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import { animationFrameScheduler, BehaviorSubject, combineLatest, interval, NEVER, of, Subscription } from 'rxjs'; import { catchError, distinctUntilChanged, map, startWith, switchMap, tap } from 'rxjs/operators'; import { LogService } from 'src/app/log/log.service'; import { ProcessingService } from 'src/shared/services/processing.service'; import { SettingsService } from 'src/shared/services/settingsService'; import * as THREE from 'three'; import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls'; import { TrackingService } from '../../../shared/services/tracking.service'; import { PointCloudService } from '../../../shared/services/point-cloud.service'; import { HttpClient } from '@angular/common/http'; import { DEFAULT_SETTINGS, DepthCameraState, Interaction, Point3, TrackingServerAppSettings } from '@reflex/shared-types'; import { CommonModule } from '@angular/common'; import { FormsModule } from '@angular/forms'; import { OptionCheckboxComponent, PanelHeaderComponent, SettingsGroupComponent, ValueSliderComponent } from '@reflex/angular-components/dist'; @Component({ selector: 'app-point-cloud', templateUrl: './point-cloud.component.html', styleUrls: ['./point-cloud.component.scss'], imports: [ CommonModule, FormsModule, PanelHeaderComponent, SettingsGroupComponent, OptionCheckboxComponent, ValueSliderComponent ] }) export class PointCloudComponent implements OnInit, AfterViewInit, OnDestroy { public static readonly particleSize: number = 0.07; private static readonly fullScreenClassName = 'fullScreen'; @Input() public width = 800; @Output() public fullScreenChanged = new EventEmitter<boolean>(); @ViewChild('pointCloudRenderContainer') public container?: ElementRef; public livePreview = false; public numFramesReceived = 0; public mouseXnormalized = 0; public mouseYnormalized = 0; public isMouseOver = false; public hoverP?: THREE.Vector3; public showBoundingBox = true; public showDistancePlanes = true; public showGrid = true; public pointSize = 3; public intersectedIdx?: number; private readonly renderer?: THREE.WebGLRenderer; private readonly scene: THREE.Scene; private readonly camera: THREE.Camera; private readonly shaderMaterial: THREE.ShaderMaterial = new THREE.ShaderMaterial({ blending: THREE.AdditiveBlending, depthTest: false, transparent: true, vertexColors: true }); private readonly controls?: OrbitControls; private readonly bbBoxCube: THREE.Mesh; private readonly pickingCircle: THREE.Mesh; private readonly minPlane1: THREE.Mesh; private readonly minPlane2: THREE.Mesh; private readonly maxPlane1: THREE.Mesh; private readonly maxPlane2: THREE.Mesh; private readonly zeroPlane: THREE.Mesh; private interactions: Array<THREE.Mesh> = []; private pfullScreen = false; private readonly livePreview$ = new BehaviorSubject<boolean>(false); private plivePreviewEnabled = false; private height = 600; private readonly aspectRatio = 0.75; private renderSubscription?: Subscription; private pointCloudSubscription?: Subscription; private settingsSubscription?: Subscription; private interactionsSubscription?: Subscription; private previousPointsLength = -1; private readonly raycaster: THREE.Raycaster; private points: THREE.Points = new THREE.Points(); private isPointCloudInitialized = false; private settings: TrackingServerAppSettings = DEFAULT_SETTINGS; private readonly bbSize = new THREE.Vector3(0, 0, 0); private readonly bbCenter = new THREE.Vector3(0, 0, 0); private readonly grid: THREE.GridHelper; private readonly interactionsMaterial = new THREE.MeshBasicMaterial({ color: 0xffae18, transparent: true, opacity: 0.75 }); private readonly minPlaneMat = new THREE.MeshBasicMaterial({ color: 0xff0000, transparent: true, opacity: 0.1 }); private readonly maxPlaneMat = new THREE.MeshBasicMaterial({ color: 0x0000ff, transparent: true, opacity: 0.1 }); private readonly zeroPlaneMat = new THREE.MeshBasicMaterial({ color: 0x000000, transparent: true, opacity: 0.1 }); public constructor( private readonly httpClient: HttpClient, private readonly angularRenderer: Renderer2, private readonly trackingService: TrackingService, private readonly pointCloudService: PointCloudService, private readonly settingsService: SettingsService, private readonly processingService: ProcessingService, private readonly logService: LogService ) { try { this.renderer = new THREE.WebGLRenderer({ alpha: true }); } catch (error) { console.warn(`${error}`); } this.httpClient.get('assets/shader/pointcloud_vertex.txt', { responseType: 'text' }).subscribe((shader) => { this.shaderMaterial.vertexShader = shader.toString(); this.shaderMaterial.needsUpdate = true; }); this.httpClient.get('assets/shader/pointcloud_fragment.txt', { responseType: 'text' }).subscribe((shader) => { this.shaderMaterial.fragmentShader = shader.toString(); this.shaderMaterial.needsUpdate = true; }); this.scene = new THREE.Scene(); this.scene.background = null; // transparent, for white: new THREE.Color(0xffffff); this.camera = new THREE.PerspectiveCamera(75, this.aspectRatio, 1, 10000); this.camera.position.z = 100; this.camera.up = new THREE.Vector3(0.0, 1.0, 0.0); if (this.renderer !== undefined) { this.controls = new OrbitControls(this.camera, this.renderer.domElement); this.controls.update(); } this.grid = new THREE.GridHelper(100, 20, new THREE.Color(0xffffff), new THREE.Color(0x222222)); this.scene.add(this.grid); this.raycaster = new THREE.Raycaster(); // boundingBox mesh const geometry = new THREE.BoxGeometry(1, 1, 1); const mat = new THREE.MeshBasicMaterial({ color: 0x006600, wireframe: true }); this.bbBoxCube = new THREE.Mesh(geometry, mat); this.scene.add(this.bbBoxCube); this.bbBoxCube.visible = false; // raycast picker sphere const sphereGeometry = new THREE.SphereGeometry(0.1, 32, 32); const sphereMaterial = new THREE.MeshBasicMaterial({ color: 0x0000ff }); this.pickingCircle = new THREE.Mesh(sphereGeometry, sphereMaterial); this.scene.add(this.pickingCircle); this.pickingCircle.scale.set(0, 0, 0); const planeGeo = new THREE.BoxGeometry(30, 20, 0.1); this.zeroPlane = new THREE.Mesh(planeGeo, this.zeroPlaneMat); this.scene.add(this.zeroPlane); this.minPlane1 = new THREE.Mesh(planeGeo, this.minPlaneMat); this.minPlane2 = new THREE.Mesh(planeGeo, this.minPlaneMat); this.scene.add(this.minPlane1); this.scene.add(this.minPlane2); this.maxPlane1 = new THREE.Mesh(planeGeo, this.maxPlaneMat); this.maxPlane2 = new THREE.Mesh(planeGeo, this.maxPlaneMat); this.scene.add(this.maxPlane1); this.scene.add(this.maxPlane2); } public get livePreviewEnabled(): boolean { return this.plivePreviewEnabled; } @Input() public set livePreviewEnabled(value: boolean) { this.plivePreviewEnabled = value; if (!value) { this.numFramesReceived = 0; } if (!this.plivePreviewEnabled && this.livePreview) { this.livePreview = false; this.livePreviewChanged(); } } // eslint-disable-next-line @typescript-eslint/member-ordering public get fullScreen(): boolean { return this.pfullScreen; } public set fullScreen(fs: boolean) { this.pfullScreen = fs; this.fullScreenChanged.emit(this.pfullScreen); } @HostListener('mousemove', ['$event']) public onmouseMove(evt: MouseEvent): void { // get mouse coords relative to component (offsetX, offsetY) and convert to normalized device coords needed for raycasting (top left: [0,0] --> [-1, 1], bottom right: [1,1] --> [1,-1]) this.mouseXnormalized = ((evt.offsetX / (this.container?.nativeElement.clientWidth ?? 1)) * 2) - 1; this.mouseYnormalized = -((evt.offsetY / (this.container?.nativeElement.clientHeight ?? 1)) * 2) + 1; } @HostListener('mouseover', ['$event']) // eslint-disable-next-line @typescript-eslint/no-unused-vars public onMouseOver(evt: MouseEvent): void { this.isMouseOver = true; } @HostListener('mouseleave', ['$event']) // eslint-disable-next-line @typescript-eslint/no-unused-vars public onMouseLeave(evt: MouseEvent): void { this.isMouseOver = false; } @HostListener('window:resize', ['$event']) public updateSize(): void { if (this.container === undefined) { return; } Iif (this.fullScreen) { this.angularRenderer.addClass(this.container.nativeElement, PointCloudComponent.fullScreenClassName); } else { this.angularRenderer.removeClass(this.container.nativeElement, PointCloudComponent.fullScreenClassName); } this.width = this.container.nativeElement.clientWidth; this.height = this.width * this.aspectRatio; this.renderer?.setSize(this.width, this.height, false); } public ngOnInit(): void { // subscriptions this.settingsSubscription = this.settingsService.getSettings().subscribe( (result) => this.updateSettings(result), (error) => { console.error(error); this.logService.sendErrorLog(`${error}`); } ); const isTracking$ = this.trackingService.getStatus() .pipe( map((status) => status.depthCameraStateName === DepthCameraState[DepthCameraState.Streaming]), distinctUntilChanged(), catchError((err) => { console.error(err); this.logService.sendErrorLog(`${err}`); return of(false); }) ); const shouldShowLiveView$ = combineLatest([isTracking$, this.livePreview$]) .pipe( tap(() => this.updateSize()), map(([isTracking, livePreview]) => livePreview && isTracking), catchError((err) => { console.error(err); this.logService.sendErrorLog(`${err}`); return of(false); }) ); const pointCloud$ = this.pointCloudService.getPointCloud(); this.pointCloudSubscription = shouldShowLiveView$ .pipe( switchMap((showLiveView) => showLiveView ? pointCloud$ : NEVER.pipe(startWith([]))), tap((result) => { if (result.length > 0) { this.numFramesReceived++; } }), catchError((err) => { console.error(err); this.logService.sendErrorLog(`${err}`); return of([]); }) ) .subscribe( (result) => this.updatePointCloud(result), (error) => { console.error(error); this.logService.sendErrorLog(`${error}`); } ); const interactions$ = this.processingService.getInteractions(); this.interactionsSubscription = shouldShowLiveView$ .pipe( switchMap((showLiveView) => showLiveView ? interactions$ : NEVER.pipe(startWith([]))), catchError((err) => { console.error(err); this.logService.sendErrorLog(`${err}`); return of([]); }) ) .subscribe( (result) => this.updateInteractions(result), (error) => { console.error(error); this.logService.sendErrorLog(`${error}`); } ); } public ngAfterViewInit(): void { this.updateSize(); if (this.renderer !== undefined) { this.container?.nativeElement.appendChild(this.renderer.domElement); this.renderSubscription = interval(0, animationFrameScheduler) .subscribe(() => { this.renderer?.render(this.scene, this.camera); this.controls?.update(); }); } } public ngOnDestroy(): void { this.settingsSubscription?.unsubscribe(); this.interactionsSubscription?.unsubscribe(); this.renderSubscription?.unsubscribe(); this.pointCloudSubscription?.unsubscribe(); } public updatePlanesVisibility(): void { this.zeroPlane.visible = this.showDistancePlanes; this.maxPlane1.visible = this.showDistancePlanes; this.maxPlane2.visible = this.showDistancePlanes; this.minPlane1.visible = this.showDistancePlanes; this.minPlane2.visible = this.showDistancePlanes; } public updateGridVisibility(): void { this.grid.visible = this.showGrid; } public livePreviewChanged(): void { this.livePreview$.next(this.livePreview); } private updateSettings(settings: TrackingServerAppSettings): void { this.settings = settings; const dist = this.settings.filterSettingValues.distanceValue; const defaultDist = dist.default * 10.0; this.zeroPlane.position.set(0, 0, defaultDist); this.zeroPlane.scale.set(1.2, 1.2, 1); this.maxPlane1.position.set(0, 0, defaultDist + (dist.max * 10.0)); this.maxPlane2.position.set(0, 0, defaultDist - (dist.max * 10.0)); this.minPlane1.position.set(0, 0, defaultDist + (dist.min * 10.0)); this.minPlane2.position.set(0, 0, defaultDist - (dist.min * 10.0)); } private updatePointCloud(points: Array<Point3>): void { if (points.length === 0) { if (this.isPointCloudInitialized) { this.points.visible = false; } return; } let positions: Float32Array = new Float32Array(); let color: Float32Array; let pointsGeometry: THREE.BufferGeometry; let sizes: Float32Array; let indices: Uint16Array; if (!this.isPointCloudInitialized) { pointsGeometry = new THREE.BufferGeometry(); this.points = new THREE.Points(pointsGeometry, this.shaderMaterial); this.scene.add(this.points); this.isPointCloudInitialized = true; } else { this.points.visible = true; pointsGeometry = this.points.geometry; positions = pointsGeometry.attributes.position.array as Float32Array; color = pointsGeometry.attributes.color.array as Float32Array; sizes = pointsGeometry.attributes.size.array as Float32Array; indices = pointsGeometry.attributes.index.array as Uint16Array; } if (points.length !== this.previousPointsLength) { positions = new Float32Array(points.length * 3); color = new Float32Array(points.length * 3); sizes = new Float32Array(points.length * 3); indices = new Uint16Array(points.length); pointsGeometry.setAttribute('position', new THREE.BufferAttribute(positions, 3)); pointsGeometry.setAttribute('color', new THREE.BufferAttribute(color, 3)); pointsGeometry.setAttribute('size', new THREE.BufferAttribute(sizes, 1)); pointsGeometry.setAttribute('index', new THREE.BufferAttribute(indices, 1)); pointsGeometry.setDrawRange(0, points.length); this.previousPointsLength = points.length; } const defaultDist = this.settings !== undefined ? this.settings.filterSettingValues.distanceValue.default : 1; const minExt = this.settings !== undefined ? defaultDist - this.settings.filterSettingValues.distanceValue.min : 1; const maxExt = this.settings !== undefined ? this.settings.filterSettingValues.distanceValue.max - defaultDist : 1; points.forEach((point, index) => { const i = index * 3; positions[i] = point.x * 10; positions[i + 1] = point.y * -10; positions[i + 2] = point.z * 10; indices[index] = index; if (point.isFiltered) { color[i] = 1; color[i + 1] = 0; color[i + 2] = 0; } else if (point.z > defaultDist) { color[i] = ((point.z - defaultDist) / maxExt) - 0.5; color[i + 1] = ((point.z - defaultDist) / maxExt) - 0.5; color[i + 2] = 1.0 - ((point.z - defaultDist) / maxExt); } else E{ color[i] = ((defaultDist - point.z) / minExt) - 0.5; color[i + 1] = 1.0 - ((defaultDist - point.z) / minExt); color[i + 2] = ((defaultDist - point.z) / minExt) - 0.5; } Iif (index === this.intersectedIdx) { sizes[index] = PointCloudComponent.particleSize * 5; color[i] = 1; color[i + 1] = 1; color[i + 2] = 1; } else { sizes[index] = PointCloudComponent.particleSize * this.pointSize; } }); (pointsGeometry.attributes.position as THREE.BufferAttribute).needsUpdate = true; (pointsGeometry.attributes.color as THREE.BufferAttribute).needsUpdate = true; (pointsGeometry.attributes.size as THREE.BufferAttribute).needsUpdate = true; (pointsGeometry.attributes.index as THREE.BufferAttribute).needsUpdate = true; this.updateBoundingBox(pointsGeometry); if (!this.isMouseOver) { this.updateMouseOver(positions); } } private updateMouseOver(positions: Float32Array): void { this.camera.updateMatrixWorld(); this.raycaster.setFromCamera(new THREE.Vector2(this.mouseXnormalized, this.mouseYnormalized), this.camera); const intersects = this.raycaster.intersectObject(this.points, true); const sorted = intersects.filter((intersection) => intersection.distanceToRay !== null).sort((intersection1, intersection2) => (intersection1.distanceToRay ?? 0) - (intersection2.distanceToRay ?? 0)); Iif (sorted.length > 0) { const pos = sorted[0].point; this.hoverP = pos; this.pickingCircle.position.set(pos.x, pos.y, pos.z); this.pickingCircle.scale.set(1, 1, 1); Iif (this.intersectedIdx !== sorted[0].index) { const idx = sorted[0].index ?? 0; const x = positions[idx * 3]; const y = positions[(idx * 3) + 1]; const z = positions[(idx * 3) + 2]; this.hoverP = new THREE.Vector3(x, y, z); this.intersectedIdx = idx; } } else { this.intersectedIdx = undefined; this.hoverP = undefined; this.pickingCircle.scale.set(0, 0, 0); } } private updateBoundingBox(pointsGeometry: THREE.BufferGeometry): void { pointsGeometry.computeBoundingBox(); pointsGeometry.boundingBox?.getSize(this.bbSize); pointsGeometry.boundingBox?.getCenter(this.bbCenter); this.bbBoxCube.scale.set(this.bbSize.x, this.bbSize.y, this.bbSize.z); this.bbBoxCube.position.set(this.bbCenter.x, this.bbCenter.y, this.bbCenter.z); this.bbBoxCube.visible = this.showBoundingBox; } private updateInteractions(updatedInteractions: Array<Interaction>): void { this.interactions.forEach((interaction) => { this.scene.remove(interaction); }); this.interactions = []; Iif (this.settings === undefined) { console.warn('Cannot access settings.'); return; } const dist = this.settings.filterSettingValues.distanceValue; const defaultZ = dist.default * 10.0; // TODO: change to calibrated values ! const resX = this.settings.cameraConfigurationValues.width; const resY = this.settings.cameraConfigurationValues.height; updatedInteractions.forEach((interaction) => { const posX = this.bbCenter.x + (interaction.position.x * (this.bbSize.x / resX)) - (0.5 * this.bbSize.x); const posY = this.bbCenter.y + (interaction.position.y * (this.bbSize.y / resY)) - (0.5 * this.bbSize.y); const posZ = (interaction.position.z * (dist.max * 10.0)) + defaultZ; const sphere = new THREE.SphereGeometry(0.1); const mesh = new THREE.Mesh(sphere, this.interactionsMaterial); mesh.position.set(posX, posY, posZ); this.scene.add(mesh); this.interactions.push(mesh); }); } } |