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LidarViewer.cpp
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LidarViewer.cpp
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/***********************************************************************
LidarViewer - Viewer program for multiresolution LiDAR data.
Copyright (c) 2005-2015 Oliver Kreylos
This file is part of the LiDAR processing and analysis package.
The LiDAR processing and analysis package is free software; you can
redistribute it and/or modify it under the terms of the GNU General
Public License as published by the Free Software Foundation; either
version 2 of the License, or (at your option) any later version.
The LiDAR processing and analysis package is distributed in the hope
that it will be useful, but WITHOUT ANY WARRANTY; without even the
implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along
with the LiDAR processing and analysis package; if not, write to the
Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA
02111-1307 USA
***********************************************************************/
#include "LidarViewer.h"
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include <iostream>
#include <stdexcept>
#include <Misc/SelfDestructPointer.h>
#include <Misc/FunctionCalls.h>
#include <Misc/ThrowStdErr.h>
#include <Misc/PrintInteger.h>
#include <Misc/CreateNumberedFileName.h>
#include <Misc/FileTests.h>
#include <Misc/StringMarshaller.h>
#include <Misc/StandardValueCoders.h>
#include <Misc/ConfigurationFile.h>
#include <IO/File.h>
#include <IO/ValueSource.h>
#include <Cluster/MulticastPipe.h>
#include <Geometry/Vector.h>
#include <Geometry/AffineTransformation.h>
#include <Geometry/LinearUnit.h>
#include <GL/gl.h>
#include <GL/GLColorTemplates.h>
#include <GL/GLMaterialTemplates.h>
#include <GL/GLMaterial.h>
#include <GL/GLContextData.h>
#ifdef LIDARVIEWER_VISUALIZE_WATER
#include <GL/Extensions/GLARBVertexShader.h>
#include <GL/Extensions/GLARBFragmentShader.h>
#endif
#include <GL/GLValueCoders.h>
#include <GL/GLGeometryWrappers.h>
#include <GL/GLTransformationWrappers.h>
#include <GL/GLModels.h>
#include <GL/GLColorMap.h>
#include <GL/GLFrustum.h>
#include <GL/GLPrintError.h>
#include <GLMotif/StyleSheet.h>
#include <GLMotif/WidgetManager.h>
#include <GLMotif/PopupMenu.h>
#include <GLMotif/PopupWindow.h>
#include <GLMotif/RowColumn.h>
#include <GLMotif/Menu.h>
#include <GLMotif/Margin.h>
#include <GLMotif/Pager.h>
#include <GLMotif/Separator.h>
#include <GLMotif/Label.h>
#include <GLMotif/Button.h>
#include <GLMotif/CascadeButton.h>
#include <SceneGraph/NodeCreator.h>
#include <SceneGraph/VRMLFile.h>
#include <SceneGraph/TransformNode.h>
#include <Vrui/GlyphRenderer.h>
#include <Vrui/AffineCoordinateTransform.h>
#include <Vrui/Lightsource.h>
#include <Vrui/LightsourceManager.h>
#include <Vrui/Viewer.h>
#include <Vrui/CoordinateManager.h>
#include <Vrui/ToolManager.h>
#include <Vrui/ClusterSupport.h>
#include <Vrui/SurfaceNavigationTool.h>
#include <Vrui/OpenFile.h>
#include <Vrui/SceneGraphSupport.h>
#include "LidarOctree.h"
#include "LidarTool.h"
#include "LidarSelectionSaver.h"
#include "Primitive.h"
#include "PlanePrimitive.h"
#include "BruntonPrimitive.h"
#include "LinePrimitive.h"
#include "PointPrimitive.h"
#include "SpherePrimitive.h"
#include "CylinderPrimitive.h"
#include "PointClassifier.h"
#include "RidgeFinder.h"
#include "ProfileTool.h"
#include "SceneGraph.h"
#include "LoadPointSet.h"
#include "FallingSphereProcessor.h"
/**************
Helper classes:
**************/
namespace Misc {
template <>
class ValueCoder<LidarViewer::SelectorLocator::SelectorMode>
{
/* Methods: */
public:
static std::string encode(const LidarViewer::SelectorLocator::SelectorMode& value)
{
if(value==LidarViewer::SelectorLocator::ADD)
return "Add";
else
return "Subtract";
}
static LidarViewer::SelectorLocator::SelectorMode decode(const char* start,const char* end,const char** decodeEnd =0)
{
if(strncasecmp(start,"Add",end-start)==0)
{
if(decodeEnd!=0)
*decodeEnd=start+3;
return LidarViewer::SelectorLocator::ADD;
}
else if(strncasecmp(start,"Subtract",end-start)==0)
{
if(decodeEnd!=0)
*decodeEnd=start+8;
return LidarViewer::SelectorLocator::SUBTRACT;
}
else
throw DecodingError(Misc::printStdErrMsg("Could not convert %s to LidarViewer::SelectorLocator::SelectorMode",std::string(start,end).c_str()));
}
};
}
/*********************************************
Methods of class LidarViewer::SelectorLocator:
*********************************************/
LidarViewer::SelectorLocator::SelectorLocator(Vrui::LocatorTool* sTool,LidarViewer* sApplication,const Misc::ConfigurationFileSection* cfg)
:Locator(sTool,sApplication),
influenceRadius(application->brushSize),
selectorMode(application->defaultSelectorMode),
ready(false),
active(false)
{
if(cfg!=0)
{
/* Load tool settings from configuration file section: */
influenceRadius=cfg->retrieveValue<Vrui::Scalar>("./influenceRadius",influenceRadius);
selectorMode=cfg->retrieveValue<SelectorMode>("./selectorMode",selectorMode);
}
}
LidarViewer::SelectorLocator::~SelectorLocator(void)
{
}
void LidarViewer::SelectorLocator::storeState(Misc::ConfigurationFileSection& configFileSection) const
{
configFileSection.storeValue<Vrui::Scalar>("./influenceRadius",influenceRadius);
configFileSection.storeValue<SelectorMode>("./selectorMode",selectorMode);
}
void LidarViewer::SelectorLocator::getName(std::string& name) const
{
name="Select Points";
}
void LidarViewer::SelectorLocator::motionCallback(Vrui::LocatorTool::MotionCallbackData* cbData)
{
/* Update the locator's position and radius in model coordinates: */
locatorTransform=cbData->currentTransformation;
modelCenter=Point(locatorTransform.getOrigin());
modelRadius=Scalar(influenceRadius*locatorTransform.getScaling());
ready=true;
if(active)
{
switch(selectorMode)
{
case ADD:
for(int i=0;i<application->numOctrees;++i)
if(application->showOctrees[i])
application->octrees[i]->selectPoints(LidarOctree::Interactor(modelCenter,modelRadius));
break;
case SUBTRACT:
for(int i=0;i<application->numOctrees;++i)
if(application->showOctrees[i])
application->octrees[i]->deselectPoints(LidarOctree::Interactor(modelCenter,modelRadius));
break;
}
}
}
void LidarViewer::SelectorLocator::buttonPressCallback(Vrui::LocatorTool::ButtonPressCallbackData* cbData)
{
active=true;
}
void LidarViewer::SelectorLocator::buttonReleaseCallback(Vrui::LocatorTool::ButtonReleaseCallbackData* cbData)
{
active=false;
}
void LidarViewer::SelectorLocator::updateSettings(void)
{
influenceRadius=application->brushSize;
selectorMode=application->defaultSelectorMode;
}
void LidarViewer::SelectorLocator::glRenderAction(GLContextData& contextData) const
{
glPushAttrib(GL_COLOR_BUFFER_BIT|GL_ENABLE_BIT|GL_LINE_BIT|GL_POLYGON_BIT);
/* Retrieve context entry: */
DataItem* dataItem=contextData.retrieveDataItem<DataItem>(application);
/* Render the influence sphere: */
glDisable(GL_LIGHTING);
glPushMatrix();
glMultMatrix(locatorTransform);
glScale(influenceRadius);
glCallList(dataItem->influenceSphereDisplayListId);
glPopMatrix();
glPopAttrib();
}
/**************************************
Methods of class LidarViewer::DataItem:
**************************************/
LidarViewer::DataItem::DataItem(GLContextData& contextData)
:influenceSphereDisplayListId(glGenLists(1)),
pbls(contextData)
#ifdef LIDARVIEWER_VISUALIZE_WATER
,waterShader(0)
#endif
{
glGenTextures(1,&planeColorMapTextureId);
}
LidarViewer::DataItem::~DataItem(void)
{
glDeleteLists(influenceSphereDisplayListId,1);
glDeleteTextures(1,&planeColorMapTextureId);
#ifdef LIDARVIEWER_VISUALIZE_WATER
glDeleteObjectARB(waterShader);
#endif
}
/****************************
Methods of class LidarViewer:
****************************/
GLMotif::PopupMenu* LidarViewer::createSelectorModesMenu(void)
{
GLMotif::PopupMenu* selectorModesMenuPopup=new GLMotif::PopupMenu("SelectorModesMenuPopup",Vrui::getWidgetManager());
GLMotif::Menu* selectorModesMenu=new GLMotif::Menu("SelectorModesMenu",selectorModesMenuPopup,false);
GLMotif::RadioBox* selectorModes=new GLMotif::RadioBox("SelectorModes",selectorModesMenu,false);
selectorModes->setSelectionMode(GLMotif::RadioBox::ALWAYS_ONE);
selectorModes->addToggle("Add");
selectorModes->addToggle("Subtract");
selectorModes->manageChild();
switch(defaultSelectorMode)
{
case SelectorLocator::ADD:
selectorModes->setSelectedToggle(0);
break;
case SelectorLocator::SUBTRACT:
selectorModes->setSelectedToggle(1);
break;
}
selectorModes->getValueChangedCallbacks().add(this,&LidarViewer::changeSelectorModeCallback);
mainMenuSelectorModes=selectorModes;
selectorModesMenu->manageChild();
return selectorModesMenuPopup;
}
GLMotif::PopupMenu* LidarViewer::createSelectionMenu(void)
{
GLMotif::PopupMenu* selectionMenuPopup=new GLMotif::PopupMenu("SelectionMenuPopup",Vrui::getWidgetManager());
GLMotif::Menu* selectionMenu=new GLMotif::Menu("SelectionMenu",selectionMenuPopup,false);
GLMotif::Button* classifySelectionButton=new GLMotif::Button("ClassifySelectionButton",selectionMenu,"Classify Selection");
classifySelectionButton->getSelectCallbacks().add(this,&LidarViewer::classifySelectionCallback);
GLMotif::Button* saveSelectionButton=new GLMotif::Button("SaveSelectionButton",selectionMenu,"Save Selection...");
saveSelectionButton->getSelectCallbacks().add(this,&LidarViewer::saveSelectionCallback);
new GLMotif::Separator("Separator1",selectionMenu,GLMotif::Separator::HORIZONTAL,0.0f,GLMotif::Separator::LOWERED);
GLMotif::Button* clearSelectionButton=new GLMotif::Button("ClearSelectionButton",selectionMenu,"Clear Selection");
clearSelectionButton->getSelectCallbacks().add(this,&LidarViewer::clearSelectionCallback);
selectionMenu->manageChild();
return selectionMenuPopup;
}
GLMotif::PopupMenu* LidarViewer::createExtractionMenu(void)
{
GLMotif::PopupMenu* extractionMenuPopup=new GLMotif::PopupMenu("ExtractionMenuPopup",Vrui::getWidgetManager());
GLMotif::Menu* extractionMenu=new GLMotif::Menu("ExtractionMenu",extractionMenuPopup,false);
GLMotif::Button* extractPlaneButton=new GLMotif::Button("ExtractPlaneButton",extractionMenu,"Extract Plane");
extractPlaneButton->getSelectCallbacks().add(this,&LidarViewer::extractPlaneCallback);
GLMotif::Button* extractBruntonButton=new GLMotif::Button("ExtractBruntonButton",extractionMenu,"Indicate Strike+Dip");
extractBruntonButton->getSelectCallbacks().add(this,&LidarViewer::extractBruntonCallback);
GLMotif::Button* extractLineButton=new GLMotif::Button("ExtractLineButton",extractionMenu,"Extract Line");
extractLineButton->getSelectCallbacks().add(this,&LidarViewer::extractLineCallback);
GLMotif::Button* extractSphereButton=new GLMotif::Button("ExtractSphereButton",extractionMenu,"Extract Sphere");
extractSphereButton->getSelectCallbacks().add(this,&LidarViewer::extractSphereCallback);
GLMotif::Button* extractCylinderButton=new GLMotif::Button("ExtractCylinderButton",extractionMenu,"Extract Cylinder");
extractCylinderButton->getSelectCallbacks().add(this,&LidarViewer::extractCylinderCallback);
GLMotif::Button* intersectPrimitivesButton=new GLMotif::Button("IntersectPrimitivesButton",extractionMenu,"Intersect Primitives");
intersectPrimitivesButton->getSelectCallbacks().add(this,&LidarViewer::intersectPrimitivesCallback);
GLMotif::Button* loadPrimitivesButton=new GLMotif::Button("LoadPrimitivesButton",extractionMenu,"Load Primitives...");
loadPrimitivesButton->getSelectCallbacks().add(this,&LidarViewer::loadPrimitivesCallback);
GLMotif::Button* savePrimitivesButton=new GLMotif::Button("SavePrimitivesButton",extractionMenu,"Save Primitives...");
savePrimitivesButton->getSelectCallbacks().add(this,&LidarViewer::savePrimitivesCallback);
new GLMotif::Separator("Separator1",extractionMenu,GLMotif::Separator::HORIZONTAL,0.0f,GLMotif::Separator::LOWERED);
GLMotif::Button* deleteSelectedPrimitivesButton=new GLMotif::Button("DeleteSelectedPrimitivesButton",extractionMenu,"Delete Selected Primitives");
deleteSelectedPrimitivesButton->getSelectCallbacks().add(this,&LidarViewer::deleteSelectedPrimitivesCallback);
GLMotif::Button* clearPrimitivesButton=new GLMotif::Button("ClearPrimitivesButton",extractionMenu,"Clear Primitives");
clearPrimitivesButton->getSelectCallbacks().add(this,&LidarViewer::clearPrimitivesCallback);
extractionMenu->manageChild();
return extractionMenuPopup;
}
GLMotif::PopupMenu* LidarViewer::createDialogMenu(void)
{
GLMotif::PopupMenu* dialogMenuPopup=new GLMotif::PopupMenu("DialogMenuPopup",Vrui::getWidgetManager());
GLMotif::Menu* dialogMenu=new GLMotif::Menu("DialogMenu",dialogMenuPopup,false);
if(numOctrees>1)
{
GLMotif::Button* showOctreeDialogButton=new GLMotif::Button("ShowOctreeDialogButton",dialogMenu,"Show Octree Dialog");
showOctreeDialogButton->getSelectCallbacks().add(this,&LidarViewer::showOctreeDialogCallback);
}
GLMotif::Button* showRenderDialogButton=new GLMotif::Button("ShowRenderDialogButton",dialogMenu,"Show Render Dialog");
showRenderDialogButton->getSelectCallbacks().add(this,&LidarViewer::showRenderDialogCallback);
GLMotif::Button* showInteractionDialogButton=new GLMotif::Button("ShowInteractionDialogButton",dialogMenu,"Show Interaction Dialog");
showInteractionDialogButton->getSelectCallbacks().add(this,&LidarViewer::showInteractionDialogCallback);
dialogMenu->manageChild();
return dialogMenuPopup;
}
GLMotif::PopupMenu* LidarViewer::createMainMenu(void)
{
GLMotif::PopupMenu* mainMenuPopup=new GLMotif::PopupMenu("MainMenuPopup",Vrui::getWidgetManager());
mainMenuPopup->setTitle("LiDAR Viewer");
GLMotif::Menu* mainMenu=new GLMotif::Menu("MainMenu",mainMenuPopup,false);
GLMotif::CascadeButton* selectorModesCascade=new GLMotif::CascadeButton("SelectorModesCascade",mainMenu,"Selector Modes");
selectorModesCascade->setPopup(createSelectorModesMenu());
GLMotif::CascadeButton* selectionCascade=new GLMotif::CascadeButton("SelectionCascade",mainMenu,"Selection");
selectionCascade->setPopup(createSelectionMenu());
GLMotif::CascadeButton* extractionCascade=new GLMotif::CascadeButton("ExtractionCascade",mainMenu,"Primitives");
extractionCascade->setPopup(createExtractionMenu());
GLMotif::CascadeButton* dialogCascade=new GLMotif::CascadeButton("DialogCascade",mainMenu,"Dialogs");
dialogCascade->setPopup(createDialogMenu());
#if 0
GLMotif::ToggleButton* updateTreeToggle=new GLMotif::ToggleButton("UpdateTreeToggle",mainMenu,"Update Tree");
updateTreeToggle->setToggle(updateTree);
updateTreeToggle->getValueChangedCallbacks().add(this,&LidarViewer::updateTreeCallback);
#endif
mainMenu->manageChild();
return mainMenuPopup;
}
GLMotif::PopupWindow* LidarViewer::createOctreeDialog(void)
{
GLMotif::PopupWindow* octreeDialog=new GLMotif::PopupWindow("OctreeDialog",Vrui::getWidgetManager(),"Octree Selection");
octreeDialog->setCloseButton(true);
octreeDialog->setResizableFlags(false,false);
octreeDialog->popDownOnClose();
GLMotif::RowColumn* octreeSelection=new GLMotif::RowColumn("OctreeSelection",octreeDialog,false);
octreeSelection->setOrientation(GLMotif::RowColumn::HORIZONTAL);
octreeSelection->setPacking(GLMotif::RowColumn::PACK_GRID);
octreeSelection->setNumMinorWidgets(1);
char toggleName[20]="OctreeToggle";
char toggleLabel[10];
for(int i=0;i<numOctrees;++i)
{
char* tnPtr=Misc::print(i,toggleName+12+4);
while(tnPtr>toggleName+12)
*(--tnPtr)='0';
GLMotif::ToggleButton* octreeToggle=new GLMotif::ToggleButton(toggleName,octreeSelection,Misc::print(i,toggleLabel+9));
octreeToggle->setToggle(showOctrees[i]);
octreeToggle->getValueChangedCallbacks().add(this,&LidarViewer::octreeSelectionCallback,i);
}
octreeSelection->manageChild();
return octreeDialog;
}
GLMotif::PopupWindow* LidarViewer::createRenderDialog(void)
{
const GLMotif::StyleSheet& ss=*Vrui::getWidgetManager()->getStyleSheet();
GLMotif::PopupWindow* renderDialog=new GLMotif::PopupWindow("RenderDialog",Vrui::getWidgetManager(),"Render Settings");
renderDialog->setCloseButton(true);
renderDialog->setResizableFlags(true,false);
renderDialog->popDownOnClose();
GLMotif::Pager* renderPager=new GLMotif::Pager("RenderPager",renderDialog,false);
/* Create a page with LOD settings: */
renderPager->setNextPageName("LOD");
GLMotif::RowColumn* lodBox=new GLMotif::RowColumn("LODBox",renderPager,false);
lodBox->setOrientation(GLMotif::RowColumn::VERTICAL);
lodBox->setPacking(GLMotif::RowColumn::PACK_TIGHT);
lodBox->setNumMinorWidgets(2);
/* Create a slider/textfield combo to change the rendering quality: */
new GLMotif::Label("RenderQualityLabel",lodBox,"Render Quality");
GLMotif::TextFieldSlider* renderQualitySlider=new GLMotif::TextFieldSlider("RenderQualitySlider",lodBox,6,ss.fontHeight*10.0f);
renderQualitySlider->getTextField()->setFloatFormat(GLMotif::TextField::FIXED);
renderQualitySlider->getTextField()->setFieldWidth(5);
renderQualitySlider->getTextField()->setPrecision(2);
renderQualitySlider->setValueRange(-3.0,3.0,0.01);
renderQualitySlider->getSlider()->addNotch(0.0f);
renderQualitySlider->setValue(double(renderQuality));
renderQualitySlider->getValueChangedCallbacks().add(this,&LidarViewer::renderQualitySliderCallback);
/* Create a slider/textfield combo to change the focus+context weight: */
new GLMotif::Label("FncWeightLabel",lodBox,"Focus + Context");
GLMotif::TextFieldSlider* fncWeightSlider=new GLMotif::TextFieldSlider("FncWeightSlider",lodBox,6,ss.fontHeight*10.0f);
fncWeightSlider->getTextField()->setFloatFormat(GLMotif::TextField::FIXED);
fncWeightSlider->getTextField()->setFieldWidth(5);
fncWeightSlider->getTextField()->setPrecision(2);
fncWeightSlider->setValueRange(0.0,2.0,0.01);
fncWeightSlider->setValue(double(fncWeight));
fncWeightSlider->getValueChangedCallbacks().add(this,&LidarViewer::fncWeightSliderCallback);
/* Create a slider/textfield combo to change the point size: */
new GLMotif::Label("PointSizeLabel",lodBox,"Point Size");
GLMotif::TextFieldSlider* pointSizeSlider=new GLMotif::TextFieldSlider("PointSizeSlider",lodBox,6,ss.fontHeight*10.0f);
pointSizeSlider->getTextField()->setFloatFormat(GLMotif::TextField::FIXED);
pointSizeSlider->getTextField()->setFieldWidth(4);
pointSizeSlider->getTextField()->setPrecision(1);
pointSizeSlider->setValueRange(1.0,10.0,0.5);
pointSizeSlider->setValue(double(pointSize));
pointSizeSlider->getValueChangedCallbacks().add(this,&LidarViewer::pointSizeSliderCallback);
for(int i=0;i<3;++i)
lodBox->setRowWeight(i,1.0f);
lodBox->manageChild();
/* Create a page with environment settings: */
renderPager->setNextPageName("Environment");
GLMotif::RowColumn* environmentBox=new GLMotif::RowColumn("EnvironmentBox",renderPager,false);
environmentBox->setOrientation(GLMotif::RowColumn::VERTICAL);
environmentBox->setPacking(GLMotif::RowColumn::PACK_TIGHT);
environmentBox->setNumMinorWidgets(2);
/* Create a color selector to change the environment's background color: */
new GLMotif::Label("BackgroundColorLabel",environmentBox,"Background Color");
GLMotif::Margin* backgroundColorMargin=new GLMotif::Margin("BackgroundColorMargin",environmentBox,false);
backgroundColorMargin->setAlignment(GLMotif::Alignment(GLMotif::Alignment::HCENTER));
GLMotif::HSVColorSelector* backgroundColorSelector=new GLMotif::HSVColorSelector("BackgroundColorSelector",backgroundColorMargin);
backgroundColorSelector->setCurrentColor(Vrui::getBackgroundColor());
backgroundColorSelector->getValueChangedCallbacks().add(this,&LidarViewer::backgroundColorSelectorCallback);
backgroundColorMargin->manageChild();
/* Create a slider/textfield combo to change the backplane distance: */
new GLMotif::Label("DrawDistanceLabel",environmentBox,"Draw Distance");
GLMotif::TextFieldSlider* drawDistanceSlider=new GLMotif::TextFieldSlider("DrawDistanceSlider",environmentBox,10,ss.fontHeight*10.0f);
drawDistanceSlider->getTextField()->setFloatFormat(GLMotif::TextField::SMART);
drawDistanceSlider->getTextField()->setFieldWidth(8);
drawDistanceSlider->getTextField()->setPrecision(8);
drawDistanceSlider->setSliderMapping(GLMotif::TextFieldSlider::EXP10);
double minDrawDist=Math::pow(10.0,Math::ceil(Math::log10(double(Vrui::getFrontplaneDist())*2.0/double(Vrui::getMeterFactor()))));
drawDistanceSlider->setValueRange(minDrawDist,1000000.0,0.1);
drawDistanceSlider->setValue(Vrui::getBackplaneDist()/Vrui::getMeterFactor());
drawDistanceSlider->getValueChangedCallbacks().add(this,&LidarViewer::drawDistanceSliderCallback);
/* Create a drop-down box to change the fog type: */
new GLMotif::Label("FogTypeLabel",environmentBox,"Fog Type");
environmentBox->manageChild();
/* Check if any of the octrees have normal vectors: */
bool haveNormalVectors=false;
for(int i=0;i<numOctrees;++i)
haveNormalVectors=haveNormalVectors||octrees[i]->hasNormalVectors();
if(haveNormalVectors)
{
/* Create a page with lighting settings: */
renderPager->setNextPageName("Lighting");
GLMotif::RowColumn* lightingBox=new GLMotif::RowColumn("LightingBox",renderPager,false);
lightingBox->setOrientation(GLMotif::RowColumn::VERTICAL);
lightingBox->setPacking(GLMotif::RowColumn::PACK_TIGHT);
lightingBox->setNumMinorWidgets(2);
/* Create a toggle button to enable point-based lighting: */
GLMotif::Margin* enableLightingMargin=new GLMotif::Margin("EnableLightingMargin",lightingBox,false);
enableLightingMargin->setAlignment(GLMotif::Alignment(GLMotif::Alignment::LEFT,GLMotif::Alignment::VCENTER));
GLMotif::ToggleButton* enableLightingToggle=new GLMotif::ToggleButton("EnableLightingToggle",enableLightingMargin,"Lighting");
enableLightingToggle->setBorderWidth(0.0f);
enableLightingToggle->setHAlignment(GLFont::Left);
enableLightingToggle->setToggle(pointBasedLighting);
enableLightingToggle->getValueChangedCallbacks().add(this,&LidarViewer::enableLightingCallback);
enableLightingMargin->manageChild();
/* Create a toggle button to enable point colors: */
GLMotif::Margin* usePointColorsMargin=new GLMotif::Margin("UsePointColorsMargin",lightingBox,false);
usePointColorsMargin->setAlignment(GLMotif::Alignment(GLMotif::Alignment::LEFT,GLMotif::Alignment::VCENTER));
GLMotif::ToggleButton* usePointColorsToggle=new GLMotif::ToggleButton("UsePointColorsToggle",usePointColorsMargin,"Use Point Colors");
usePointColorsToggle->setBorderWidth(0.0f);
usePointColorsToggle->setHAlignment(GLFont::Left);
usePointColorsToggle->setToggle(usePointColors);
usePointColorsToggle->getValueChangedCallbacks().add(this,&LidarViewer::usePointColorsCallback);
usePointColorsMargin->manageChild();
/* Create a button to enable point splatting: */
GLMotif::Margin* useSplattingMargin=new GLMotif::Margin("UseSplattingMargin",lightingBox,false);
useSplattingMargin->setAlignment(GLMotif::Alignment(GLMotif::Alignment::LEFT,GLMotif::Alignment::VCENTER));
GLMotif::ToggleButton* useSplattingToggle=new GLMotif::ToggleButton("UseSplattingToggle",useSplattingMargin,"Splat Size");
useSplattingToggle->setBorderWidth(0.0f);
useSplattingToggle->setHAlignment(GLFont::Left);
useSplattingToggle->setToggle(useSplatting);
useSplattingToggle->getValueChangedCallbacks().add(this,&LidarViewer::useSplattingCallback);
useSplattingMargin->manageChild();
GLMotif::TextFieldSlider* splatSizeSlider=new GLMotif::TextFieldSlider("SplatSizeSlider",lightingBox,6,ss.fontHeight*10.0f);
splatSizeSlider->getTextField()->setFloatFormat(GLMotif::TextField::FIXED);
splatSizeSlider->getTextField()->setFieldWidth(6);
splatSizeSlider->getTextField()->setPrecision(3);
splatSizeSlider->setSliderMapping(GLMotif::TextFieldSlider::EXP10);
splatSizeSlider->setValueRange(0.001,1000.0,0.01);
splatSizeSlider->setValue(double(splatSize));
splatSizeSlider->getValueChangedCallbacks().add(this,&LidarViewer::splatSizeSliderCallback);
/* Create a toggle button to enable a fixed-position light source: */
GLMotif::Margin* enableSunMargin=new GLMotif::Margin("EnableSunMargin",lightingBox,false);
enableSunMargin->setAlignment(GLMotif::Alignment(GLMotif::Alignment::LEFT,GLMotif::Alignment::VCENTER));
GLMotif::ToggleButton* enableSunToggle=new GLMotif::ToggleButton("SunToggle",enableSunMargin,"Sun Light Source");
enableSunToggle->setBorderWidth(0.0f);
enableSunToggle->setHAlignment(GLFont::Left);
enableSunToggle->setToggle(enableSun);
enableSunToggle->getValueChangedCallbacks().add(this,&LidarViewer::enableSunCallback);
enableSunMargin->manageChild();
/* Create a box with a pair of sliders to control the sun light source: */
GLMotif::RowColumn* sunBox=new GLMotif::RowColumn("SunBox",lightingBox,false);
sunBox->setOrientation(GLMotif::RowColumn::VERTICAL);
sunBox->setNumMinorWidgets(2);
new GLMotif::Label("SunAzimuthLabel",sunBox,"Azimuth");
GLMotif::TextFieldSlider* sunAzimuthSlider=new GLMotif::TextFieldSlider("SunAzimuthSlider",sunBox,6,ss.fontHeight*10.0f);
sunAzimuthSlider->getTextField()->setFloatFormat(GLMotif::TextField::FIXED);
sunAzimuthSlider->getTextField()->setFieldWidth(3);
sunAzimuthSlider->getTextField()->setPrecision(0);
sunAzimuthSlider->setValueRange(0.0,360.0,1.0);
sunAzimuthSlider->setValue(double(sunAzimuth));
sunAzimuthSlider->getValueChangedCallbacks().add(this,&LidarViewer::sunAzimuthSliderCallback);
new GLMotif::Label("SunElevationLabel",sunBox,"Elevation");
GLMotif::TextFieldSlider* sunElevationSlider=new GLMotif::TextFieldSlider("SunElevationSlider",sunBox,6,ss.fontHeight*10.0f);
sunElevationSlider->getTextField()->setFloatFormat(GLMotif::TextField::FIXED);
sunElevationSlider->getTextField()->setFieldWidth(2);
sunElevationSlider->getTextField()->setPrecision(0);
sunElevationSlider->setValueRange(-90.0,90.0,1.0);
sunElevationSlider->setValue(double(sunElevation));
sunElevationSlider->getValueChangedCallbacks().add(this,&LidarViewer::sunElevationSliderCallback);
sunBox->manageChild();
for(int i=0;i<3;++i)
lightingBox->setRowWeight(i,1.0f);
lightingBox->manageChild();
/* Create a page to edit material properties: */
renderPager->setNextPageName("Material");
GLMotif::Margin* materialMargin=new GLMotif::Margin("MaterialMargin",renderPager,false);
materialMargin->setAlignment(GLMotif::Alignment(GLMotif::Alignment::HCENTER,GLMotif::Alignment::VCENTER));
GLMotif::MaterialEditor* materialEditor=new GLMotif::MaterialEditor("MaterialEditor",materialMargin);
materialEditor->setMaterial(surfaceMaterial);
materialEditor->getValueChangedCallbacks().add(this,&LidarViewer::materialCallback);
materialMargin->manageChild();
}
/* Create a page with plane setting: */
renderPager->setNextPageName("Plane");
GLMotif::RowColumn* planeBox=new GLMotif::RowColumn("PlaneBox",renderPager,false);
planeBox->setOrientation(GLMotif::RowColumn::VERTICAL);
planeBox->setPacking(GLMotif::RowColumn::PACK_TIGHT);
planeBox->setNumMinorWidgets(2);
new GLMotif::Label("ExaggerationLabel",planeBox,"Exaggeration");
GLMotif::TextFieldSlider* exaggerationSlider=new GLMotif::TextFieldSlider("ExaggerationSlider",planeBox,8,ss.fontHeight*10.0f);
exaggerationSlider->getTextField()->setFieldWidth(8);
exaggerationSlider->getTextField()->setPrecision(3);
exaggerationSlider->setSliderMapping(GLMotif::TextFieldSlider::EXP10);
exaggerationSlider->setValueRange(0.05,20.0,0.02);
exaggerationSlider->getSlider()->addNotch(0.0f);
exaggerationSlider->setValue(double(planeDistanceExaggeration));
exaggerationSlider->getValueChangedCallbacks().add(this,&LidarViewer::distanceExaggerationSliderCallback);
/* Create a toggle button to enable plane distance visualization: */
GLMotif::Margin* enableTexturePlaneMargin=new GLMotif::Margin("EnableTexturePlaneMargin",planeBox,false);
enableTexturePlaneMargin->setAlignment(GLMotif::Alignment(GLMotif::Alignment::LEFT,GLMotif::Alignment::VCENTER));
GLMotif::ToggleButton* enableTexturePlaneToggle=new GLMotif::ToggleButton("EnableTexturePlaneToggle",enableTexturePlaneMargin,"Show Plane Distance");
enableTexturePlaneToggle->setBorderWidth(0.0f);
enableTexturePlaneToggle->setHAlignment(GLFont::Left);
enableTexturePlaneToggle->setToggle(useTexturePlane);
enableTexturePlaneToggle->getValueChangedCallbacks().add(this,&LidarViewer::enableTexturePlaneCallback);
enableTexturePlaneMargin->manageChild();
/* Create a slider to select the plane distance visualization scale: */
GLMotif::TextFieldSlider* texturePlaneScaleSlider=new GLMotif::TextFieldSlider("TexturePlaneScaleSlider",planeBox,8,ss.fontHeight*10.0f);
texturePlaneScaleSlider->getTextField()->setFieldWidth(8);
texturePlaneScaleSlider->getTextField()->setPrecision(3);
texturePlaneScaleSlider->setSliderMapping(GLMotif::TextFieldSlider::EXP10);
texturePlaneScaleSlider->setValueRange(0.01,10000.0,0.1);
texturePlaneScaleSlider->setValue(double(texturePlaneScale));
texturePlaneScaleSlider->getValueChangedCallbacks().add(this,&LidarViewer::texturePlaneScaleSliderCallback);
#ifdef LIDARVIEWER_VISUALIZE_WATER
/* Create a slider to adjust the vertical plane position: */
new GLMotif::Label("PlaneOffsetLabel",planeBox,"Plane Offset");
GLMotif::TextFieldSlider* texturePlaneOffsetSlider=new GLMotif::TextFieldSlider("TexturePlaneOffsetSlider",planeBox,8,ss.fontHeight*10.0f);
texturePlaneOffsetSlider->getTextField()->setFieldWidth(8);
texturePlaneOffsetSlider->getTextField()->setPrecision(3);
texturePlaneOffsetSlider->setSliderMapping(GLMotif::TextFieldSlider::LINEAR);
texturePlaneOffsetSlider->setValueRange(-20.0,20.0,0.01);
texturePlaneOffsetSlider->getSlider()->addNotch(0.0f);
texturePlaneOffsetSlider->setValue(double(texturePlaneOffset));
texturePlaneOffsetSlider->getValueChangedCallbacks().add(this,&LidarViewer::texturePlaneOffsetSliderCallback);
for(int i=0;i<3;++i)
planeBox->setRowWeight(i,1.0f);
#else
for(int i=0;i<2;++i)
planeBox->setRowWeight(i,1.0f);
#endif
planeBox->manageChild();
renderPager->manageChild();
return renderDialog;
}
GLMotif::PopupWindow* LidarViewer::createInteractionDialog(void)
{
const GLMotif::StyleSheet& ss=*Vrui::getWidgetManager()->getStyleSheet();
GLMotif::PopupWindow* interactionDialog=new GLMotif::PopupWindow("InteractionDialog",Vrui::getWidgetManager(),"Interaction Settings");
interactionDialog->setCloseButton(true);
interactionDialog->setResizableFlags(true,false);
interactionDialog->popDownOnClose();
GLMotif::RowColumn* interactionSettings=new GLMotif::RowColumn("InteractionSettings",interactionDialog,false);
interactionSettings->setOrientation(GLMotif::RowColumn::VERTICAL);
interactionSettings->setPacking(GLMotif::RowColumn::PACK_TIGHT);
interactionSettings->setNumMinorWidgets(1);
/* Create a box with tool settings: */
GLMotif::Margin* toolSettingsMargin=new GLMotif::Margin("ToolSettingsMargin",interactionSettings,false);
toolSettingsMargin->setAlignment(GLMotif::Alignment(GLMotif::Alignment::LEFT,GLMotif::Alignment::VCENTER));
GLMotif::RowColumn* toolSettingsBox=new GLMotif::RowColumn("ToolSettingsBox",toolSettingsMargin,false);
toolSettingsBox->setOrientation(GLMotif::RowColumn::HORIZONTAL);
toolSettingsBox->setPacking(GLMotif::RowColumn::PACK_TIGHT);
toolSettingsBox->setNumMinorWidgets(1);
/* Create a toggle button to override existing tools' settings: */
GLMotif::ToggleButton* overrideToolsToggle=new GLMotif::ToggleButton("OverrideToolsToggle",toolSettingsBox,"Override Tools");
overrideToolsToggle->setBorderWidth(0.0f);
overrideToolsToggle->setHAlignment(GLFont::Left);
overrideToolsToggle->setToggle(overrideTools);
overrideToolsToggle->getValueChangedCallbacks().add(this,&LidarViewer::overrideToolsCallback);
new GLMotif::Separator("Separator1",toolSettingsBox,GLMotif::Separator::VERTICAL,0.0f,GLMotif::Separator::LOWERED);
/* Create a radio box to select selection modes: */
interactionDialogSelectorModes=new GLMotif::RadioBox("InteractionDialogSelectorModes",toolSettingsBox,false);
interactionDialogSelectorModes->setOrientation(GLMotif::RowColumn::HORIZONTAL);
interactionDialogSelectorModes->setPacking(GLMotif::RowColumn::PACK_TIGHT);
interactionDialogSelectorModes->setSelectionMode(GLMotif::RadioBox::ALWAYS_ONE);
interactionDialogSelectorModes->addToggle("Add");
interactionDialogSelectorModes->addToggle("Subtract");
switch(defaultSelectorMode)
{
case SelectorLocator::ADD:
interactionDialogSelectorModes->setSelectedToggle(0);
break;
case SelectorLocator::SUBTRACT:
interactionDialogSelectorModes->setSelectedToggle(1);
break;
}
interactionDialogSelectorModes->getValueChangedCallbacks().add(this,&LidarViewer::changeSelectorModeCallback);
interactionDialogSelectorModes->manageChild();
toolSettingsBox->manageChild();
toolSettingsMargin->manageChild();
/* Create a box with sliders to adjust interaction sizes: */
GLMotif::RowColumn* sliderBox=new GLMotif::RowColumn("SliderBox",interactionSettings,false);
sliderBox->setOrientation(GLMotif::RowColumn::VERTICAL);
sliderBox->setPacking(GLMotif::RowColumn::PACK_TIGHT);
sliderBox->setNumMinorWidgets(2);
/* Create a slider to change the size of the selection brush: */
new GLMotif::Label("BrushSizeLabel",sliderBox,"Brush Size");
GLMotif::TextFieldSlider* brushSizeSlider=new GLMotif::TextFieldSlider("BrushSizeSlider",sliderBox,8,ss.fontHeight*10.0f);
brushSizeSlider->getTextField()->setFieldWidth(7);
brushSizeSlider->getTextField()->setPrecision(4);
brushSizeSlider->setValueRange(double(brushSize)*0.1,double(brushSize)*5.0,double(brushSize)*0.01);
brushSizeSlider->setValue(double(brushSize));
brushSizeSlider->getValueChangedCallbacks().add(this,&LidarViewer::brushSizeSliderCallback);
/* Create a slider to change the size of the processing neighborhood: */
new GLMotif::Label("NeighborhoodSizeLabel",sliderBox,"Neighborhood Size");
GLMotif::TextFieldSlider* neighborhoodSizeSlider=new GLMotif::TextFieldSlider("NeighborhoodSizeSlider",sliderBox,8,ss.fontHeight*10.0f);
neighborhoodSizeSlider->getTextField()->setFieldWidth(7);
neighborhoodSizeSlider->getTextField()->setPrecision(4);
neighborhoodSizeSlider->setSliderMapping(GLMotif::TextFieldSlider::EXP10);
neighborhoodSizeSlider->setValueRange(10.0e-3,10.0e3,0.1);
neighborhoodSizeSlider->setValue(double(neighborhoodSize));
neighborhoodSizeSlider->getValueChangedCallbacks().add(this,&LidarViewer::neighborhoodSizeSliderCallback);
sliderBox->manageChild();
interactionSettings->manageChild();
return interactionDialog;
}
void LidarViewer::draggingToolCallback(Vrui::DraggingTool::DragStartCallbackData* cbData)
{
/* Get the dragging tool's selection point in model coordinates: */
Point pickPoint=cbData->startTransformation.getOrigin();
/* Pick against all primitives: */
Scalar minDistance=Vrui::getInchFactor()*Vrui::getInverseNavigationTransformation().getScaling();
int pickedPrimitiveIndex=-1;
for(int i=0;i<int(primitives.size());++i)
{
Scalar dist=primitives[i]->pick(pickPoint,minDistance);
if(minDistance>dist)
{
minDistance=dist;
pickedPrimitiveIndex=i;
}
}
if(pickedPrimitiveIndex>=0)
{
/* Select or deselect the primitive: */
if(primitiveSelectedFlags[pickedPrimitiveIndex])
deselectPrimitive(pickedPrimitiveIndex);
else
selectPrimitive(pickedPrimitiveIndex);
lastPickedPrimitive=pickedPrimitiveIndex;
}
}
int LidarViewer::addPrimitive(Primitive* newPrimitive)
{
/* Set the new primitive's color: */
newPrimitive->setSurfaceColor(primitiveColor);
newPrimitive->setGridColor(Primitive::Color(0.2f,0.2f,0.2f));
/* Store the new primitive: */
primitives.push_back(newPrimitive);
primitiveSelectedFlags.push_back(false);
return int(primitives.size())-1;
}
void LidarViewer::selectPrimitive(int primitiveIndex)
{
if(!primitiveSelectedFlags[primitiveIndex])
{
primitives[primitiveIndex]->setSurfaceColor(selectedPrimitiveColor);
primitiveSelectedFlags[primitiveIndex]=true;
}
}
void LidarViewer::deselectPrimitive(int primitiveIndex)
{
if(primitiveSelectedFlags[primitiveIndex])
{
primitives[primitiveIndex]->setSurfaceColor(primitiveColor);
primitiveSelectedFlags[primitiveIndex]=false;
}
}
void LidarViewer::deletePrimitive(int primitiveIndex)
{
delete primitives[primitiveIndex];
primitives.erase(primitives.begin()+primitiveIndex);
primitiveSelectedFlags.erase(primitiveSelectedFlags.begin()+primitiveIndex);
}
void LidarViewer::updateSun(void)
{
/* Compute the light source's direction vector: */
Vrui::Scalar z=Math::sin(Math::rad(sunElevation));
Vrui::Scalar xy=Math::cos(Math::rad(sunElevation));
Vrui::Scalar x=xy*Math::sin(Math::rad(sunAzimuth));
Vrui::Scalar y=xy*Math::cos(Math::rad(sunAzimuth));
sun->getLight().position=GLLight::Position(GLLight::Scalar(x),GLLight::Scalar(y),GLLight::Scalar(z),GLLight::Scalar(0));
}
void LidarViewer::setEnableSun(bool newEnableSun)
{
if(enableSun!=newEnableSun)
{
enableSun=newEnableSun;
if(enableSun)
{
/* Store the headlight enable states of all viewers and disable all headlights: */
viewerHeadlightStates=new bool[Vrui::getNumViewers()];
for(int i=0;i<Vrui::getNumViewers();++i)
{
viewerHeadlightStates[i]=Vrui::getViewer(i)->getHeadlight().isEnabled();
Vrui::getViewer(i)->setHeadlightState(false);
}
/* Enable and update the sun light source: */
sun->enable();
updateSun();
}
else
{
/* Reset the headlight enable states of all viewers: */
for(int i=0;i<Vrui::getNumViewers();++i)
Vrui::getViewer(i)->setHeadlightState(viewerHeadlightStates[i]);
delete[] viewerHeadlightStates;
viewerHeadlightStates=0;
/* Disable the sun light source: */
sun->disable();
}
}
}
LidarViewer::LidarViewer(int& argc,char**& argv)
:Vrui::Application(argc,argv),
numOctrees(0),octrees(0),showOctrees(0),
coordTransform(0),
renderQuality(0),fncWeight(0.5),
pointSize(3.0f),
pointBasedLighting(false),
surfaceMaterial(GLMaterial::Color(1.0f,1.0f,1.0f),GLMaterial::Color(0.6f,0.6f,0.6f),30.0f),
usePointColors(true),useSplatting(false),splatSize(0.1),
enableSun(false),viewerHeadlightStates(0),sunAzimuth(180),sunElevation(45),sun(0),
useTexturePlane(false),texturePlane(GPlane::Vector(0.0,0.0,1.0),0.0),texturePlaneScale(100.0),
#ifdef LIDARVIEWER_VISUALIZE_WATER
texturePlaneOffset(0.0),
#endif
planeDistanceExaggeration(1.0),
updateTree(true),
lastFrameTime(Vrui::getApplicationTime()),
overrideTools(true),
brushSize(Vrui::getGlyphRenderer()->getGlyphSize()*Vrui::Scalar(2.5)),
brushColor(0.6f,0.6f,0.1f,0.5f),
defaultSelectorMode(SelectorLocator::ADD),
neighborhoodSize(1),
extractorPipe(Vrui::openPipe()),
primitiveColor(0.5f,0.5f,0.1f,0.5f),
selectedPrimitiveColor(0.1f,0.5f,0.5f,0.5f),
lastPickedPrimitive(-1),
mainMenu(0),octreeDialog(0),renderDialog(0),interactionDialog(0),
sceneGraphRoot(0),
dataDirectory(0)
{
memCacheSize=512;
unsigned int gfxCacheSize=128;
try
{
/* Open LidarViewer's configuration file: */
Misc::ConfigurationFile configFile(LIDARVIEWER_CONFIGFILENAME);
Misc::ConfigurationFileSection cfg=configFile.getSection("/LidarViewer");
/* Override program settings from configuration file: */
renderQuality=cfg.retrieveValue<Scalar>("./renderQuality",renderQuality);
fncWeight=cfg.retrieveValue<Scalar>("./focusAndContextWeight",fncWeight);
pointSize=cfg.retrieveValue<float>("./pointSize",pointSize);
pointBasedLighting=cfg.retrieveValue<bool>("./enableLighting",pointBasedLighting);
surfaceMaterial=cfg.retrieveValue<GLMaterial>("./surfaceMaterial",surfaceMaterial);
usePointColors=cfg.retrieveValue<bool>("./usePointColors",usePointColors);
useSplatting=cfg.retrieveValue<bool>("./useSplatting",useSplatting);
splatSize=cfg.retrieveValue<double>("./splatSize",splatSize);
enableSun=cfg.retrieveValue<bool>("./enableSun",enableSun);
sunAzimuth=cfg.retrieveValue<Scalar>("./sunAzimuth",sunAzimuth);
sunElevation=cfg.retrieveValue<Scalar>("./sunElevation",sunElevation);
overrideTools=cfg.retrieveValue<bool>("./overrideTools",overrideTools);
brushSize=cfg.retrieveValue<Vrui::Scalar>("./brushSize",brushSize);
brushColor=cfg.retrieveValue<GLColor<GLfloat,4> >("./brushColor",brushColor);
primitiveColor=cfg.retrieveValue<GLColor<GLfloat,4> >("./primitiveColor",primitiveColor);
selectedPrimitiveColor=cfg.retrieveValue<GLColor<GLfloat,4> >("./selectedPrimitiveColor",selectedPrimitiveColor);
memCacheSize=cfg.retrieveValue<unsigned int>("./memoryCacheSize",memCacheSize);
gfxCacheSize=cfg.retrieveValue<unsigned int>("./graphicsCacheSize",gfxCacheSize);
}
catch(std::runtime_error err)
{
/* Just ignore the error */
}
/* Parse the command line: */
for(int i=1;i<argc;++i)
{
if(argv[i][0]=='-')
{
if(strcasecmp(argv[i]+1,"memoryCacheSize")==0)