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openglwidget.cpp
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openglwidget.cpp
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#include "openglwidget.h"
#include "framebuffer.h"
#include "pvl/CloudUtils.hpp"
#include "pvl/QuadricDecimator.hpp"
#include "pvl/Refinement.hpp"
#include "pvl/Simplification.hpp"
#include "pvl/TriangleMesh.hpp"
#include "renderer.h"
#include <QPainter>
#include <sstream>
#include <tbb/tbb.h>
#ifdef HAS_OPENVDB
#ifdef foreach
#undef foreach // every time a programmer defines a macro, god kills a kitten
#endif
#include <openvdb/openvdb.h>
#include <openvdb/tools/MeshToVolume.h>
#include <openvdb/tools/VolumeToMesh.h>
#endif
using namespace Mpcv;
void OpenGLWidget::resizeGL(const int width, const int height) {
std::cout << "Resizing " << width << " " << height << std::endl;
glViewport(0, 0, width, height);
if (!meshes_.empty()) {
float dist = Pvl::norm(camera_.eye() - camera_.target());
std::cout << "Resizing GL, dist = " << dist << std::endl;
PVL_ASSERT(dist > 0.0001);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(fov_ * 180.f / M_PI, float(width) / height, 0.001 * dist, 1000. * dist);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
updateCamera();
// updateLights(camera_);
// glEnable(GL_LIGHTING);
// glEnable(GL_LIGHT0);
}
}
void OpenGLWidget::initializeGL() {
initializeOpenGLFunctions();
glClearColor(0, 0, 0, 0);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LEQUAL);
glShadeModel(GL_FLAT);
// updateLights();
glEnable(GL_LIGHTING);
#if 0
GLfloat ambient[] = { 0, 0, 0, 1 };
glLightModelfv(GL_LIGHT_MODEL_AMBIENT, ambient);
GLfloat pos1[] = { -2.e4f, 2.e4f, 4.e4f };
GLfloat pos2[] = { 5.e4f, 0.f, 1.e4f };
GLfloat diffuse1[] = { 1.f, 0.95f, 0.9f, 1.0 };
GLfloat diffuse2[] = { 0.4f, 0.45f, 0.5f, 1.f };
glEnable(GL_LIGHT0);
glLightfv(GL_LIGHT0, GL_POSITION, pos1);
glLightfv(GL_LIGHT0, GL_DIFFUSE, diffuse1);
glEnable(GL_LIGHT1);
glLightfv(GL_LIGHT1, GL_POSITION, pos2);
glLightfv(GL_LIGHT1, GL_DIFFUSE, diffuse2);
#else
// GLfloat ambient[] = { 0, 0, 0, 1 };
// glLightModelfv(GL_LIGHT_MODEL_AMBIENT, ambient);
// GLfloat pos1[] = { -2.e4f, 2.e4f, 4.e4f };
// GLfloat pos2[] = { 5.e4f, 0.f, 1.e4f };
GLfloat diffuse1[] = { 0.9f, 0.9f, 0.9f, 1.0 };
// GLfloat diffuse2[] = { 0.4f, 0.45f, 0.5f, 1.f };
glEnable(GL_LIGHT0);
// glLightfv(GL_LIGHT0, GL_POSITION, pos1);
glLightfv(GL_LIGHT0, GL_DIFFUSE, diffuse1);
#endif
// glMaterialfv(GL_FRONT, GL_AMBIENT, ambient);
// glLightfv(GL_LIGHT0, GL_AMBIENT, ambient);
// glEnable(GL_LIGHT1);
// glEnable(GL_AUTO_NORMAL);
// glEnable(GL_NORMALIZE);
glEnable(GL_COLOR_MATERIAL);
glColorMaterial(GL_FRONT, GL_DIFFUSE);
glEnable(GL_TEXTURE_2D);
// glColorMaterial(GL_FRONT, GL_AMBIENT);
// glColorMaterial(GL_FRONT, GL_SPECULAR);
// updateLights(1000.);
// GLfloat specular[] = { 1., 1., 1., 1.0 };
// glLightfv(GL_LIGHT0, GL_SPECULAR, specular);
// glMaterialfv(GL_FRONT, GL_DIFFUSE, diffuse);
// glMaterialfv(GL_FRONT, GL_SPECULAR, specular);
// glMaterialf(GL_FRONT, GL_SHININESS, 128);
// GLfloat ambient[] = { 0.01, 0.01, 0.01, 1.0 };
// glLightfv(GL_LIGHT0, GL_AMBIENT, ambient);
glPointSize(pointSize_);
}
void OpenGLWidget::paintGL() {
// std::cout << "Called paintGL" << std::endl;
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// glClearColor(0, 0.1, 0.3, 1);
glClearColor(0.5, 0.5, 0.6, 1);
glEnable(GL_DEPTH_TEST); // gets disabled by text rendering
if (meshes_.empty()) {
glFlush();
return;
}
// updateLights(camera_);
// glLoadIdentity();
/*GLfloat pos[] = { 5000., 0, 100. };
glLightfv(GL_LIGHT0, GL_POSITION, pos);
GLfloat diffuse[] = { 1., 1., 1., 1.0 };
glLightfv(GL_LIGHT0, GL_DIFFUSE, diffuse);*/
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
float dist = Pvl::norm(camera_.eye() - camera_.target());
gluPerspective(fov_ * 180.f / M_PI, float(width()) / height(), 0.001 * dist, 1000. * dist);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
// glMatrixMode(GL_MODELVIEW);
// glLoadIdentity();
{
Pvl::Vec3f target = camera_.target();
Pvl::Vec3f eye = camera_.eye();
Pvl::Vec3f up = camera_.up();
gluLookAt(eye[0], eye[1], eye[2], target[0], target[1], target[2], up[0], up[1], up[2]);
}
// updateLights(camera_);
glEnable(GL_LIGHTING);
glColor3f(0.75, 0.75, 0.75);
// glColor3f(0, 0, 0);
// glEnable(GL_TEXTURE_2D);
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
glPointSize(pointSize_);
for (const auto& p : meshes_) {
const MeshData& mesh = p.second;
if (!mesh.enabled) {
continue;
}
if (vbos_) {
glBindBuffer(GL_ARRAY_BUFFER, mesh.vbo);
}
bool useNormals = mesh.hasNormals();
bool useColors;
if (mesh.pointCloud()) {
// for point clouds, point colors are considered a texture here
useColors = mesh.hasColors() && enableTextures_;
} else {
useColors = mesh.hasColors() || (enableAo_ && mesh.hasAo());
}
bool useClasses = enableClasses_ && mesh.hasClasses();
bool useTexture = enableTextures_ && mesh.hasTexture();
if (useColors || useTexture || !useNormals) {
glDisable(GL_LIGHTING);
}
if (useNormals) {
glEnableClientState(GL_NORMAL_ARRAY);
}
if (useColors) {
glEnableClientState(GL_COLOR_ARRAY);
glShadeModel(GL_SMOOTH); // for AO
}
if (useClasses) {
glEnableClientState(GL_COLOR_ARRAY);
}
if (useTexture) {
glBindTexture(GL_TEXTURE_2D, mesh.texture);
glEnableClientState(GL_TEXTURE_COORD_ARRAY);
}
glEnableClientState(GL_VERTEX_ARRAY);
int numVert = mesh.vis.vertices.size();
int numNorm = mesh.vis.normals.size();
int numClr = mesh.vis.vertexColors.size();
int numCls = mesh.vis.classColors.size();
int stride = mesh.pointCloud() ? int(pointStride_) : 0;
if (!vbos_) {
glVertexPointer(3, GL_FLOAT, stride * 3 * sizeof(float), mesh.vis.vertices.data());
if (useNormals) {
glNormalPointer(GL_FLOAT, stride * 3 * sizeof(float), mesh.vis.normals.data());
}
if (useClasses && !enableAo_) {
glColorPointer(
3, GL_UNSIGNED_BYTE, stride * 3 * sizeof(uint8_t), mesh.vis.classColors.data());
} else if (useColors) {
glColorPointer(
3, GL_UNSIGNED_BYTE, stride * 3 * sizeof(uint8_t), mesh.vis.vertexColors.data());
}
if (useTexture) {
// never used by pc
glTexCoordPointer(2, GL_FLOAT, 0, mesh.vis.uv.data());
}
} else {
glVertexPointer(3, GL_FLOAT, stride * 3 * sizeof(float), (void*)0);
if (useNormals) {
glNormalPointer(GL_FLOAT, stride * 3 * sizeof(float), (void*)(numVert * sizeof(float)));
}
if (useClasses && !enableAo_) {
glColorPointer(3,
GL_UNSIGNED_BYTE,
stride * 3 * sizeof(uint8_t),
(void*)((numVert + numNorm) * sizeof(float) + numClr * sizeof(uint8_t)));
} else if (useColors) {
glColorPointer(3,
GL_UNSIGNED_BYTE,
stride * 3 * sizeof(uint8_t),
(void*)((numVert + numNorm) * sizeof(float)));
}
if (useTexture) {
glTexCoordPointer(2,
GL_FLOAT,
0,
(void*)((numVert + numNorm) * sizeof(float) + (numClr + numCls) * sizeof(uint8_t)));
}
}
if (mesh.pointCloud()) {
glDrawArrays(GL_POINTS, 0, mesh.vis.vertices.size() / 3 / stride);
} else {
glDrawArrays(GL_TRIANGLES, 0, mesh.vis.vertices.size() / 3);
}
glDisableClientState(GL_VERTEX_ARRAY);
if (useTexture) {
glDisableClientState(GL_TEXTURE_COORD_ARRAY);
glBindTexture(GL_TEXTURE_2D, 0);
}
if (useColors) {
glDisableClientState(GL_COLOR_ARRAY);
glShadeModel(GL_FLAT);
}
if (useClasses) {
glDisableClientState(GL_COLOR_ARRAY);
}
if (useNormals) {
glDisableClientState(GL_NORMAL_ARRAY);
}
glEnable(GL_LIGHTING);
if (vbos_) {
glBindBuffer(GL_ARRAY_BUFFER, 0);
}
}
glDisable(GL_LIGHTING);
if (wireframe_ || dots_) {
Pvl::Vec3f delta = -camera_.direction() * 5.e-4f * dist;
glTranslatef(delta[0], delta[1], delta[2]);
glColor3f(0, 0, 0);
glPolygonMode(GL_FRONT_AND_BACK, wireframe_ ? GL_LINE : GL_POINT);
for (const auto& p : meshes_) {
const MeshData& mesh = p.second;
if (!mesh.enabled || mesh.pointCloud()) {
continue;
}
glBindBuffer(GL_ARRAY_BUFFER, mesh.vbo);
glEnableClientState(GL_VERTEX_ARRAY);
glVertexPointer(3, GL_FLOAT, 0, (void*)0);
glDrawArrays(GL_TRIANGLES, 0, mesh.vis.vertices.size() / 3);
glDisableClientState(GL_VERTEX_ARRAY);
glBindBuffer(GL_ARRAY_BUFFER, 0);
}
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
}
glColor3f(0, 0, 0);
Pvl::Box3f bbox;
std::vector<std::pair<Pvl::Vec3f, QString>> textToRender;
QFont font("Helvetica", 8);
QFontMetrics fontMetrics(font);
for (const auto& p : meshes_) {
const MeshData& mesh = p.second;
if (!mesh.enabled) {
continue;
}
SrsConv conv(mesh.mesh.srs, camera_.srs());
Pvl::Box3f meshBox(conv(mesh.box.lower()), conv(mesh.box.upper()));
bbox.extend(meshBox);
if (bboxes_) {
float x1 = meshBox.lower()[0];
float y1 = meshBox.lower()[1];
float z1 = meshBox.lower()[2];
float x2 = meshBox.upper()[0];
float y2 = meshBox.upper()[1];
float z2 = meshBox.upper()[2];
glBegin(GL_LINE_STRIP);
glVertex3f(x1, y1, z1);
glVertex3f(x2, y1, z1);
glVertex3f(x2, y2, z1);
glVertex3f(x1, y2, z1);
glVertex3f(x1, y1, z1);
glVertex3f(x1, y1, z2);
glVertex3f(x2, y1, z2);
glVertex3f(x2, y2, z2);
glVertex3f(x1, y2, z2);
glVertex3f(x1, y1, z2);
glEnd();
glBegin(GL_LINES);
glVertex3f(x2, y1, z1);
glVertex3f(x2, y1, z2);
glVertex3f(x2, y2, z1);
glVertex3f(x2, y2, z2);
glVertex3f(x1, y2, z1);
glVertex3f(x1, y2, z2);
glEnd();
QString basename = QString::fromStdString(mesh.basename);
textToRender.emplace_back(meshBox.center(), basename);
}
}
if (showGrid_) {
float x1 = bbox.lower()[0] - 0.5f * grid_;
float x2 = x1 + ceil(bbox.size()[0] / grid_ + 0.5f) * grid_;
float y1 = bbox.lower()[1] - 0.5f * grid_;
float y2 = y1 + ceil(bbox.size()[1] / grid_ + 0.5f) * grid_;
float z0 = bbox.center()[2];
glBegin(GL_LINES);
for (float x = x1; x <= x2; x += grid_) {
glVertex3f(x, y1, z0);
glVertex3f(x, y2, z0);
textToRender.emplace_back(Pvl::Vec3f(x, y1 - 0.1 * grid_, z0), QString::number(x - x1));
}
for (float y = y1; y <= y2; y += grid_) {
glVertex3f(x1, y, z0);
glVertex3f(x2, y, z0);
textToRender.emplace_back(Pvl::Vec3f(x1 - 0.16 * grid_, y, z0), QString::number(y - y1));
}
glEnd();
}
glFlush();
glPushAttrib(GL_ALL_ATTRIB_BITS);
QPainter painter(this);
painter.setPen(Qt::black);
painter.setRenderHints(QPainter::Antialiasing | QPainter::TextAntialiasing);
// if (showGrid_) {
painter.setFont(font);
for (const auto& p : textToRender) {
if (Pvl::Optional<Pvl::Vec2f> proj = camera_.unproject(p.first)) {
QRect rect = fontMetrics.boundingRect(p.second);
painter.drawText(
proj.value()[0] - rect.width() / 2, proj.value()[1] + rect.height() / 2, p.second);
}
}
painter.setFont(QFont("Helvetica", 10));
std::size_t numVertex = 0, numFaces = 0;
for (const auto& p : meshes_) {
if (p.second.enabled) {
numVertex += p.second.mesh.vertices.size();
numFaces += p.second.mesh.faces.size();
}
}
painter.drawText(30, height() - 50, "Vertices:");
painter.drawText(100, height() - 50, QString("%L1").arg(numVertex));
painter.drawText(30, height() - 30, "Faces:");
painter.drawText(100, height() - 30, QString("%L1").arg(numFaces));
painter.end();
glPopAttrib();
}
inline int toGlFormat(const ImageFormat& format) {
switch (format) {
case ImageFormat::GRAY:
return GL_RED;
case ImageFormat::RGB:
return GL_RGB;
case ImageFormat::BGR:
return GL_BGR;
case ImageFormat::RGBA:
return GL_RGBA;
case ImageFormat::BGRA:
return GL_BGRA;
default:
throw std::runtime_error("Unknown image format " + std::to_string(int(format)));
}
}
inline std::size_t xorShift(std::size_t n, int i)
{
return n ^ (n >> i);
}
inline std::size_t hash(std::size_t n)
{
constexpr std::size_t p = 0x5555555555555555;
constexpr std::size_t c = 17316035218449499591ull;
return c * xorShift(p * xorShift(n, 32), 32);
}
inline Color indexToColor(std::size_t idx)
{
std::size_t x = hash(idx);
std::uint8_t r = (x & 0x0000000000FF);
std::uint8_t g = (x & 0x000000FF0000) >> 16;
std::uint8_t b = (x & 0x00FF00000000) >> 32;
return Color(b, g, r);
}
inline Color classToColor(const TexturedMesh& mesh, int vi) {
if (!mesh.classToColor.empty()) {
auto iter = mesh.classToColor.find(mesh.classes[vi]);
if (iter != mesh.classToColor.end()) {
return iter->second;
} else {
return Color(190, 190, 190);
}
} else {
switch (mesh.classes[vi]) {
case 1:
return Color(0, 0, 0);
case 2:
return Color(220, 220, 50); // interiors
case 3:
return Color(65, 140, 85); // tree
case 4:
return Color(150, 80, 10); // trunks
case 5:
return Color(20, 20, 20); // wire
case 6:
return Color(20, 20, 150); // cars
default:
// random color
return indexToColor(mesh.classes[vi]);
}
}
}
void OpenGLWidget::view(const void* handle, std::string basename, TexturedMesh&& mesh) {
bool firstMesh = meshes_.empty();
bool updateOnly = meshes_.find(handle) != meshes_.end();
MeshData& data = meshes_[handle];
data.mesh = std::move(mesh);
data.basename = basename;
data.vis = {};
Srs refSrs;
if (firstMesh) {
refSrs = data.mesh.srs;
} else {
refSrs = camera_.srs();
}
SrsConv conv(data.mesh.srs, refSrs);
if (data.pointCloud()) {
bool hasNormals = !data.mesh.normals.empty();
bool hasColors = !data.mesh.colors.empty();
bool hasClasses = !data.mesh.classes.empty();
data.vis.vertices.reserve(data.mesh.vertices.size() * 3);
if (hasNormals) {
data.vis.normals.reserve(data.mesh.vertices.size() * 3);
}
if (hasColors) {
data.vis.vertexColors.reserve(data.mesh.vertices.size() * 3);
}
if (hasClasses) {
data.vis.classColors.reserve(data.mesh.vertices.size() * 3);
}
for (std::size_t vi = 0; vi < data.mesh.vertices.size(); ++vi) {
Pvl::Vec3f vertex = conv(data.mesh.vertices[vi]);
data.vis.vertices.push_back(vertex[0]);
data.vis.vertices.push_back(vertex[1]);
data.vis.vertices.push_back(vertex[2]);
if (hasNormals) {
const Pvl::Vec3f normal = Pvl::normalize(data.mesh.normals[vi]);
data.vis.normals.push_back(normal[0]);
data.vis.normals.push_back(normal[1]);
data.vis.normals.push_back(normal[2]);
}
if (hasClasses) {
Color c = classToColor(data.mesh, vi);
data.vis.classColors.push_back(c[0]);
data.vis.classColors.push_back(c[1]);
data.vis.classColors.push_back(c[2]);
}
if (hasColors) {
const Color& c = data.mesh.colors[vi];
data.vis.vertexColors.push_back(c[0]);
data.vis.vertexColors.push_back(c[1]);
data.vis.vertexColors.push_back(c[2]);
}
}
} else {
// mesh
bool hasColors = !data.mesh.colors.empty();
bool hasTexture = !data.mesh.uv.empty();
bool hasAo = !data.mesh.ao.empty();
bool hasClasses = !data.mesh.classes.empty();
data.vis.vertices.reserve(data.mesh.faces.size() * 9);
data.vis.normals.reserve(data.mesh.faces.size() * 9);
if (hasAo || hasColors) {
data.vis.vertexColors.reserve(data.mesh.faces.size() * 9);
}
if (hasClasses) {
data.vis.classColors.reserve(data.mesh.faces.size() * 9);
}
if (hasTexture) {
data.vis.uv.reserve(data.mesh.faces.size() * 6);
}
for (std::size_t fi = 0; fi < data.mesh.faces.size(); ++fi) {
Pvl::Vec3f normal = data.mesh.normal(fi);
for (int i = 0; i < 3; ++i) {
Pvl::Vec3f vertex = conv(data.mesh.vertices[data.mesh.faces[fi][i]]);
data.vis.vertices.push_back(vertex[0]);
data.vis.vertices.push_back(vertex[1]);
data.vis.vertices.push_back(vertex[2]);
data.vis.normals.push_back(normal[0]);
data.vis.normals.push_back(normal[1]);
data.vis.normals.push_back(normal[2]);
if (hasAo) {
uint8_t ao = data.mesh.ao[3 * fi + i];
data.vis.vertexColors.push_back(ao);
data.vis.vertexColors.push_back(ao);
data.vis.vertexColors.push_back(ao);
} else if (hasColors) {
Color c = data.mesh.colors[data.mesh.faces[fi][i]];
data.vis.vertexColors.push_back(c[0]);
data.vis.vertexColors.push_back(c[1]);
data.vis.vertexColors.push_back(c[2]);
}
if (hasClasses) {
Color c = classToColor(data.mesh, data.mesh.faces[fi][i]);
data.vis.classColors.push_back(c[0]);
data.vis.classColors.push_back(c[1]);
data.vis.classColors.push_back(c[2]);
}
if (hasTexture) {
Pvl::Vec2f uv = data.mesh.uv[data.mesh.texIds[fi][i]];
data.vis.uv.push_back(uv[0]);
data.vis.uv.push_back(1.f - uv[1]);
}
}
}
if (hasTexture && !updateOnly) {
/// \todo allow editing texture?
glGenTextures(1, &data.texture);
glBindTexture(GL_TEXTURE_2D, data.texture);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
ITexture& tex = *data.mesh.texture;
Pvl::Vec2i size = tex.size();
int maxTextureSize;
glGetIntegerv(GL_MAX_TEXTURE_SIZE, &maxTextureSize);
std::cout << "Max texture size = " << maxTextureSize << std::endl;
int format = toGlFormat(tex.format());
int internal = tex.format() == ImageFormat::GRAY ? GL_LUMINANCE : GL_RGB;
glTexImage2D(
GL_TEXTURE_2D, 0, internal, size[0], size[1], 0, format, GL_UNSIGNED_BYTE, tex.data());
glGenerateMipmap(GL_TEXTURE_2D);
data.mesh.texture.reset();
}
}
if (vbos_) {
if (!updateOnly) {
glGenBuffers(1, &data.vbo);
}
int numVert = data.vis.vertices.size();
int numNorm = data.vis.normals.size();
int numClr = data.vis.vertexColors.size();
int numCls = data.vis.classColors.size();
int numTex = data.vis.uv.size();
glBindBuffer(GL_ARRAY_BUFFER, data.vbo);
glBufferData(GL_ARRAY_BUFFER,
(numVert + numNorm + numTex) * sizeof(float) + (numClr + numCls) * sizeof(uint8_t),
0,
GL_STATIC_DRAW);
glBufferSubData(GL_ARRAY_BUFFER, 0, numVert * sizeof(float), data.vis.vertices.data());
glBufferSubData(
GL_ARRAY_BUFFER, numVert * sizeof(float), numNorm * sizeof(float), data.vis.normals.data());
glBufferSubData(GL_ARRAY_BUFFER,
(numVert + numNorm) * sizeof(float),
numClr * sizeof(uint8_t),
data.vis.vertexColors.data());
glBufferSubData(GL_ARRAY_BUFFER,
(numVert + numNorm) * sizeof(float) + numClr * sizeof(uint8_t),
numCls * sizeof(uint8_t),
data.vis.classColors.data());
glBufferSubData(GL_ARRAY_BUFFER,
(numVert + numNorm) * sizeof(float) + (numClr + numCls) * sizeof(uint8_t),
numTex * sizeof(float),
data.vis.uv.data());
glBindBuffer(GL_ARRAY_BUFFER, 0);
}
data.box = Pvl::Box3f{};
for (const Pvl::Vec3f& p : data.mesh.vertices) {
data.box.extend(p);
}
std::cout << "Mesh has extents " << data.box.lower()[0] << "," << data.box.lower()[1] << ":"
<< data.box.upper()[0] << "," << data.box.upper()[1] << std::endl;
if (firstMesh) {
resetCamera(refSrs);
}
}
void OpenGLWidget::deleteMesh(const void* handle) {
if (handle == nullptr) {
// nothing?
return;
}
MeshData& mesh = meshes_.at(handle);
if (vbos_) {
glDeleteBuffers(1, &mesh.vbo);
}
if (meshes_.at(handle).hasTexture()) {
glDeleteTextures(1, &mesh.texture);
}
meshes_.erase(handle);
update();
}
void OpenGLWidget::updateCamera() {
Pvl::Vec3f eye = camera_.eye();
Pvl::Vec3f target = camera_.target();
Pvl::Vec3f up = camera_.up();
Srs srs = camera_.srs();
camera_ = Camera(eye, target, up, fov_, srs, Pvl::Vec2i(width(), height()));
}
void OpenGLWidget::resetCamera() {
resetCamera(camera_.srs());
}
void OpenGLWidget::resetCamera(const Srs& srs) {
// find first enabled
for (const auto& p : meshes_) {
const MeshData& mesh = p.second;
if (!mesh.enabled) {
continue;
}
SrsConv conv(mesh.mesh.srs, srs);
Pvl::Vec3f center = conv(mesh.box.center());
float scale = std::max(mesh.box.size()[0], mesh.box.size()[1]);
float zoom = std::max(1.5f * scale, 0.001f);
camera_ = Camera(center + Pvl::Vec3f(0, 0, zoom),
center,
Pvl::Vec3f(0, 1, 0),
fov_,
srs,
Pvl::Vec2i(width(), height()));
double gridBase = 0.2 * scale;
grid_ = std::pow(10., std::floor(std::log10(gridBase)));
if (5.f * grid_ < gridBase) {
grid_ *= 5.f; // allow 5e10^n grids
} else if (2.f * grid_ < gridBase) {
grid_ *= 2.f; // allow 2e10^n grids
}
std::cout << "Grid = " << grid_ << std::endl;
update();
return;
}
}
void OpenGLWidget::cameraUp() {
const Pvl::Vec3f zup(0, 0, 1);
const Pvl::Vec3f dir = camera_.target() - camera_.eye();
if (Pvl::norm(Pvl::crossProd(zup, dir)) < 1.e-6f) {
// cannot reset tilt
return;
}
camera_ = Camera(camera_.eye(), camera_.target(), zup,
camera_.fov(), camera_.srs(), camera_.dimensions());
update();
}
void OpenGLWidget::screenshot(const QString& file) {
glPixelStorei(GL_PACK_ALIGNMENT, 1);
glReadBuffer(GL_FRONT);
std::vector<uint8_t> pixels(width() * height() * 3);
QRect rect = geometry();
const int barHeight = 27;
glReadPixels(rect.x(), rect.y() + barHeight,
rect.width(), rect.height() - barHeight,
GL_BGR_EXT, GL_UNSIGNED_BYTE, pixels.data());
QImage image(pixels.data(), rect.width(), rect.height() - barHeight,
rect.width() * 3, QImage::Format_RGB888);
QImageWriter writer(file);
writer.write(std::move(image).mirrored().rgbSwapped());
}
void OpenGLWidget::saveAsMesh(const QString& file,
const std::vector<const void*>& handles,
std::function<bool(float)> progress) {
std::ofstream ofs(file.toStdString());
std::vector<const TexturedMesh*> meshes;
for (auto handle : handles) {
meshes.push_back(&meshes_[handle].mesh);
}
savePly(ofs, meshes, progress);
}
void OpenGLWidget::wheelEvent(QWheelEvent* event) {
if (event->modifiers() & Qt::CTRL) {
float y0 = std::atan(0.5 * fov_);
fov_ += 0.0004 * event->angleDelta().y();
fov_ = std::max(0.01f, std::min(fov_, float(M_PI) / 2.f - 0.01f));
std::cout << "Setting fov = " << fov_ * 180.f / M_PI << std::endl;
float y1 = std::atan(0.5 * fov_);
camera_.zoom(y0 / y1);
updateCamera();
update();
} else if (event->modifiers() & Qt::ALT) {
// pointSize_ += 0.01 * event->angleDelta().x();
pointSize_ = std::max(std::min(pointSize_ + 0.005f * event->angleDelta().x(), 16.f), 1.f);
glPointSize(int(pointSize_));
std::cout << "Point size = " << pointSize_ << std::endl;
update();
} else if (event->modifiers() & Qt::SHIFT) {
int prevStride = int(pointStride_);
pointStride_ =
std::max(std::min(pointStride_ * (1.f + 0.003f * event->angleDelta().y()), 100.f), 1.f);
std::cout << "Point stride = " << pointStride_ << std::endl;
if (int(pointStride_) != prevStride) {
update();
}
} else {
camera_.zoom(1 + 0.0004 * event->angleDelta().y());
update();
}
}
void OpenGLWidget::mousePressEvent(QMouseEvent* event) {
if (meshes_.empty()) {
return;
}
mouse_.pos0 = event->pos();
mouse_.state = camera_;
if (event->button() == Qt::RightButton) {
mouse_.ab.initialize(Pvl::Vec2i(width(), height()), camera_.matrix());
mouse_.ab.click(Pvl::Vec2i(mouse_.pos0.x(), mouse_.pos0.y()));
}
}
void OpenGLWidget::mouseDoubleClickEvent(QMouseEvent* event) {
mouse_.pos0 = event->pos();
CameraRay ray = camera_.project(Pvl::Vec2f(mouse_.pos0.x(), mouse_.pos0.y()));
const float t_inf = std::numeric_limits<float>::max();
float mesh_min = t_inf;
float pc_min = t_inf;
tbb::mutex mutex;
for (const auto& p : meshes_) {
if (!p.second.enabled) {
continue;
}
const TexturedMesh& mesh = p.second.mesh;
if (p.second.pointCloud()) {
std::vector<float> zs(mesh.vertices.size());
for (std::size_t i = 0; i < zs.size(); ++i) {
zs[i] = mesh.vertices[i][2];
}
int q10 = zs.size() / 10;
std::nth_element(zs.begin(), zs.begin() + q10, zs.end());
float t = (zs[q10] - ray.origin[2]) / ray.dir[2];
if (t > 0 && t < pc_min) {
tbb::mutex::scoped_lock lock(mutex);
pc_min = t;
}
} else {
SrsConv conv(camera_.srs(), mesh.srs);
CameraRay localRay{ conv(ray.origin), ray.dir };
tbb::parallel_for<std::size_t>(0, mesh.faces.size(), [&](std::size_t fi) {
Triangle tri;
for (int i = 0; i < 3; ++i) {
tri[i] = mesh.vertices[mesh.faces[fi][i]];
}
float t;
if (intersection(localRay, tri, t) && t > 0 && t < mesh_min) {
tbb::mutex::scoped_lock lock(mutex);
mesh_min = t;
}
});
}
}
float t_min = (mesh_min < t_inf) ? mesh_min : pc_min;
if (t_min != t_inf) {
Pvl::Vec3f target = ray.origin + ray.dir * t_min;
camera_.lookAt(target);
}
update();
}
void OpenGLWidget::mouseMoveEvent(QMouseEvent* ev) {
if (meshes_.empty()) {
return;
}
if (ev->buttons() & Qt::RightButton) {
camera_ = mouse_.state;
QPoint p = ev->pos();
Pvl::Mat33f m = mouse_.ab.drag(Pvl::Vec2i(p.x(), p.y()));
camera_.transform(m);
update();
} else if (ev->buttons() & Qt::LeftButton) {
camera_ = mouse_.state;
QPoint p = ev->pos();
QPoint dp = p - mouse_.pos0;
camera_.pan(Pvl::Vec2i(dp.x(), dp.y()));
update();
}
if (mouseMotionCallback) {
QPoint p = ev->pos();
CameraRay ray = camera_.project(Pvl::Vec2f(p.x(), p.y()));
// intersection with z=0
if (std::abs(ray.dir[2]) < 1.e-6) {
mouseMotionCallback("Coordinate: N/A");
} else {
double t = -ray.origin[2] / ray.dir[2];
Coords p = camera_.srs().localToWorld(coords(ray.origin + t * ray.dir));
mouseMotionCallback(
"Coordinate: " + QString::number(p[0], 'f') + ", " + QString::number(p[1], 'f'));
}
}
}
template <typename MeshFunc>
void OpenGLWidget::meshOperation(const MeshFunc& meshFunc) {
std::vector<std::pair<const void*, MeshData*>> meshData;
// cannot erase from meshes_ while iterating, so add it to a vector
for (auto& p : meshes_) {
if (!p.second.pointCloud()) {
meshData.emplace_back(p.first, &p.second);
}
}
// also backup camera
auto cameraState = camera_;
for (const auto& p : meshData) {
const void* handle = p.first;
TexturedMesh mesh = std::move(p.second->mesh);
std::string basename = p.second->basename;
deleteMesh(handle);
Pvl::TriangleMesh<Pvl::Vec3f> trimesh;
for (const Pvl::Vec3f& p : mesh.vertices) {
trimesh.addVertex();
trimesh.points.push_back(p);
}
/// \todo external point storage?
mesh.vertices = {}; // free memory
for (const TexturedMesh::Face& f : mesh.faces) {
trimesh.addFace(Pvl::VertexHandle(f[0]), Pvl::VertexHandle(f[1]), Pvl::VertexHandle(f[2]));
}
mesh.faces = {};
meshFunc(trimesh);
for (const Pvl::Vec3f& p : trimesh.points) {
mesh.vertices.push_back(p);
}
for (Pvl::FaceHandle fh : trimesh.faceRange()) {
if (!trimesh.valid(fh)) {
continue;
}
auto face = trimesh.faceVertices(fh);
mesh.faces.push_back(TexturedMesh::Face{ face[0].index(), face[1].index(), face[2].index() });
}
view(handle, basename, std::move(mesh));
}
camera_ = cameraState;
update();
}
void OpenGLWidget::laplacianSmooth() {
meshOperation([](Pvl::TriangleMesh<Pvl::Vec3f>& mesh) { Pvl::laplacianSmoothing(mesh, true, 0.f); });
}
void OpenGLWidget::simplify() {
meshOperation([](Pvl::TriangleMesh<Pvl::Vec3f>& mesh) {
// decimate to 1/4 faces
Pvl::PreventFaceFoldDecorator<Pvl::QuadricDecimator<Pvl::TriangleMesh<Pvl::Vec3f>>> decimator(mesh);
Pvl::simplify(mesh, decimator, Pvl::FaceCountStop(3 * mesh.numFaces() / 4));
});
}
#ifdef HAS_OPENVDB
namespace {
class MeshAdapter {
TexturedMesh& mesh_;
openvdb::math::Transform::Ptr tr_;
public:
MeshAdapter(TexturedMesh& mesh, openvdb::math::Transform::Ptr tr)
: mesh_(mesh)
, tr_(tr) {}
size_t polygonCount() const {
return mesh_.faces.size();
}
size_t pointCount() const {
return mesh_.vertices.size();
}
size_t vertexCount(size_t) const {
return 3;
}
void getIndexSpacePoint(size_t n, size_t v, openvdb::Vec3d& pos) const {
const Pvl::Vec3f& p = mesh_.vertices[mesh_.faces[n][v]];
pos = openvdb::Vec3d(p[0], p[1], p[2]);
pos = tr_->worldToIndex(pos);
}
};
} // namespace
void repairMesh(TexturedMesh& mesh) {
openvdb::initialize();
Pvl::Box3f box;
for (const Pvl::Vec3f& p : mesh.vertices) {
box.extend(p);
}
float size = std::max({ box.size()[0], box.size()[1], box.size()[2] });
openvdb::math::Transform::Ptr tr = openvdb::math::Transform::createLinearTransform(0.000666 * size);
MeshAdapter adapter(mesh, tr);
std::cout << "converting to volume" << std::endl;
openvdb::FloatGrid::Ptr grid = openvdb::tools::meshToVolume<openvdb::FloatGrid>(adapter, *tr, 1., 1.);
std::cout << "Created volume with " << grid->activeVoxelCount() << " active voxels" << std::endl;
std::cout << "converting to mesh" << std::endl;
std::vector<openvdb::Vec3s> points;
std::vector<openvdb::Vec3I> triangles;
std::vector<openvdb::Vec4I> quads;
openvdb::tools::volumeToMesh(*grid, points, triangles, quads);
mesh = {};
for (auto p : points) {
mesh.vertices.emplace_back(p.x(), p.y(), p.z());
}
for (auto& f : triangles) {
mesh.faces.emplace_back(TexturedMesh::Face{ f[0], f[2], f[1] });
}
for (auto& f : quads) {
mesh.faces.emplace_back(TexturedMesh::Face{ f[0], f[2], f[1] });
mesh.faces.emplace_back(TexturedMesh::Face{ f[0], f[3], f[2] });
}
openvdb::uninitialize();
}
void OpenGLWidget::repair() {
std::vector<std::pair<const void*, MeshData*>> meshData;
// cannot erase from meshes_ while iterating, so add it to a vector
for (auto& p : meshes_) {
if (!p.second.pointCloud()) {
meshData.emplace_back(p.first, &p.second);
}
}
// also backup camera
auto cameraState = camera_;
for (const auto& p : meshData) {
const void* handle = p.first;
TexturedMesh mesh = std::move(p.second->mesh);
std::string basename = p.second->basename;
deleteMesh(handle);
repairMesh(mesh);
view(handle, basename, std::move(mesh));
}
camera_ = cameraState;