Merge branch 'develop'

Author: jim-bcom

.gitignore

@@ -6,6 +6,7 @@
 *.lo
 *.o
 *.obj
+*build*
 .build-rules/
 tests/*/.build-rules/
 deploy

JenkinsFile

@@ -2,5 +2,4 @@ SolArModulePipeline {
     moduleName="SolARModuleOpenGL"
     dirName="SolARBuild"
     runTests=true
-    android=false
 }

SolARModuleOpenGL.pro

@@ -9,7 +9,7 @@ INSTALLSUBDIR = SolARBuild
 TARGET = SolARModuleOpenGL
 
 FRAMEWORK = $$TARGET
-VERSION=0.11.0
+VERSION=1.0.0
 
 DEFINES += MYVERSION=$${VERSION}
 DEFINES += TEMPLATE_LIBRARY
@@ -49,7 +49,7 @@ unix {
     QMAKE_POST_LINK += "make install install_deps"
 }
 
-unix:!android {
+unix {
     QMAKE_CXXFLAGS += -Wignored-qualifiers
 }
 
@@ -58,15 +58,6 @@ linux {
     LIBS += -L/home/linuxbrew/.linuxbrew/lib # temporary fix caused by grpc with -lre2 ... without -L in grpc.pc
 }
 
-macx {
-    DEFINES += _MACOS_TARGET_
-    QMAKE_MAC_SDK= macosx
-    QMAKE_CFLAGS += -mmacosx-version-min=10.7 -std=c11 #-x objective-c++
-    QMAKE_CXXFLAGS += -mmacosx-version-min=10.7 -std=c11 -std=c++11 -O3 -fPIC#-x objective-c++
-    QMAKE_LFLAGS += -mmacosx-version-min=10.7 -v -lstdc++
-    LIBS += -lstdc++ -lc -lpthread
-}
-
 win32 {
 
     DEFINES += WIN64 UNICODE _UNICODE NOMINMAX
@@ -88,7 +79,6 @@ INSTALLS += xpcf_xml_files
 OTHER_FILES += \
     packagedependencies.txt \
     packagedependencies-linux.txt \
-    packagedependencies-mac.txt \
     packagedependencies-win.txt
 
 #NOTE : Must be placed at the end of the .pro

bcom-SolARModuleOpenGL.pc.in

@@ -5,7 +5,7 @@ libdir=${exec_prefix}/lib
 includedir=${prefix}/interfaces
 Name: SolARModuleOpenGL
 Description:
-Version: 0.11.0
+Version: 1.0.0
 Requires:
 Libs: -L${libdir} -l${libname}
 Libs.private: ${libdir}/${pfx}${libname}.${lext}

interfaces/SolAR3DPointsViewerOpengl.h

@@ -173,6 +173,15 @@ class SOLAROPENGL_EXPORT_API SolAR3DPointsViewerOpengl : public org::bcom::xpcf:
     /// @brief points color for the second cloud
     std::vector<unsigned int> m_points2Color = {255, 0, 0};
 
+    /// @brief display points color according to class label 
+    unsigned int m_usePointsColorFromClassLabel = 0;
+
+    /// @brief colormap file mapping class label to RGB color 
+    std::string m_classLabelColorMapPath = "";
+
+    /// @brief colormap mapping class label to RGB triples
+    std::vector<datastructure::Vector3f> m_colorMap;
+
     /// @brief camera color
     std::vector<unsigned int> m_cameraColor = {0,0,255};
 
@@ -212,7 +221,26 @@ class SOLAROPENGL_EXPORT_API SolAR3DPointsViewerOpengl : public org::bcom::xpcf:
     /// @brief The key code to press to close the window. If negative, no key is defined to close the window
     int m_exitKey = 27;
 
+    /// @brief The key code to press to increase rotation about X axis. If negative, no key is defined.
+    int m_increaseRotationXKey = -1;
+
+    /// @brief The key code to press to decrease rotation about X axis. If negative, no key is defined.
+    int m_decreaseRotationXKey = -1;
+
+    /// @brief The key code to press to increase rotation about Y axis. If negative, no key is defined.
+    int m_increaseRotationYKey = -1;
 
+    /// @brief The key code to press to decrease rotation about Y axis. If negative, no key is defined.
+    int m_decreaseRotationYKey = -1;
+
+    /// @brief The key code to press to increase rotation about Z axis. If negative, no key is defined.
+    int m_increaseRotationZKey = -1;
+
+    /// @brief The key code to press to decrease rotation about Z axis. If negative, no key is defined.
+    int m_decreaseRotationZKey = -1;
+
+    /// @brief The key code to press to reset all rotation values to 0. If negative, no key is defined.
+    int m_resetRotationKey = -1;
 
     int m_glWindowID = -1;
     std::vector<SRef<datastructure::CloudPoint>> m_points;
@@ -228,6 +256,10 @@ class SOLAROPENGL_EXPORT_API SolAR3DPointsViewerOpengl : public org::bcom::xpcf:
     unsigned int m_resolutionY;
     bool m_exitKeyPressed = false;
     bool m_firstDisplay = true;
+    float m_rotationStep = 0.01;
+    float m_rotationX = 0.0, m_rotationY = 0.0, m_rotationZ = 0.0;
+
+    void rotate(const float rx, const float ry, const float rz);
 
     void OnMainLoop() ;
     void OnRender() ;

packagedependencies-mac.txt

@@ -1,2 +1,2 @@
-SolARFramework|0.11.0|SolARFramework|SolARBuild@github|https://github.com/SolarFramework/SolarFramework/releases/download
+SolARFramework|1.0.0|SolARFramework|SolARBuild@github|https://github.com/SolarFramework/SolarFramework/releases/download
 

packagedependencies.txt

@@ -32,7 +32,7 @@ namespace MODULES {
 namespace OPENGL {
 
 static Transform3Df SolAR2GL = [] {
-  Matrix<float, 4, 4> matrix;
+  Eigen::Matrix<float, 4, 4> matrix;
   matrix << 1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 0.0, 1.0;
   return Transform3Df(matrix);
 }();
@@ -47,6 +47,8 @@ SolAR3DPointsViewerOpengl::SolAR3DPointsViewerOpengl():ConfigurableBase(xpcf::to
     declareProperty("width", m_width);
     declareProperty("height", m_height);
     declarePropertySequence("backgroundColor", m_backgroundColor);
+    declareProperty("pointsColorFromClassLabel", m_usePointsColorFromClassLabel);
+    declareProperty("classLabelColorMapPath", m_classLabelColorMapPath);
     declareProperty("fixedPointsColor", m_fixedPointsColor);
     declarePropertySequence("pointsColor", m_pointsColor);
     declarePropertySequence("points2Color", m_points2Color);
@@ -63,7 +65,16 @@ SolAR3DPointsViewerOpengl::SolAR3DPointsViewerOpengl():ConfigurableBase(xpcf::to
     declareProperty("cameraScale", m_cameraScale);
     declareProperty("zoomSensitivity", m_zoomSensitivity);
     declareProperty("exitKey", m_exitKey);
+    declareProperty("increaseRotationXKey", m_increaseRotationXKey);
+    declareProperty("decreaseRotationXKey", m_decreaseRotationXKey);
+    declareProperty("increaseRotationYKey", m_increaseRotationYKey);
+    declareProperty("decreaseRotationYKey", m_decreaseRotationYKey);
+    declareProperty("increaseRotationZKey", m_increaseRotationZKey);
+    declareProperty("decreaseRotationZKey", m_decreaseRotationZKey);
+    declareProperty("resetRotationKey", m_resetRotationKey);
+    declareProperty("rotationStep", m_rotationStep);
     m_instance = this ;
+
 	LOG_DEBUG(" SolAR3DPointsViewerOpengl constructor");
 }
 
@@ -84,6 +95,31 @@ xpcf::XPCFErrorCode SolAR3DPointsViewerOpengl::onConfigured()
     m_resolutionX = m_width;
     m_resolutionY = m_height;
 
+    if (m_usePointsColorFromClassLabel>0) {
+        if (m_classLabelColorMapPath.empty()) {
+            LOG_ERROR("property classLabelColorMapPath is not defined and is needed when pointsColorFromClassLabel is > 0");
+            return xpcf::XPCFErrorCode::_FAIL;
+        }
+        std::ifstream colorFptr;
+        colorFptr.open(m_classLabelColorMapPath);
+        if (!colorFptr.is_open()) {
+            LOG_ERROR("failed to open color map file from path {}", m_classLabelColorMapPath);
+            return xpcf::XPCFErrorCode::_ERROR_ACCESS_DENIED;
+        }
+        std::string line;
+        while (std::getline(colorFptr, line)) {
+            std::istringstream iss(line);
+            float r, g, b;
+            iss >> r >> g >> b;
+            m_colorMap.emplace_back(r, g, b);
+        }
+        colorFptr.close();
+        if (m_colorMap.empty()) {
+            LOG_ERROR("empty color map for point cloud display");
+            return xpcf::XPCFErrorCode::_FAIL;
+        }
+    }
+
     glutInitWindowSize(m_width, m_height);
     m_glWindowID = glutCreateWindow(m_title.c_str());
     glutDisplayFunc(Render);
@@ -93,6 +129,46 @@ xpcf::XPCFErrorCode SolAR3DPointsViewerOpengl::onConfigured()
     glutReshapeFunc(ResizeWindow);
     glutIdleFunc(MainLoop);
     glutMainLoopEvent();
+
+    LOG_INFO("**************************************************");
+    LOG_INFO("Keys defined for view rotation:");
+    if (m_increaseRotationXKey != -1) {
+        LOG_INFO("Key defined to increase rotation around X axis: {}", (char)m_increaseRotationXKey);
+    }
+    else
+        LOG_INFO("No key defined to increase rotation around X axis");
+    if (m_decreaseRotationXKey != -1) {
+        LOG_INFO("Key defined to decrease rotation around X axis: {}", (char)m_decreaseRotationXKey);
+    }
+    else
+        LOG_INFO("No key defined to decrease rotation around X axis");
+    if (m_increaseRotationYKey != -1) {
+        LOG_INFO("Key defined to increase rotation around Y axis: {}", (char)m_increaseRotationYKey);
+    }
+    else
+        LOG_INFO("No key defined to increase rotation around Y axis");
+    if (m_decreaseRotationYKey != -1) {
+        LOG_INFO("Key defined to decrease rotation around Y axis: {}", (char)m_decreaseRotationYKey);
+    }
+    else
+        LOG_INFO("No key defined to decrease rotation around Y axis");
+    if (m_increaseRotationZKey != -1) {
+        LOG_INFO("Key defined to increase rotation around Z axis: {}", (char)m_increaseRotationZKey);
+    }
+    else
+        LOG_INFO("No key defined to increase rotation around Z axis");
+    if (m_decreaseRotationZKey != -1) {
+        LOG_INFO("Key defined to decrease rotation around Z axis: {}", (char)m_decreaseRotationZKey);
+    }
+    else
+        LOG_INFO("No key defined to decrease rotation around Z axis");
+    if (m_resetRotationKey != -1) {
+        LOG_INFO("Key defined to reset rotation around all axes:  {}", (char)m_resetRotationKey);
+    }
+    else
+        LOG_INFO("No key defined to reset rotation around all axis");
+    LOG_INFO("**************************************************");
+
     return xpcf::XPCFErrorCode::_SUCCESS;
 }
 
@@ -144,6 +220,7 @@ FrameworkReturnCode SolAR3DPointsViewerOpengl::display (const std::vector<SRef<C
     {
         m_glcamera.clear(0.0, 0.0, 0.0, 1.0);
         glutDestroyWindow(m_glWindowID);
+        glutMainLoopEvent();
         return FrameworkReturnCode::_STOP;
     }
 
@@ -268,6 +345,32 @@ void drawAxis(Transform3Df& pose, float scale, float lineWidth){
     glLineWidth(1.0f);
 }
 
+void SolAR3DPointsViewerOpengl::rotate(const float rx, const float ry, const float rz)
+{
+    if (rx != 0.0) {
+        math_matrix_3x3f rotMatrixX = {1.0, 0.0, 0.0,
+                                       0.0, cos(rx), -sin(rx),
+                                       0.0, sin(rx), cos(rx)};
+
+        m_glcamera.rotate(rotMatrixX);
+    }
+
+    if (ry != 0.0) {
+        math_matrix_3x3f rotMatrixY = {cos(ry), 0.0, sin(ry),
+                                       0.0, 1.0, 0.0,
+                                       -sin(ry), 0.0, cos(ry)};
+
+        m_glcamera.rotate(rotMatrixY);
+    }
+
+    if (rz != 0.0) {
+        math_matrix_3x3f rotMatrixZ = {cos(rz), -sin(rz), 0.0,
+                                       sin(rz), cos(rz), 0.0,
+                                       0.0, 0.0, 1.0};
+
+        m_glcamera.rotate(rotMatrixZ);
+    }
+}
 
 
 void SolAR3DPointsViewerOpengl::OnMainLoop()
@@ -280,6 +383,8 @@ void SolAR3DPointsViewerOpengl::OnRender()
     glEnable(GL_NORMALIZE);
     glEnable(GL_DEPTH_TEST);
 
+    rotate(m_rotationX, m_rotationY, m_rotationZ);
+
     m_glcamera.set_viewport(0, 0, m_resolutionX, m_resolutionY);
     m_glcamera.setup();
     m_glcamera.use_light(false);
@@ -303,20 +408,42 @@ void SolAR3DPointsViewerOpengl::OnRender()
         drawAxis(sceneTransform, m_sceneSize * 0.1 * m_axisScale, m_axisScale);
     }
 
+    auto fnAssignColor = [](const std::vector<SRef<datastructure::CloudPoint>>& points, const unsigned int& usePtsColorFromClassLabel, 
+    const std::vector<datastructure::Vector3f>& colorMap, const unsigned int& fixPtsColor, const std::vector<unsigned int>& ptsColor) {
+        for (unsigned int i = 0; i < points.size(); ++i) {
+            // if color map is provided, display point cloud according to class colors
+            // if cloud point does not have semantic id, display it in white color 
+            if (usePtsColorFromClassLabel>0) {
+                if (points[i]->getSemanticId() < 0) { // no semantic id associated
+                    glColor3f(1.f, 1.f, 1.f); // show in white color 
+                }
+                else if (points[i]->getSemanticId() >= static_cast<int>(colorMap.size())) {
+                    LOG_ERROR("Cloud point's semantic id {} exceeds the number of colors {}", points[i]->getSemanticId(), colorMap.size());
+                    return;
+                }
+                else {
+                    auto color = colorMap[points[i]->getSemanticId()];
+                    glColor3f(color[0]/255.f, color[1]/255.f, color[2]/255.f);
+                }
+            }
+            else { // no color map is provided
+                if (fixPtsColor)
+                    glColor3f(ptsColor[0]/255.f, ptsColor[1]/255.f, ptsColor[2]/255.f);
+                else
+                    glColor3f(points[i]->getR(), points[i]->getG(), points[i]->getB());
+            }
+
+            glVertex3f(points[i]->getX(), -points[i]->getY(), -points[i]->getZ());
+        }
+    };
+
 	if (!m_points2.empty())
 	{
 		glPushMatrix();
 		glEnable(GL_POINT_SMOOTH);
 		glPointSize(m_pointSize);
 		glBegin(GL_POINTS);
-		for (unsigned int i = 0; i < m_points2.size(); ++i) {
-			if (m_fixedPointsColor)
-				glColor3f(m_points2Color[0], m_points2Color[1], m_points2Color[2]);
-			else
-				glColor3f(m_points2[i]->getR(), m_points2[i]->getG(), m_points2[i]->getB());
-
-			glVertex3f(m_points2[i]->getX(), -m_points2[i]->getY(), -m_points2[i]->getZ());
-		}
+        fnAssignColor(m_points2, m_usePointsColorFromClassLabel, m_colorMap, m_fixedPointsColor, m_points2Color);
 		glEnd();
 		glPopMatrix();
 	}
@@ -327,14 +454,7 @@ void SolAR3DPointsViewerOpengl::OnRender()
         glEnable (GL_POINT_SMOOTH);
         glPointSize(m_pointSize);
         glBegin(GL_POINTS);
-        for (unsigned int i = 0; i < m_points.size(); ++i) {
-         if (m_fixedPointsColor)
-            glColor3f(m_pointsColor[0], m_pointsColor[1], m_pointsColor[2]);
-         else
-             glColor3f(m_points[i]->getR(), m_points[i]->getG(), m_points[i]->getB());
-
-         glVertex3f(m_points[i]->getX(), -m_points[i]->getY(), -m_points[i]->getZ());
-        }
+        fnAssignColor(m_points, m_usePointsColorFromClassLabel, m_colorMap, m_fixedPointsColor, m_pointsColor);
         glEnd();
         glPopMatrix();
     }    
@@ -403,8 +523,25 @@ void SolAR3DPointsViewerOpengl::OnResizeWindow(int _w, int _h)
 
 void SolAR3DPointsViewerOpengl::OnKeyBoard(unsigned char key, ATTRIBUTE(maybe_unused) int x, ATTRIBUTE(maybe_unused) int y)
 {
-   if (key == m_exitKey)
-       m_exitKeyPressed = true;
+    if (key == m_exitKey)
+        m_exitKeyPressed = true;
+    else if (key == m_increaseRotationXKey)
+        m_rotationX -= m_rotationStep;
+    else if (key == m_decreaseRotationXKey)
+        m_rotationX += m_rotationStep;
+    else if (key == m_increaseRotationYKey)
+        m_rotationY += m_rotationStep;
+    else if (key == m_decreaseRotationYKey)
+        m_rotationY -= m_rotationStep;
+    else if (key == m_increaseRotationZKey)
+        m_rotationZ -= m_rotationStep;
+    else if (key == m_decreaseRotationZKey)
+        m_rotationZ += m_rotationStep;
+    else if (key == m_resetRotationKey) {
+        m_rotationX = 0.0;
+        m_rotationY = 0.0;
+        m_rotationZ = 0.0;
+    }
 }