void
OutofcoreCloud::render (vtkRenderer* renderer)
{
vtkSmartPointer<vtkCamera> active_camera = renderer->GetActiveCamera ();
Scene *scene = Scene::instance ();
Camera *camera = scene->getCamera (active_camera);
if (render_camera_ != NULL && render_camera_->getName() == camera->getName ())
{
renderer->ComputeAspect ();
//double *aspect = renderer->GetAspect ();
int *size = renderer->GetSize ();
OctreeDisk::BreadthFirstIterator breadth_first_it (*octree_);
breadth_first_it.setMaxDepth(display_depth_);
double frustum[24];
camera->getFrustum(frustum);
Eigen::Vector3d eye = camera->getPosition();
Eigen::Matrix4d view_projection_matrix = camera->getViewProjectionMatrix();
//Eigen::Matrix4d view_projection_matrix = projection_matrix * model_view_matrix;//camera->getViewProjectionMatrix();
cloud_actors_->RemoveAllItems ();
while ( *breadth_first_it !=0 )
{
OctreeDiskNode *node = *breadth_first_it;
Eigen::Vector3d min_bb, max_bb;
node->getBoundingBox(min_bb, max_bb);
// Frustum culling
if (pcl::visualization::cullFrustum(frustum, min_bb, max_bb) == pcl::visualization::PCL_OUTSIDE_FRUSTUM)
{
breadth_first_it.skipChildVoxels();
breadth_first_it++;
continue;
}
// Bounding box lod projection
float coverage = pcl::visualization::viewScreenArea(eye, min_bb, max_bb, view_projection_matrix, size[0], size[1]);
if (coverage <= lod_pixel_threshold_)
{
breadth_first_it.skipChildVoxels();
}
// for (int i=0; i < node->getDepth(); i++)
// std::cout << " ";
// std::cout << coverage << "-" << pcd_file << endl;//" : " << (coverage > (size[0] * size[1])) << endl;
std::string pcd_file = node->getPCDFilename ().string ();
cloud_data_cache_mutex.lock();
PcdQueueItem pcd_queue_item(pcd_file, coverage);
// If we can lock the queue add another item
if (pcd_queue_mutex.try_lock())
{
pcd_queue.push(pcd_queue_item);
pcd_queue_mutex.unlock();
}
if (cloud_data_cache.hasKey(pcd_file))
{
//std::cout << "Has Key for: " << pcd_file << std::endl;
if (cloud_actors_map_.find (pcd_file) == cloud_actors_map_.end ())
{
vtkSmartPointer<vtkActor> cloud_actor = vtkSmartPointer<vtkActor>::New ();
CloudDataCacheItem *cloud_data_cache_item = &cloud_data_cache.get(pcd_file);
#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
vtkSmartPointer<vtkVertexBufferObjectMapper> mapper = vtkSmartPointer<vtkVertexBufferObjectMapper>::New ();
mapper->SetInput (cloud_data_cache_item->item);
#else
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
// Usually we choose between SetInput and SetInputData based on VTK version. But OpenGL ≥ 2 automatically
// means VTK version is ≥ 6.3
mapper->SetInputData (cloud_data_cache_item->item);
#endif
cloud_actor->SetMapper (mapper);
cloud_actor->GetProperty ()->SetColor (0.0, 0.0, 1.0);
cloud_actor->GetProperty ()->SetPointSize (1);
cloud_actor->GetProperty ()->SetLighting (false);
cloud_actors_map_[pcd_file] = cloud_actor;
}
if (!hasActor (cloud_actors_map_[pcd_file]))
{
points_loaded_ += cloud_actors_map_[pcd_file]->GetMapper ()->GetInput ()->GetNumberOfPoints ();
data_loaded_ += cloud_actors_map_[pcd_file]->GetMapper ()->GetInput ()->GetActualMemorySize();
}
//std::cout << "Adding Actor: " << pcd_file << std::endl;
cloud_actors_->AddItem (cloud_actors_map_[pcd_file]);
addActor (cloud_actors_map_[pcd_file]);
}
cloud_data_cache_mutex.unlock();
breadth_first_it++;
}
// We're done culling, notify the pcd_reader thread the queue is read
pcd_queue_ready.notify_one();
std::vector<vtkActor*> actors_to_remove;
{
actors_to_remove.clear ();
actors_->InitTraversal ();
for (vtkIdType i = 0; i < actors_->GetNumberOfItems (); i++)
{
vtkActor* actor = actors_->GetNextActor ();
if (actor != voxel_actor_.GetPointer ())
{
bool actor_found = false;
cloud_actors_->InitTraversal ();
for (vtkIdType j = 0; j < cloud_actors_->GetNumberOfItems (); j++)
{
vtkActor* cloud_actor = cloud_actors_->GetNextActor ();
if (actor == cloud_actor)
{
actor_found = true;
break;
}
}
if (!actor_found)
{
actors_to_remove.push_back (actor);
}
}
}
}
for (size_t i = 0; i < actors_to_remove.size (); i++)
{
points_loaded_ -= actors_to_remove.back ()->GetMapper ()->GetInput ()->GetNumberOfPoints ();
data_loaded_ -= actors_to_remove.back ()->GetMapper ()->GetInput ()->GetActualMemorySize();
removeActor (actors_to_remove.back ());
actors_to_remove.pop_back ();
}
}
Object::render(renderer);
}
int
outofcorePrint (boost::filesystem::path tree_root, size_t print_depth, bool bounding_box=false, bool pcd=false,
bool point_count=false, bool breadth_first=false)
{
std::cout << boost::filesystem::absolute (tree_root) << std::endl;
OctreeDisk* octree;
octree = new OctreeDisk (tree_root, true);
Eigen::Vector3d min, max;
octree->getBoundingBox(min, max);
// Cloud bounding box
PCL_INFO (" Bounding Box: <%lf, %lf, %lf> - <%lf, %lf, %lf>\n", min[0], min[1], min[2], max[0], max[1], max[2]);
// Cloud depth
uint64_t depth = octree->getTreeDepth ();
PCL_INFO (" Depth: %ld\n", depth);
if (print_depth > depth)
print_depth = depth;
// Cloud point counts at each level
std::vector<boost::uint64_t> lodPoints = octree->getNumPointsVector ();
PCL_INFO (" Points:\n");
for (boost::uint64_t i = 0; i < lodPoints.size (); i++)
PCL_INFO (" %d: %d\n", i, lodPoints[i]);
// Cloud voxel side length
PCL_INFO(" Voxel Side Length: %d\n", octree->getVoxelSideLength ());
// Cloud voxel count
std::vector<PointT, AlignedPointT> voxel_centers;
octree->getOccupiedVoxelCenters(voxel_centers);
PCL_INFO(" Voxel Count: %d\n", voxel_centers.size ());
// Point data for statistics
std::vector<boost::uint64_t> pointsPerVoxel;
ba::accumulator_set<boost::uint64_t, ba::features< ba::tag::min, ba::tag::max, ba::tag::mean, ba::tag::variance> > acc;
if (!breadth_first)
{
OctreeDisk::DepthFirstIterator depth_first_it (*octree);
while ( *depth_first_it !=nullptr )
{
OctreeDiskNode *node = *depth_first_it;
size_t node_depth = node->getDepth();
printDepth(node_depth);
std::string metadata_relative_file = node->getMetadataFilename ().string ();
boost::replace_first(metadata_relative_file, tree_root.parent_path ().string (), "");
PCL_INFO ("..%s\n", metadata_relative_file.c_str());
printDepth(node_depth);
if (pcd)
{
std::string pcd_relative_file = node->getPCDFilename ().string ();
boost::replace_first(pcd_relative_file, tree_root.parent_path ().string (), "");
PCL_INFO (" PCD: ..%s\n", pcd_relative_file.c_str());
}
if (bounding_box)
{
Eigen::Vector3d min, max;
node->getBoundingBox(min, max);
printDepth(node_depth);
PCL_INFO (" Bounding Box: <%lf, %lf, %lf> - <%lf, %lf, %lf>\n", min[0], min[1], min[2], max[0], max[1], max[2]);
}
if (point_count)
{
printDepth(node_depth);
PCL_INFO (" Points: %lu\n", node->getDataSize());
pointsPerVoxel.push_back( node->getDataSize());
acc(node->getDataSize());
}
depth_first_it++;
}
}
else
{
OctreeDisk::BreadthFirstIterator breadth_first_it (*octree);
breadth_first_it.setMaxDepth (static_cast<unsigned int> (print_depth));
while ( *breadth_first_it !=nullptr )
{
OctreeDiskNode *node = *breadth_first_it;
size_t node_depth = node->getDepth();
printDepth(node_depth);
std::string metadata_relative_file = node->getMetadataFilename ().string ();
boost::replace_first(metadata_relative_file, tree_root.parent_path ().string (), "");
PCL_INFO ("..%s\n", metadata_relative_file.c_str());
printDepth(node_depth);
if(pcd)
{
std::string pcd_relative_file = node->getPCDFilename ().string ();
boost::replace_first(pcd_relative_file, tree_root.parent_path ().string (), "");
PCL_INFO (" PCD: ..%s\n", pcd_relative_file.c_str());
}
if (bounding_box)
{
Eigen::Vector3d min, max;
node->getBoundingBox(min, max);
printDepth(node_depth);
PCL_INFO (" Bounding Box: <%lf, %lf, %lf> - <%lf, %lf, %lf>\n", min[0], min[1], min[2], max[0], max[1], max[2]);
}
if (point_count)
{
printDepth(node_depth);
PCL_INFO (" Points: %lu\n", node->getDataSize());
pointsPerVoxel.push_back( node->getDataSize());
acc(node->getDataSize());
}
breadth_first_it++;
}
}
if(point_count)
{
PCL_INFO("Points per Voxel:\n");
PCL_INFO("Min: %u, Max: %u, Mean: %f, StdDev %f\n", ba::min(acc),
ba::max(acc), ba::mean(acc), sqrt(ba::variance(acc)));
}
return 0;
}
