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Changed the Glasbey Color Lookup, such that label ids get consistent colors. #1156

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Feb 25, 2015
Merged

Changed the Glasbey Color Lookup, such that label ids get consistent colors. #1156

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25 changes: 14 additions & 11 deletions visualization/include/pcl/visualization/impl/point_cloud_color_handlers.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -522,24 +522,27 @@ pcl::visualization::PointCloudColorHandlerLabelField<PointT>::getColor (vtkSmart
reinterpret_cast<vtkUnsignedCharArray*> (&(*scalars))->SetNumberOfTuples (nr_points);
unsigned char* colors = reinterpret_cast<vtkUnsignedCharArray*> (&(*scalars))->GetPointer (0);

std::set<uint32_t> labels;
std::map<uint32_t, pcl::RGB> colormap;

// First pass: find unique labels
for (vtkIdType i = 0; i < nr_points; ++i)
labels.insert (cloud_->points[i].label);

// Assign Glasbey colors in ascending order of labels
size_t color = 0;
for (std::set<uint32_t>::iterator iter = labels.begin (); iter != labels.end (); ++iter, ++color)
colormap[*iter] = GlasbeyLUT::at (color % GlasbeyLUT::size ());
std::map<uint32_t, pcl::RGB> colormap;
if (!static_mapping_)
{
std::set<uint32_t> labels;
// First pass: find unique labels
for (vtkIdType i = 0; i < nr_points; ++i)
labels.insert (cloud_->points[i].label);

// Assign Glasbey colors in ascending order of labels
size_t color = 0;
for (std::set<uint32_t>::iterator iter = labels.begin (); iter != labels.end (); ++iter, ++color)
colormap[*iter] = GlasbeyLUT::at (color % GlasbeyLUT::size ());
}

int j = 0;
for (vtkIdType cp = 0; cp < nr_points; ++cp)
{
if (pcl::isFinite (cloud_->points[cp]))
{
const pcl::RGB& color = colormap[cloud_->points[cp].label];
const pcl::RGB& color = static_mapping_ ? GlasbeyLUT::at (cloud_->points[cp].label % GlasbeyLUT::size ()) : colormap[cloud_->points[cp].label];
colors[j ] = color.r;
colors[j + 1] = color.g;
colors[j + 2] = color.b;
Expand Down
23 changes: 17 additions & 6 deletions visualization/include/pcl/visualization/point_cloud_color_handlers.h
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Original file line number Diff line number Diff line change
Expand Up @@ -512,17 +512,23 @@ namespace pcl
typedef boost::shared_ptr<PointCloudColorHandlerLabelField<PointT> > Ptr;
typedef boost::shared_ptr<const PointCloudColorHandlerLabelField<PointT> > ConstPtr;

/** \brief Constructor. */
PointCloudColorHandlerLabelField ()
/** \brief Constructor.
* \param[in] static_mapping Use a static colormapping from label_id to color (default true) */
PointCloudColorHandlerLabelField (const bool static_mapping = true)
: PointCloudColorHandler<PointT> ()
{
capable_ = false;
static_mapping_ = static_mapping;
}

/** \brief Constructor. */
PointCloudColorHandlerLabelField (const PointCloudConstPtr &cloud)
/** \brief Constructor.
* \param[in] static_mapping Use a static colormapping from label_id to color (default true) */
PointCloudColorHandlerLabelField (const PointCloudConstPtr &cloud,
const bool static_mapping = true)
: PointCloudColorHandler<PointT> (cloud)
{
setInputCloud (cloud);
static_mapping_ = static_mapping;
}

/** \brief Destructor. */
Expand Down Expand Up @@ -557,6 +563,7 @@ namespace pcl
using PointCloudColorHandler<PointT>::capable_;
using PointCloudColorHandler<PointT>::field_idx_;
using PointCloudColorHandler<PointT>::fields_;
bool static_mapping_;
};

//////////////////////////////////////////////////////////////////////////////////////
Expand Down Expand Up @@ -906,8 +913,10 @@ namespace pcl
typedef boost::shared_ptr<PointCloudColorHandlerLabelField<PointCloud> > Ptr;
typedef boost::shared_ptr<const PointCloudColorHandlerLabelField<PointCloud> > ConstPtr;

/** \brief Constructor. */
PointCloudColorHandlerLabelField (const PointCloudConstPtr &cloud);
/** \brief Constructor.
* \param[in] static_mapping Use a static colormapping from label_id to color (default true) */
PointCloudColorHandlerLabelField (const PointCloudConstPtr &cloud,
const bool static_mapping = true);

/** \brief Empty destructor */
virtual ~PointCloudColorHandlerLabelField () {}
Expand All @@ -928,6 +937,8 @@ namespace pcl
/** \brief Get the name of the field used. */
virtual std::string
getFieldName () const { return ("label"); }
private:
bool static_mapping_;
};

}
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39 changes: 20 additions & 19 deletions visualization/src/point_cloud_handlers.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -584,15 +584,16 @@ pcl::visualization::PointCloudColorHandlerRGBAField<pcl::PCLPointCloud2>::getCol
}

///////////////////////////////////////////////////////////////////////////////////////////
pcl::visualization::PointCloudColorHandlerLabelField<pcl::PCLPointCloud2>::PointCloudColorHandlerLabelField (
const pcl::visualization::PointCloudColorHandler<pcl::PCLPointCloud2>::PointCloudConstPtr &cloud)
pcl::visualization::PointCloudColorHandlerLabelField<pcl::PCLPointCloud2>::PointCloudColorHandlerLabelField (const pcl::visualization::PointCloudColorHandler<pcl::PCLPointCloud2>::PointCloudConstPtr &cloud,
const bool static_mapping)
: pcl::visualization::PointCloudColorHandler<pcl::PCLPointCloud2>::PointCloudColorHandler (cloud)
{
field_idx_ = pcl::getFieldIndex (*cloud, "label");
if (field_idx_ != -1)
capable_ = true;
else
capable_ = false;
static_mapping_ = static_mapping;
}

///////////////////////////////////////////////////////////////////////////////////////////
Expand All @@ -615,22 +616,24 @@ pcl::visualization::PointCloudColorHandlerLabelField<pcl::PCLPointCloud2>::getCo
int point_offset = cloud_->fields[field_idx_].offset;
const int field_size = pcl::getFieldSize (cloud_->fields[field_idx_].datatype);

std::set<uint32_t> labels;
std::map<uint32_t, pcl::RGB> colormap;

// First pass: find unique labels
for (vtkIdType i = 0; i < nr_points; ++i, point_offset += cloud_->point_step)
std::map<uint32_t, pcl::RGB> colormap;
if (!static_mapping_)
{
uint32_t label;
memcpy (&label, &cloud_->data[point_offset], field_size);
labels.insert (label);
}

// Assign Glasbey colors in ascending order of labels
size_t color = 0;
for (std::set<uint32_t>::iterator iter = labels.begin (); iter != labels.end (); ++iter, ++color)
colormap[*iter] = GlasbeyLUT::at (color % GlasbeyLUT::size ());
std::set<uint32_t> labels;
// First pass: find unique labels
for (vtkIdType i = 0; i < nr_points; ++i, point_offset += cloud_->point_step)
{
uint32_t label;
memcpy (&label, &cloud_->data[point_offset], field_size);
labels.insert (label);
}

// Assign Glasbey colors in ascending order of labels
size_t color = 0;
for (std::set<uint32_t>::iterator iter = labels.begin (); iter != labels.end (); ++iter, ++color)
colormap[*iter] = GlasbeyLUT::at (color % GlasbeyLUT::size ());
}
// If XYZ present, check if the points are invalid
int x_idx = pcl::getFieldIndex (*cloud_, "x");
point_offset = cloud_->fields[field_idx_].offset;
Expand All @@ -653,8 +656,7 @@ pcl::visualization::PointCloudColorHandlerLabelField<pcl::PCLPointCloud2>::getCo

if (!pcl_isfinite (x_data) || !pcl_isfinite (y_data) || !pcl_isfinite (z_data))
continue;

const pcl::RGB& color = colormap[label];
const pcl::RGB& color = static_mapping_ ? GlasbeyLUT::at (label % GlasbeyLUT::size ()) : colormap[label];
colors[j ] = color.r;
colors[j + 1] = color.g;
colors[j + 2] = color.b;
Expand All @@ -669,8 +671,7 @@ pcl::visualization::PointCloudColorHandlerLabelField<pcl::PCLPointCloud2>::getCo
{
uint32_t label;
memcpy (&label, &cloud_->data[point_offset], field_size);

const pcl::RGB& color = colormap[label];
const pcl::RGB& color = static_mapping_ ? GlasbeyLUT::at (label % GlasbeyLUT::size ()) : colormap[label];
colors[j ] = color.r;
colors[j + 1] = color.g;
colors[j + 2] = color.b;
Expand Down
8 changes: 7 additions & 1 deletion visualization/tools/pcd_viewer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -137,6 +137,8 @@ printHelp (int, char **argv)
print_info ("\n");
print_info (" -use_point_picking = enable the usage of picking points on screen (default "); print_value ("disabled"); print_info (")\n");
print_info ("\n");
print_info (" -optimal_label_colors = maps existing labels to the optimal sequential glasbey colors, label_ids will not be mapped to fixed colors (default "); print_value ("disabled"); print_info (")\n");
print_info ("\n");

print_info ("\n(Note: for multiple .pcd files, provide multiple -{fc,ps,opaque} parameters; they will be automatically assigned to the right file)\n");
}
Expand Down Expand Up @@ -277,6 +279,10 @@ main (int argc, char** argv)
if (use_pp)
print_highlight ("Point picking enabled.\n");

bool use_optimal_l_colors = pcl::console::find_switch (argc, argv, "-optimal_label_colors");
if (use_optimal_l_colors)
print_highlight ("Optimal glasbey colors are being assigned to existing labels.\nNote: No static mapping between label ids and colors\n");

// If VBOs are not enabled, then try to use immediate rendering
bool use_immediate_rendering = false;
if (!use_vbos)
Expand Down Expand Up @@ -602,7 +608,7 @@ main (int argc, char** argv)
else if (cloud->fields[f].name == "label")
{
label_idx = f + 1;
color_handler.reset (new pcl::visualization::PointCloudColorHandlerLabelField<pcl::PCLPointCloud2> (cloud));
color_handler.reset (new pcl::visualization::PointCloudColorHandlerLabelField<pcl::PCLPointCloud2> (cloud, !use_optimal_l_colors));
}
else
{
Expand Down