cli-ptcloud.c

cli-ptcloud.c

//
//  cli-ptcloud.c
//  - Lingdong Huang 2019
//  
//  View point clouds (.ply format) in commandline
//
//  Dependencies:
//  - curses (-lcurses, comes with most unix systems)
//  - rply (http://w3.impa.br/~diego/software/rply/, place in path below:
      #define RPLY_PATH "include/rply/rply.h"
//
//  Compile:
//  $ gcc -O3 include/rply/rply.h include/rply/rply.c cli-ptcloud.c -lcurses -lm; mv ./a.out cli-ptcloud
//
//  Usage:
//  $ ./cli-ptcloud path/to/model.ply
//
//  Controls:
//  - Keys 0-6 to switch view
//  - Mouse to rotate the model in 0th (free) view
//

#include <curses.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <getopt.h>
#include <stdint.h>
#include <string.h>
#include <math.h>

#include RPLY_PATH

#define M_MOVE 0x8000000
#define LM_CLICK 0x1
#define LM_DRAG 0x80000
#define LM_UP 0x40000

#define MIN(X, Y) (((X) < (Y)) ? (X) : (Y))
#define MAX(X, Y) (((X) > (Y)) ? (X) : (Y))

#define MAT_IDEN [16]={1,0,0,0, 0,1,0,0, 0,0,1,0, 0,0,0,1}
#define MAT_ROTX(a) [16]={1,0,0,0, 0,cos(a),-sin(a),0, 0,sin(a),cos(a),0, 0,0,0,1}
#define MAT_ROTY(a) [16]={cos(a),0,sin(a),0, 0,1,0,0, -sin(a),0,cos(a),0, 0,0,0,1}
#define MAT_ROTZ(a) [16]={cos(a),-sin(a),0,0, sin(a),cos(a),0,0, 0,0,1,0, 0,0,0,1}
#define MAT_TRSL(x,y,z) [16]={1,0,0,x, 0,1,0,y, 0,0,1,z, 0,0,0,1}
#define MAT_SCAL(x,y,z) [16]={x,0,0,0, 0,y,0,0, 0,0,z,0, 0,0,0,1}
#define MAT_MULT(A,B) [16]={(A)[0]*(B)[0]+(A)[1]*(B)[4]+(A)[2]*(B)[8]+(A)[3]*(B)[12],(A)[0]*(B)[1]+(A)[1]*(B)[5]+(A)[2]*(B)[9]+(A)[3]*(B)[13],(A)[0]*(B)[2]+(A)[1]*(B)[6]+(A)[2]*(B)[10]+(A)[3]*(B)[14],(A)[0]*(B)[3]+(A)[1]*(B)[7]+(A)[2]*(B)[11]+(A)[3]*(B)[15],(A)[4]*(B)[0]+(A)[5]*(B)[4]+(A)[6]*(B)[8]+(A)[7]*(B)[12],(A)[4]*(B)[1]+(A)[5]*(B)[5]+(A)[6]*(B)[9]+(A)[7]*(B)[13],(A)[4]*(B)[2]+(A)[5]*(B)[6]+(A)[6]*(B)[10]+(A)[7]*(B)[14],(A)[4]*(B)[3]+(A)[5]*(B)[7]+(A)[6]*(B)[11]+(A)[7]*(B)[15],(A)[8]*(B)[0]+(A)[9]*(B)[4]+(A)[10]*(B)[8]+(A)[11]*(B)[12],(A)[8]*(B)[1]+(A)[9]*(B)[5]+(A)[10]*(B)[9]+(A)[11]*(B)[13],(A)[8]*(B)[2]+(A)[9]*(B)[6]+(A)[10]*(B)[10]+(A)[11]*(B)[14],(A)[8]*(B)[3]+(A)[9]*(B)[7]+(A)[10]*(B)[11]+(A)[11]*(B)[15],(A)[12]*(B)[0]+(A)[13]*(B)[4]+(A)[14]*(B)[8]+(A)[15]*(B)[12],(A)[12]*(B)[1]+(A)[13]*(B)[5]+(A)[14]*(B)[9]+(A)[15]*(B)[13],(A)[12]*(B)[2]+(A)[13]*(B)[6]+(A)[14]*(B)[10]+(A)[15]*(B)[14],(A)[12]*(B)[3]+(A)[13]*(B)[7]+(A)[14]*(B)[11]+(A)[15]*(B)[15]}

#define MAT_TFRM(A,v) [3]={((A)[0]*(v)[0]+(A)[1]*(v)[1]+(A)[2]*(v)[2]+(A)[3])/((A)[12]*(v)[0]+(A)[13]*(v)[1]+(A)[14]*(v)[2]+(A)[15]),((A)[4]*(v)[0]+(A)[5]*(v)[1]+(A)[6]*(v)[2]+(A)[7])/((A)[12]*(v)[0]+(A)[13]*(v)[1]+(A)[14]*(v)[2]+(A)[15]),((A)[8]*(v)[0]+(A)[9]*(v)[1]+(A)[10]*(v)[2]+(A)[11])/((A)[12]*(v)[0]+(A)[13]*(v)[1]+(A)[14]*(v)[2]+(A)[15])}
#define MAT_PROJ(f,v) [2]={(f)*(v)[0]/(v)[2],(f)*(v)[1]/(v)[2]}


#define MAX_W 256
#define MAX_H 218
#define MAX_BINS (MAX_W*MAX_H)
#define SHADE_PT " .:;!+*#"
#define VMODE_FREE 0
#define VMODE_FRONT 1
#define VMODE_LEFT 2
#define VMODE_RIGHT 3
#define VMODE_TOP 4
#define VMODE_BOTTOM 5
#define VMODE_BACK 6


char* ptbin;
float* ptcloud;
long ptcloud_idx = 0;

long n_vertices = 0;

float xmin, xmax, ymin, ymax, zmin, zmax;

float xrot, yrot, zrot;

int vmode = VMODE_FREE;

static int vertex_cb(p_ply_argument argument) {
  long eol;
  ply_get_argument_user_data(argument, NULL, &eol);
  float f = ply_get_argument_value(argument);
  ptcloud[ptcloud_idx]=f;
  if (ptcloud_idx % 3 == 0){
    xmin = MIN(f,xmin);
    xmax = MAX(f,xmax);
  }
  if (ptcloud_idx % 3 == 1){
    ymin = MIN(f,ymin);
    ymax = MAX(f,ymax);
  }
  if (ptcloud_idx % 3 == 2){
    zmin = MIN(f,zmin);
    zmax = MAX(f,zmax);
  }
  ptcloud_idx++;
  return 1;
}

int load_vertices(char* path){
  p_ply ply = ply_open(path, NULL, 0, NULL);
  if (!ply) return 1;
  if (!ply_read_header(ply)) return 1;
  
  p_ply_element element = NULL;
  
  n_vertices =
  ply_set_read_cb(ply, "vertex", "x", vertex_cb, NULL, 0);
  ply_set_read_cb(ply, "vertex", "y", vertex_cb, NULL, 0);
  ply_set_read_cb(ply, "vertex", "z", vertex_cb, NULL, 1);
  
  ptcloud = (float *)malloc(n_vertices*3*sizeof(float));

  if (!ptcloud){
    exit(1);
  }
  
  if (!ply_read(ply)) return 1;
  ply_close(ply);
  
  return 0;
}

void normalize_ptcloud(){
  float s = 2/MAX(MAX(xmax-xmin,ymax-ymin),zmax-zmin);
  for (long i = 0; i < n_vertices; i++){
    ptcloud[i*3+0] = (ptcloud[i*3+0]-xmin)*s-1;
    ptcloud[i*3+1] = (ptcloud[i*3+1]-ymin)*s-1;
    ptcloud[i*3+2] = (ptcloud[i*3+2]-zmin)*s-1;
  }
}

void print_ptcloud(){
  for (long i = 0; i < n_vertices; i++){
    printf("[%ld] %f %f %f\n",i,ptcloud[i*3],ptcloud[i*3+1],ptcloud[i*3+2]);
  }
  printf("#vertices: %ld.\n",n_vertices);
}

void draw_ptcloud(){
  int W = MIN(COLS,MAX_W);
  int H = MIN(LINES,MAX_H);
  
  for (int i = 0; i < W*H; i++){
    ptbin[i] = 0;
  }
  
  int m = MIN(W/2,H);
  int padx = 0;
  int pady = 0;
  if (W/2 > H){
    padx = (W/2-H);
  }else{
    pady = (H-W/2)/2;
  }
  
  for (long i = 0; i < n_vertices; i++){
    
    float x = ptcloud[i*3+0];
    float y = ptcloud[i*3+1];
    float z = ptcloud[i*3+2];
    
    float rotx MAT_ROTX(xrot);
    float roty MAT_ROTY(yrot);
    float rotz MAT_ROTZ(zrot);
    
    float rotxy MAT_MULT(roty,rotx);
    float rot MAT_MULT(rotz,rotxy);
    float trl MAT_TRSL(0,0,10);
    float tfm MAT_MULT(trl,rot);
    
    float v[3] = {x,y,z};
    
    float u MAT_TFRM(tfm,v);
    float w MAT_PROJ(10,u);
    
    int r = round(pady-w[1] * (m/2) + (m/2));
    int c = round(padx+w[0] * m + m);
    
    if (0 <= c && c < W && 0 <= r && r < H){
      ptbin[r*W+c]++;
    }
    
  }
  for (int i = 0; i < H; i++){
    for (int j = 0; j < W; j++){
      int n = MIN(7,ptbin[i*W+j]);
      
      if (!(i==H-1 && j==W-1)){
        mvprintw(i,j,"%c",SHADE_PT[n]);
      }
      
    }
  }
  
}

int mousex;
int mousey;

void on_keypress(int c){
  if (48 <= c && c <= 54){
    vmode = c-48;
  }
}

void handle_events(){
  int c = wgetch(stdscr);
  if (c == ERR) {
  }else if (c == KEY_MOUSE) {
    MEVENT event;
    if (getmouse(&event) == OK) {
      mousex = event.x;
      mousey = event.y;
      
    }
  } else {
    on_keypress(c);
  }
}

void init_curses(){
  initscr();
  cbreak();
  noecho();
  keypad(stdscr, TRUE);
  mousemask(ALL_MOUSE_EVENTS | REPORT_MOUSE_POSITION, NULL);
  mouseinterval(0);
  curs_set(0);
  printf("\033[?1003h\n"); // Makes the terminal report mouse movement events
  
}

void exit_curses(){
  printf("\033[?1003l\n"); // Disable mouse movement events, as l = low
  endwin();
}

int main(int argc, char** argv){
  
  load_vertices(argv[1]);
  normalize_ptcloud();
  print_ptcloud();
  ptbin = (char*)malloc(MAX_BINS*sizeof(char));
  
  init_curses();
  
  long frame = 0;
  
  char vdesc[10];
  
  for(;;) {
    int W = MIN(COLS,MAX_W);
    int H = MIN(LINES,MAX_H);
    
    if (frame == 0){
      mousex = W/2;
      mousey = H/2;
    }else{
      handle_events();
    }
    xrot = 0;
    yrot = 0;
    zrot = 0;
    switch(vmode){
        /*--*/ case VMODE_FREE:
        xrot = ((float)mousey/(float)LINES-0.5)*M_PI*2;
        yrot = ((float)mousex/(float)COLS-0.5)*M_PI*2;
        strcpy(vdesc,"FREE\0");
        break; case VMODE_TOP:
        xrot = M_PI/2;
        strcpy(vdesc,"TOP\0");
        break; case VMODE_BOTTOM:
        xrot = -M_PI/2;
        strcpy(vdesc,"BOTTOM\0");
        break; case VMODE_LEFT:
        yrot = M_PI/2;
        strcpy(vdesc,"LEFT\0");
        break; case VMODE_RIGHT:
        yrot = -M_PI/2;
        strcpy(vdesc,"RIGHT\0");
        break; case VMODE_FRONT:
        strcpy(vdesc,"FRONT\0");
        break; case VMODE_BACK:
        yrot = M_PI;
        strcpy(vdesc,"BACK\0");
        break; default:;
    }

    draw_ptcloud();
    mvprintw(0,0,"MODEL: %s",argv[1]);
    mvprintw(1,0,"VIEW: (%d) %s",vmode,vdesc);
    refresh();
    frame++;
  }
  
  exit_curses();
  return 0;
}