0, 0, 0, 3},
+		},
+	}
+
+	for name, tt := range testCases {
+		tt := tt
+		t.Run(name, func(t *testing.T) {
+			c.SetPointCloud(pp, cloudMain)
+
+			if err := c.RelabelPointsInLabelRange(tt.minLabel, tt.maxLabel, tt.newLabel); err != nil {
+				t.Fatal(err)
+			}
+
+			lt, err = c.editor.pp.Uint32Iterator("label")
+			var labels []uint32
+			for ; lt.IsValid(); lt.Incr() {
+				labels = append(labels, lt.Uint32())
+			}
+			if !reflect.DeepEqual(tt.expectedLabels, labels) {
+				t.Errorf("Expected labels: %v, got: %v", tt.expectedLabels, labels)
+			}
+		})
+	}
+}
+
+func TestUnlabelPoints(t *testing.T) {
+	header := pc.PointCloudHeader{
+		Fields: []string{"x", "y", "z", "label"},
+		Size:   []int{4, 4, 4, 4},
+		Type:   []string{"F", "F", "F", "U"},
+		Count:  []int{1, 1, 1, 1},
+		Width:  4,
+		Height: 1,
+	}
+	pp := &pc.PointCloud{
+		PointCloudHeader: header,
+		Points:           4,
+		Data:             make([]byte, 4*4*4),
+	}
+	it, err := pp.Vec3Iterator()
+	if err != nil {
+		t.Fatal(err)
+	}
+	it.SetVec3(mat.Vec3{1, 2, 3})
+	it.Incr()
+	it.SetVec3(mat.Vec3{4, 5, 6})
+	it.Incr()
+	it.SetVec3(mat.Vec3{7, 8, 9})
+	it.Incr()
+	it.SetVec3(mat.Vec3{10, 11, 12})
+
+	lt, err := pp.Uint32Iterator("label")
+	if err != nil {
+		t.Fatal(err)
+	}
+	lt.SetUint32(0)
+	lt.Incr()
+	lt.SetUint32(1)
+	lt.Incr()
+	lt.SetUint32(2)
+	lt.Incr()
+	lt.SetUint32(3)
+	lt.Incr()
+
+	c := newCommandContext(&dummyPCDIO{}, nil)
+	c.SetPointCloud(pp, cloudMain)
+
+	testCases := map[string]struct {
+		labelsToKeep   []uint32
+		expectedLabels []uint32
+	}{
+		"NoChangeEmptyList": {
+			labelsToKeep:   []uint32{},
+			expectedLabels: []uint32{0, 1, 2, 3},
+		},
+		"NoChange": {
+			labelsToKeep:   []uint32{0, 1, 2, 3},
+			expectedLabels: []uint32{0, 1, 2, 3},
+		},
+		"Unlabel1&2": {
+			labelsToKeep:   []uint32{0, 3},
+			expectedLabels: []uint32{0, 0, 0, 3},
+		},
+	}
+
+	for name, tt := range testCases {
+		tt := tt
+		t.Run(name, func(t *testing.T) {
+			c.SetPointCloud(pp, cloudMain)
+
+			if err := c.UnlabelPoints(tt.labelsToKeep); err != nil {
+				t.Fatal(err)
+			}
+
+			lt, err = c.editor.pp.Uint32Iterator("label")
+			var labels []uint32
+			for ; lt.IsValid(); lt.Incr() {
+				labels = append(labels, lt.Uint32())
+			}
+			if !reflect.DeepEqual(tt.expectedLabels, labels) {
+				t.Errorf("Expected labels: %v, got: %v", tt.expectedLabels, labels)
+			}
+		})
+	}
+}

console.go

@@ -350,6 +350,19 @@ var consoleCommands = map[string]func(c *console, updateSel updateSelectionFn, a
 			return nil, errArgumentNumber
 		}
 	},
+	"relabel": func(c *console, updateSel updateSelectionFn, args []float32) ([][]float32, error) {
+		if len(args) < 3 {
+			return nil, errArgumentNumber
+		}
+		return nil, c.cmd.RelabelPointsInLabelRange(uint32(args[0]), uint32(args[1]), uint32(args[2]))
+	},
+	"unlabel": func(c *console, updateSel updateSelectionFn, args []float32) ([][]float32, error) {
+		var labelsToKeep []uint32
+		for _, v := range args {
+			labelsToKeep = append(labelsToKeep, uint32(v))
+		}
+		return nil, c.cmd.UnlabelPoints(labelsToKeep)
+	},
 }
 
 func (c *console) Run(line string, updateSel updateSelectionFn) ([][]float32, error) {

editor.go

@@ -186,6 +186,80 @@ func (e *editor) passThroughByMask(sel []uint32, mask, val uint32) error {
 	return nil
 }
 
+func (e *editor) relabelPointsInLabelRange(minLabel, maxLabel, newLabel uint32) error {
+	_, err := e.pp.Uint32Iterator("label")
+	if err != nil {
+		return err
+	}
+
+	pcNew := &pc.PointCloud{
+		PointCloudHeader: e.pp.PointCloudHeader.Clone(),
+		Data:             make([]byte, len(e.pp.Data)),
+		Points:           e.pp.Points,
+	}
+	copy(pcNew.Data, e.pp.Data)
+	pcNew.Width = e.pp.Width
+	pcNew.Height = e.pp.Height
+
+	lt, err := pcNew.Uint32Iterator("label")
+	if err != nil {
+		return err
+	}
+
+	for ; lt.IsValid(); lt.Incr() {
+		l := lt.Uint32()
+		if l == newLabel || l < minLabel || l > maxLabel {
+			continue
+		}
+		lt.SetUint32(newLabel)
+	}
+
+	e.pp = e.push(pcNew)
+	runtime.GC()
+	return nil
+}
+
+func (e *editor) unlabelPoints(labelsToKeep []uint32) error {
+	_, err := e.pp.Uint32Iterator("label")
+	if err != nil {
+		return err
+	}
+
+	pcNew := &pc.PointCloud{
+		PointCloudHeader: e.pp.PointCloudHeader.Clone(),
+		Data:             make([]byte, len(e.pp.Data)),
+		Points:           e.pp.Points,
+	}
+	copy(pcNew.Data, e.pp.Data)
+	pcNew.Width = e.pp.Width
+	pcNew.Height = e.pp.Height
+
+	lt, err := pcNew.Uint32Iterator("label")
+	if err != nil {
+		return err
+	}
+
+	isInLabelsToKeep := func(l uint32) bool {
+		for _, kl := range labelsToKeep {
+			if kl == l {
+				return true
+			}
+		}
+		return false
+	}
+
+	for ; lt.IsValid(); lt.Incr() {
+		if isInLabelsToKeep(lt.Uint32()) {
+			continue
+		}
+		lt.SetUint32(0)
+	}
+
+	e.pp = e.push(pcNew)
+	runtime.GC()
+	return nil
+}
+
 func passThrough(pp *pc.PointCloud, fn func(int, mat.Vec3) bool) (*pc.PointCloud, error) {
 	it, err := pp.Vec3Iterator()
 	if err != nil {

pcdeditor.js

@@ -175,7 +175,6 @@ class PCDEditor {
         maxLabelInput.onchange = () => onRenderLabelRangeChange()
         onRenderLabelRangeChange()
 
-
         this.qs('#top').onclick = async () => {
           try {
             await pcdeditor.command('snap_yaw')
@@ -793,22 +792,6 @@ class PCDEditor {
       </div>
     </div>
     <hr/>
-    <div class="${id('foldMenuElem')}">
-      <button id="${id('delete')}">Delete</button>
-    </div>
-    <hr/>
-    <div class="${id('foldMenuElem')}">
-      <label
-        class="${id('inputLabelShort')}"
-      >Insert pcd</label>
-      <input
-        id="${id('insertSubPcdFile')}"
-        type="file"
-        accept=".pcd"
-        style="display: none;"
-      />
-      <button id="${id('insertSubPcd')}">Select file</button>
-    </div>
     <div class="${id('foldMenuElem')}">
       <label class="${id('inputLabel')}">Clipboard</label>
       <button id="${id('clipboardCopy')}">Copy</button>