Parameters
Visualize point cloud intensity with a colormap.
import colormap from 'colormap';
import * as FunctionCurveEditor from 'function-curve-editor';
import { MathUtils, Vector3, Color } from 'three';
import { MapControls } from 'three/examples/jsm/controls/MapControls.js';
import { CSS2DObject } from 'three/examples/jsm/renderers/CSS2DRenderer.js';
import Instance from '@giro3d/giro3d/core/Instance.js';
import Tiles3D from '@giro3d/giro3d/entities/Tiles3D.js';
import PointCloudMaterial, { MODE } from '@giro3d/giro3d/renderer/PointCloudMaterial.js';
import Tiles3DSource from '@giro3d/giro3d/sources/Tiles3DSource.js';
import Inspector from '@giro3d/giro3d/gui/Inspector.js';
/**
* Binds a toggle switch or checkbox.
* @param {string} id The id of the <input> element.
* @param {(v: boolean) => void} onChange The callback when the dropdown value changes.
* @returns {(v: boolean) => void} The function to update the value from outside.
*/
function bindToggle(id, onChange) {
/** @type {HTMLInputElement} */
const toggle = document.getElementById(id);
toggle.oninput = function oninput() {
onChange(toggle.checked);
};
return v => {
toggle.checked = v;
onChange(toggle.checked);
};
}
/**
* Binds a text-value dropdown.
* @param {string} id The id of the <input> element.
* @param {(v: string) => void} onChange The callback when the dropdown value changes.
* @returns {(v: string) => void} The function to update the value from outside.
*/
function bindDropDown(id, onChange) {
/** @type {HTMLInputElement} */
const mode = document.getElementById(id);
mode.onchange = () => {
onChange(mode.value);
};
return v => {
mode.value = v;
onChange(mode.value);
};
}
/**
* Binds a button.
* @param {string} id The id of the <button> element.
* @param {(button: HTMLButtonElement) => void} onClick The click handler.
* @returns {HTMLButtonElement} The button element.
*/
function bindButton(id, onClick) {
const element = document.getElementById(id);
element.onclick = () => {
onClick(element);
};
return element;
}
/**
* Create an array of {@link Color}s from the specified colormap preset.
* @param {string} preset The name of the colormap preset.
* @param {boolean} [discrete=false] If `true`, the color array will have 10 steps, otherwise 256.
* @param {boolean} [invert=false] If `true`, the color array will be reversed.
* @returns {Color[]} The color array.
*/
function makeColorRamp(preset, discrete = false, invert = false, mirror = false) {
let nshades = discrete ? 10 : 256;
// eslint-disable-next-line no-undef
const values = colormap({ colormap: preset, nshades });
// eslint-disable-next-line no-undef
const colors = values.map(v => new Color(v));
if (invert) {
colors.reverse();
}
if (mirror) {
const mirrored = [...colors, ...colors.reverse()];
return mirrored;
}
return colors;
}
Instance.registerCRS(
'EPSG:3946',
'+proj=lcc +lat_1=45.25 +lat_2=46.75 +lat_0=46 +lon_0=3 +x_0=1700000 ' +
'+y_0=5200000 +ellps=GRS80 +towgs84=0,0,0,0,0,0,0 +units=m +no_defs',
);
const viewerDiv = document.getElementById('viewerDiv');
const instance = new Instance(viewerDiv, {
crs: 'EPSG:3946',
renderer: {
clearColor: false, // To make canvas transparent
},
});
// Enable point cloud post processing effects
instance.renderingOptions.enableEDL = true;
// But not inpainting and occlusion because it would hinder the opacity filtering
instance.renderingOptions.enableInpainting = false;
instance.renderingOptions.enablePointCloudOcclusion = false;
// Create a custom material for our point cloud.
const material = new PointCloudMaterial({ mode: MODE.INTENSITY });
material.colorMap.min = 0;
material.colorMap.max = 30;
material.colorMap.colors = makeColorRamp('greys');
let parameters = {
ramp: 'greys',
discrete: false,
invert: false,
colors: makeColorRamp('greys', false, false),
opacity: new Array(256).fill(1),
min: 0,
max: 30,
};
const url = 'https://3d.oslandia.com/giro3d/3d-tiles/lidarhd_intensity/tileset.json';
// Create the 3D tiles entity
const pointcloud = new Tiles3D('pointcloud', new Tiles3DSource(url), {
material,
});
function placeCamera(position, lookAt) {
instance.camera.camera3D.position.set(position.x, position.y, position.z);
instance.camera.camera3D.lookAt(lookAt);
// create controls
const controls = new MapControls(instance.camera.camera3D, instance.domElement);
controls.target.copy(lookAt);
controls.enableDamping = true;
controls.dampingFactor = 0.25;
instance.useTHREEControls(controls);
instance.notifyChange(instance.camera.camera3D);
}
const tmpVec3 = new Vector3();
// add pointcloud to scene
function initializeCamera() {
const bbox = pointcloud.root.bbox
? pointcloud.root.bbox
: pointcloud.root.boundingVolume.box.clone().applyMatrix4(pointcloud.root.matrixWorld);
instance.camera.camera3D.far = 2.0 * bbox.getSize(tmpVec3).length();
const lookAt = bbox.getCenter(tmpVec3);
lookAt.z = bbox.min.z;
placeCamera(new Vector3(221965, 6873398, 1951), lookAt);
}
instance.add(pointcloud).then(initializeCamera);
Inspector.attach(document.getElementById('panelDiv'), instance);
function updatePreview(colors) {
const canvas = document.getElementById('gradient');
const ctx = canvas.getContext('2d');
canvas.width = colors.length;
canvas.height = 32;
for (let i = 0; i < colors.length; i++) {
const color = colors[i];
ctx.fillStyle = `#${color.getHexString()}`;
ctx.fillRect(i, 0, 1, canvas.height);
}
}
updatePreview(parameters.colors);
function updateColorRamp() {
parameters.colors = makeColorRamp(parameters.ramp, parameters.discrete, parameters.invert);
material.colorMap.colors = parameters.colors;
material.colorMap.min = parameters.min;
material.colorMap.max = parameters.max;
material.colorMap.mode = parameters.mode;
updateTransparency();
updatePreview(parameters.colors);
instance.notifyChange(pointcloud);
}
const setDiscrete = bindToggle('discrete', v => {
parameters.discrete = v;
updateColorRamp();
});
const setInvert = bindToggle('invert', v => {
parameters.invert = v;
updateColorRamp();
});
const setRamp = bindDropDown('ramp', v => {
parameters.ramp = v;
updateColorRamp();
instance.notifyChange(pointcloud);
});
const updateBounds = bindColorMapBounds((min, max) => {
material.colorMap.min = min;
material.colorMap.max = max;
instance.notifyChange(pointcloud);
});
function bindColorMapBounds(callback) {
/** @type {HTMLInputElement} */
const lower = document.getElementById('lower');
/** @type {HTMLInputElement} */
const upper = document.getElementById('upper');
callback(lower.valueAsNumber, upper.valueAsNumber);
function updateLabels() {
document.getElementById('minLabel').innerText = `Lower bound: ${lower.valueAsNumber}`;
document.getElementById('maxLabel').innerText = `Upper bound: ${upper.valueAsNumber}`;
}
lower.oninput = function oninput() {
const rawValue = lower.valueAsNumber;
const clampedValue = MathUtils.clamp(rawValue, lower.min, upper.valueAsNumber - 1);
lower.valueAsNumber = clampedValue;
callback(lower.valueAsNumber, upper.valueAsNumber);
instance.notifyChange(pointcloud);
updateLabels();
};
upper.oninput = function oninput() {
const rawValue = upper.valueAsNumber;
const clampedValue = MathUtils.clamp(rawValue, lower.valueAsNumber + 1, upper.max);
upper.valueAsNumber = clampedValue;
callback(lower.valueAsNumber, upper.valueAsNumber);
instance.notifyChange(pointcloud);
updateLabels();
};
return (min, max) => {
lower.min = min;
lower.max = max;
upper.min = min;
upper.max = max;
lower.valueAsNumber = min;
upper.valueAsNumber = max;
updateLabels();
};
}
const canvas = document.getElementById('curve');
const widget = new FunctionCurveEditor.Widget(canvas);
function updateTransparency() {
const length = parameters.colors.length;
const f = widget.getFunction();
const opacities = new Array(length);
for (let i = 0; i < length; i++) {
const t = i / length;
opacities[i] = f(t);
}
parameters.opacity = opacities;
material.colorMap.opacity = opacities;
}
function setupCurveEditor() {
// Curve editor
const initialKnots = [
{ x: 0, y: 1 },
{ x: 1, y: 1 },
];
widget.setEditorState({
knots: initialKnots,
xMin: -0.2,
xMax: 1.2,
yMin: -0.2,
yMax: 1.2,
interpolationMethod: 'linear',
extendedDomain: true,
relevantXMin: 0,
relevantXMax: 1,
gridEnabled: true,
});
widget.addEventListener('change', () => {
updateColorRamp();
});
}
setupCurveEditor();
function resetToDefaults() {
setupCurveEditor();
setRamp('greys');
setDiscrete(false);
setInvert(false);
updateBounds(0, 30);
parameters = {
ramp: 'greys',
discrete: false,
invert: false,
colors: makeColorRamp('greys', false, false),
opacity: new Array(256).fill(1),
min: 0,
max: 30,
};
material.colorMap.active = true;
updateColorRamp();
instance.notifyChange(pointcloud);
}
bindButton('reset', resetToDefaults);
const labelElement = document.createElement('div');
labelElement.classList = 'badge rounded-pill text-bg-light';
labelElement.style.marginTop = '2rem';
const intensityValue = document.createElement('span');
intensityValue.style.marginLeft = '0.5rem';
const intensityColor = document.createElement('span');
intensityColor.classList = 'badge rounded-pill';
intensityColor.style.color = 'white';
intensityColor.style.background = 'red';
intensityColor.style.width = '1rem';
intensityColor.innerText = ' ';
labelElement.appendChild(intensityColor);
labelElement.appendChild(intensityValue);
const label = new CSS2DObject(labelElement);
instance.add(label);
// Let's query the intensity of the picked point and display it in the label.
function updateLabel(mouseEvent) {
const results = instance.pickObjectsAt(mouseEvent, { radius: 6 });
// Reset label visibility
label.visible = false;
if (results && results.length > 0) {
for (const result of results) {
const { object, point, index } = result;
if (object.isPointCloud) {
const intensity = object.getIntensity(index);
if (intensity) {
const color = material.colorMap.sample(intensity);
const opacity = material.colorMap.sampleOpacity(intensity);
if (opacity > 0.5) {
const hex = color.getHexString();
intensityColor.style.background = `#${hex}`;
intensityValue.innerText = `${intensity.toFixed(2)}`;
label.visible = true;
label.position.copy(point);
label.updateMatrixWorld(true);
break;
}
}
}
}
}
instance.notifyChange();
}
instance.domElement.addEventListener('mousemove', updateLabel);
// For some reason we have to wait a bit in order to the curve editor to display properly on Firefox.
setTimeout(resetToDefaults, 100);
<!doctype html>
<html lang="en">
<head>
<title>Point cloud intensity</title>
<meta charset="UTF-8" />
<meta name="name" content="point_cloud_intensity" />
<meta name="description" content="Visualize point cloud intensity with a colormap." />
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<link rel="icon" href="https://giro3d.org/images/favicon.svg" />
<link href="https://giro3d.org/assets/bootstrap-custom.css" rel="stylesheet" />
<script src="https://giro3d.org/assets/bootstrap.bundle.min.js"></script>
<link
rel="stylesheet"
type="text/css"
href="https://giro3d.org/latest/css/example.css"
/>
<style>
#viewerDiv canvas {
background: rgb(132, 170, 182);
background: radial-gradient(circle, rgba(132, 170, 182, 1) 0%, rgba(37, 44, 48, 1) 100%);
}
</style>
</head>
<body>
<div id="viewerDiv" class="m-0 p-0 w-100 h-100"></div>
<div id="panelDiv" class="position-absolute top-0 start-0 mh-100 overflow-auto"></div>
<div class="side-pane-with-status-bar" style="width: 20rem">
<!--Parameters -->
<div class="card">
<div class="card-header">
Parameters
<button type="button" id="reset" class="btn btn-sm btn-primary rounded float-end">
reset
</button>
</div>
<div class="card-body" id="top-options">
<!-- Reverse color map -->
<div class="form-check form-switch mb-1">
<input
class="form-check-input"
type="checkbox"
role="switch"
id="invert"
autocomplete="off"
/>
<label class="form-check-label" for="invert">Invert color map</label>
</div>
<!-- Discrete color map -->
<div class="form-check form-switch mb-3">
<input
class="form-check-input"
type="checkbox"
role="switch"
id="discrete"
autocomplete="off"
/>
<label class="form-check-label" for="discrete">Discrete color map</label>
</div>
<!-- Color ramp selector -->
<div class="input-group mb-3">
<label class="input-group-text" for="ramp">Colors</label>
<select class="form-select" id="ramp" autocomplete="off">
<option value="greys" selected>Greys</option>
<option value="viridis">Viridis</option>
<option value="jet">Jet</option>
<option value="blackbody">Blackbody</option>
<option value="earth">Earth</option>
<option value="bathymetry">Bathymetry</option>
<option value="magma">Magma</option>
<option value="par">Par</option>
<option value="rdbu">RdBu</option>
</select>
</div>
<!-- Gradient preview -->
<div class="mb-3 w-100">
<canvas
id="gradient"
height="32"
class="w-100 border rounded"
style="height: 32px; image-rendering: pixelated"
></canvas>
</div>
<!-- Opacity curve -->
<div class="mb-3 w-100">
<label for="curve" class="mb-2">Opacity curve</label>
<canvas id="curve" height="128" class="w-100" style="height: 128px"></canvas>
</div>
<!-- Bound sliders -->
<div class="input-group border rounded p-2">
<label for="lower" id="minLabel" class="form-label">Lower bound</label>
<div class="input-group">
<input
type="range"
min="0"
max="30"
value="0"
class="form-range"
id="lower"
autocomplete="off"
/>
</div>
<label for="upper" id="maxLabel" class="form-label">Upper bound</label>
<div class="input-group">
<input
type="range"
min="0"
max="30"
value="30"
class="form-range"
id="upper"
autocomplete="off"
/>
</div>
</div>
</div>
</div>
</div>
<script type="module" src="index.js"></script>
<script>
/* activate popovers */
const popoverTriggerList = [].slice.call(
document.querySelectorAll('[data-bs-toggle="popover"]'),
);
popoverTriggerList.map(
// bootstrap is used as script in the template, disable warning about undef
// eslint-disable-next-line no-undef
popoverTriggerEl =>
new bootstrap.Popover(popoverTriggerEl, {
trigger: 'hover',
placement: 'left',
content: document.getElementById(
popoverTriggerEl.getAttribute('data-bs-content'),
).innerHTML,
html: true,
}),
);
</script>
</body>
</html>
{
"name": "point_cloud_intensity",
"dependencies": {
"colormap": "^2.3.2",
"function-curve-editor": "^1.0.16",
"@giro3d/giro3d": "0.38.5"
},
"devDependencies": {
"vite": "^3.2.3"
},
"scripts": {
"start": "vite",
"build": "vite build"
}
}