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import { CommonModule } from '@angular/common';
import { HttpClient } from '@angular/common/http';
import {
AfterViewInit,
ChangeDetectionStrategy,
ChangeDetectorRef,
Component,
ElementRef,
EventEmitter,
HostListener,
inject,
Input,
OnDestroy,
OnInit,
Output,
Renderer2,
ViewChild
} from '@angular/core';
import { FormsModule } from '@angular/forms';
import {
OptionCheckboxComponent,
PanelHeaderComponent,
SettingsGroupComponent,
ValueSliderComponent
} from '@reflex/angular-components/dist';
import {
DEFAULT_SETTINGS,
DepthCameraState,
Interaction,
Point3,
TrackingServerAppSettings
} from '@reflex/shared-types';
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 { markViewForCheck } from 'src/shared/util/mark-view-for-check';
import * as THREE from 'three';
import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls.js';
import { PointCloudService } from '../../../shared/services/point-cloud.service';
import { TrackingService } from '../../../shared/services/tracking.service';
@Component({
selector: 'app-point-cloud',
templateUrl: './point-cloud.component.html',
styleUrls: ['./point-cloud.component.scss'],
changeDetection: ChangeDetectionStrategy.Eager,
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<HTMLDivElement>;
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 changeDetector = inject(ChangeDetectorRef);
private readonly httpClient = inject(HttpClient);
private readonly angularRenderer = inject(Renderer2);
private readonly trackingService = inject(TrackingService);
private readonly pointCloudService = inject(PointCloudService);
private readonly settingsService = inject(SettingsService);
private readonly processingService = inject(ProcessingService);
private readonly logService = inject(LogService);
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() {
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);
Iif (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', [])
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(`${err}`);
return of([]);
})
)
.pipe(markViewForCheck(this.changeDetector))
.subscribe(
(result) => this.updatePointCloud(result),
(error) => {
console.error(error);
this.logService.sendErrorLog(`${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();
Iif (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;
}
if (!this.isPointCloudInitialized) {
this.points = new THREE.Points(new THREE.BufferGeometry(), this.shaderMaterial);
this.scene.add(this.points);
this.isPointCloudInitialized = true;
} else {
this.points.visible = true;
}
const pointsGeometry = this.points.geometry;
if (points.length !== this.previousPointsLength) {
this.allocatePointBuffers(pointsGeometry, points.length);
this.previousPointsLength = points.length;
}
const positions = pointsGeometry.attributes.position.array as Float32Array;
const color = pointsGeometry.attributes.color.array as Float32Array;
const sizes = pointsGeometry.attributes.size.array as Float32Array;
const indices = pointsGeometry.attributes.index.array as Uint16Array;
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 allocatePointBuffers(geometry: THREE.BufferGeometry, length: number): void {
geometry.setAttribute('position', new THREE.BufferAttribute(new Float32Array(length * 3), 3));
geometry.setAttribute('color', new THREE.BufferAttribute(new Float32Array(length * 3), 3));
geometry.setAttribute('size', new THREE.BufferAttribute(new Float32Array(length * 3), 1));
geometry.setAttribute('index', new THREE.BufferAttribute(new Uint16Array(length), 1));
geometry.setDrawRange(0, length);
}
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);
if (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);
});
}
}
|