[FIX 371] Fixing somen memory leaks and few feature improvements

Main changes:
  - Multithreading for allocating kd-trees at 8 threads.
  - Fixed memory leak when kd-tree is destroyed. Not all memory was freed previously.
  - Added few point transformation features regarding automatical color adjustment.
  - Improved speed of the point file lading feature.
  - Fixed ReadLAS module
      - Previously it could only use greyscale color channel.
      - Made X/Y-sliders more intuitive

LiDARToolbox/src/common/algorithms/pointSaver/WPointSaver.cpp

@@ -36,6 +36,8 @@ WPointSaver::WPointSaver()
     m_hasGroupInfo = false;
     m_filePath = new stringstream();
     m_containsData = false;
+    m_currentInputNumberLine.reserve( 0 );
+    m_currentInputNumberLine.resize( 0 );
 }
 
 WPointSaver::~WPointSaver()
@@ -98,31 +100,6 @@ void WPointSaver::setFilePath( const char* path )
     *m_filePath << path;
 }
 
-double WPointSaver::parseDouble( vector<char> charVector )
-{
-    stringstream numberStream;
-    for( size_t index = 0; index < charVector.size(); index++ )
-        numberStream << charVector[index];
-    const string numberString = numberStream.str();
-    istringstream stream( numberString );
-    stream.precision( 16 );
-    double number;
-    stream >> number;
-    return number;
-}
-
-size_t WPointSaver::parseSizeT( vector<char> charVector )
-{
-    stringstream numberStream;
-    for( size_t index = 0; index < charVector.size(); index++ )
-        numberStream << charVector[index];
-    const string numberString = numberStream.str();
-    istringstream stream( numberString );
-    size_t number;
-    stream >> number;
-    return number;
-}
-
 bool WPointSaver::containsData()
 {
     return m_containsData;
@@ -186,21 +163,40 @@ bool WPointSaver::load()
     ifstream myfile( path );
     while( getline( myfile, line ) )
     {
-        if( ( m_verts->size() / 3 ) % 50000 == 0 )
+        if( ( m_verts->size() / 3 ) % 100000 == 0 )
             cout << "WPointSaver::load() - Current point count: " << m_verts->size() / 3 << endl;
-        vector<vector<char> > signs = fetchNumberCharsFromLine( line );
-        if( signs.size() == variablesPerLine )
+        fetchNumberCharsFromLine( line );
+        if( m_currentInputNumberLine.size() == variablesPerLine
+                || m_currentInputNumberLine.size() == variablesPerLine - 2 )
         {
             m_containsData = true;
             for( size_t dimension = 0; dimension < 3; dimension++ )
-                m_verts->push_back( parseDouble( signs[dimension] ) );
-            for( size_t color = 0; color < 3; color++ )
-                m_colors->push_back( parseDouble( signs[color + 3] ) );
-            if( m_hasGroupInfo )
-                m_groups->push_back( parseSizeT( signs[6] ) );
+            {
+                m_verts->push_back( 0.0 );
+                *m_currentInputNumberLine[dimension] >> m_verts->at( m_verts->size() - 1 );
+
+                m_colors->push_back( 0.0 );
+            }
+
+            *m_currentInputNumberLine[3] >> m_colors->at( m_colors->size() - 3 );
+            for( size_t colorChannel = 1; colorChannel < 3; colorChannel++ )
+                if( m_currentInputNumberLine.size() == variablesPerLine )
+                {
+                    *m_currentInputNumberLine[3 + colorChannel]
+                            >> m_colors->at( m_colors->size() - 3 + colorChannel );
+                }
+                else
+                {
+                    m_colors->at( m_colors->size() - 3 + colorChannel )
+                            = m_colors->at( m_colors->size() - 3 );
+                }
 
-            if( m_verts->size() > 0 && m_verts->size() % 100000 == 0 )
-                cout << "Loading points. Current size: " << m_verts->size() << endl;
+            if( m_hasGroupInfo )
+            {
+                m_groups->push_back( 0.0 );
+                *m_currentInputNumberLine[ m_currentInputNumberLine.size() - 1 ]
+                        >> m_groups->at( m_groups->size() - 1 );
+            }
         }
     }
     myfile.close();
@@ -256,9 +252,8 @@ bool WPointSaver::isNumberChar( const char sign )
     return sign == '.' || sign == '-' || sign == 'e' || sign == 'E';
 }
 
-vector<vector<char> > WPointSaver::fetchNumberCharsFromLine( string line )
+void WPointSaver::fetchNumberCharsFromLine( string line )
 {
-    vector<vector<char> > output;
     size_t vectorSize = 0;
     size_t length = line.length();
     const char* text = line.c_str();
@@ -269,19 +264,21 @@ vector<vector<char> > WPointSaver::fetchNumberCharsFromLine( string line )
         bool isNumberSign = WPointSaver::isNumberChar( text[index] );
         if( !wasNumberSign && isNumberSign )
         {
-            output.reserve( vectorSize + 1 );
-            output.resize( vectorSize + 1 );
-            vector<char> newVector;
-            output[vectorSize] = newVector;
             vectorSize++;
+            if( vectorSize > m_currentInputNumberLine.size() )
+                m_currentInputNumberLine.push_back( new stringstream() );
+            m_currentInputNumberLine[vectorSize - 1]->clear();
         }
         if( isNumberSign )
-        {
-            output[vectorSize - 1].push_back( text[index] );
-        }
+            *m_currentInputNumberLine[vectorSize - 1] << text[index];
+
         wasNumberSign = isNumberSign;
     }
-    return output;
+    if( vectorSize < m_currentInputNumberLine.size() )
+    {
+        m_currentInputNumberLine.reserve( vectorSize );
+        m_currentInputNumberLine.resize( vectorSize );
+    }
 }
 
 const char* WPointSaver::EXTENSION_WDATASETPOINTS = ".points";

LiDARToolbox/src/common/algorithms/pointSaver/WPointSaver.h

@@ -134,20 +134,6 @@ public:
      */
     static bool isNumberChar( const char sign );
 
-    /**
-     * Parses a double number from a characer sequence.
-     * \param charVector Character sequence to be parsed.
-     * \return parsed double number.
-     */
-    static double parseDouble( vector<char> charVector );
-
-    /**
-     * Parses a size_t number from a characer sequence.
-     * \param charVector Character sequence to be parsed.
-     * \return parsed size_t number.
-     */
-    static size_t parseSizeT( vector<char> charVector );
-
     /**
      * Tests whether a path ends with a character sequence. Useful to test whether file 
      * names correspond to an extension.
@@ -182,7 +168,7 @@ private:
      * \param line Line to be separated
      * \return Set of several numbers that further have to be parsed.
      */
-    vector<vector<char> > fetchNumberCharsFromLine( string line );
+    void fetchNumberCharsFromLine( string line );
 
 
     /**
@@ -224,6 +210,11 @@ private:
      * Extension for WDataSetPointsGrouped point data files.
      */
     static const char* EXTENSION_WDATASETPOINTSGROUPED;
+
+    /**
+     * Current row of read in numbers from a file that has further to be parsed
+     */
+    vector<stringstream*> m_currentInputNumberLine;
 };
 
 #endif  // WPOINTSAVER_H

LiDARToolbox/src/common/datastructures/kdtree/WKdTreeND.cpp

@@ -37,6 +37,7 @@ WKdTreeND::WKdTreeND()
     m_allowDoubles = true;
     m_points = new vector<WKdPointND* >();
     m_parentSplittingDimension = 3;
+    m_hierarchyLevel = 0;
     m_higherChild = 0;
     m_lowerChild = 0;
 }
@@ -49,6 +50,7 @@ WKdTreeND::WKdTreeND( size_t dimensions )
     m_allowDoubles = true;
     m_points = new vector<WKdPointND* >();
     m_parentSplittingDimension = dimensions;
+    m_hierarchyLevel = 0;
     m_higherChild = 0;
     m_lowerChild = 0;
 }
@@ -287,8 +289,21 @@ void WKdTreeND::addPointsToChildren( vector<WKdPointND* >* newPoints )
             higherPoints->push_back( newPoint );
         }
     }
-    m_lowerChild->add( lowerPoints );
-    m_higherChild->add( higherPoints );
+
+    size_t hierarchyLevel = m_hierarchyLevel;
+    if( hierarchyLevel > 2 )
+    {
+        m_lowerChild->add( lowerPoints );
+        m_higherChild->add( higherPoints );
+    }
+    else
+    {
+        boost::thread lowerChildThread( &WKdTreeND::add, m_lowerChild, lowerPoints );
+        boost::thread higherChildThread( &WKdTreeND::add, m_higherChild, higherPoints );
+        lowerChildThread.join();
+        higherChildThread.join();
+    }
+
     delete lowerPoints;
     delete higherPoints;
 }
@@ -445,4 +460,6 @@ void WKdTreeND::initSubNodes()
 {
     m_lowerChild->m_parentSplittingDimension = m_splittingDimension;
     m_higherChild->m_parentSplittingDimension = m_splittingDimension;
+    m_lowerChild->m_hierarchyLevel = m_hierarchyLevel + 1;
+    m_higherChild->m_hierarchyLevel = m_hierarchyLevel + 1;
 }

LiDARToolbox/src/common/datastructures/kdtree/WKdTreeND.h

@@ -28,6 +28,7 @@
 #include <vector>
 #include <algorithm>
 #include "WKdPointND.h"
+#include <boost/thread.hpp>
 
 using std::vector;
 using std::size_t;
@@ -228,6 +229,11 @@ private:
      */
     size_t m_parentSplittingDimension;    //TODO(aschwarzkopf): ggf. wegschmeißen
 
+    /**
+     * Herarchy level of the kd-tree node. It is used for multithreading regulation.
+     */
+    size_t m_hierarchyLevel;
+
     //TODO(aschwarzkopf): Ggf. Sinn: Nicht bis ins Letzte unterteilen, ggf. nur über einem Threshold
     /**
      * The kd tree node child which is on the lower position across the splitting 

LiDARToolbox/src/elevationImageExport/WElevationImageOutliner.cpp

@@ -53,6 +53,27 @@ WElevationImageOutliner::~WElevationImageOutliner()
 {
 }
 
+double WElevationImageOutliner::getSurfaceArea2D( WQuadTree* quadTree )
+{
+    return calculateSurfaceForNode2D( quadTree->getRootNode(), quadTree );
+}
+
+double WElevationImageOutliner::calculateSurfaceForNode2D( WQuadNode* node, WQuadTree* quadTree )
+{
+    if( node->getRadius() <= quadTree->getDetailLevel() )
+    {
+        return node->getRadius() * node->getRadius() * 4;
+    }
+    else
+    {
+        double area = 0.0;
+        for  ( size_t child = 0; child < 4; child++ )
+            if  ( node->getChild( child ) != 0 )
+                area += calculateSurfaceForNode2D( node->getChild( child ), quadTree );
+        return area;
+    }
+}
+
 void WElevationImageOutliner::importElevationImage( WQuadTree* quadTree, size_t elevImageMode )
 {
     boost::shared_ptr< WTriangleMesh > tmpMesh( new WTriangleMesh( 0, 0 ) );

LiDARToolbox/src/elevationImageExport/WElevationImageOutliner.h

@@ -90,6 +90,22 @@ public:
      */
     virtual ~WElevationImageOutliner();
 
+    /**
+     * Returns the 2D surface area in m^2. Area = [node count] * [node radius]^2 * 4.
+     * \param quadtree Quadtree to calculate the 2D m^2 area for.
+     * \return 2D surface area in m^2.
+     */
+    double getSurfaceArea2D( WQuadTree* quadtree );
+
+    /**
+     * Calculates quadtree node surface for a node of a quadtree.
+     * Area = [node count] * [node radius]^2 * 4.
+     * \param node Quadtree node to calculate childtens node area for.
+     * \param quadTree Quadtree where node area  in m^2should be calculated.
+     * \return 2D surface area in m^2.
+     */
+    double calculateSurfaceForNode2D( WQuadNode* node, WQuadTree* quadTree );
+
     /**
      * Sets the elevation image export settings.
      * \param minElevImageZ The elevation height that is mapped to the black color.

LiDARToolbox/src/elevationImageExport/WMElevationImageExport.cpp

@@ -101,12 +101,13 @@ void WMElevationImageExport::properties()
     m_yMax = m_infoProperties->addProperty( "Y max.: ", "Maximal y coordinate of all input points.", 0.0 );
     m_zMin = m_infoProperties->addProperty( "Z min.: ", "Minimal z coordinate of all input points.", 0.0 );
     m_zMax = m_infoProperties->addProperty( "Z max.: ", "Maximal z coordinate of all input points.", 0.0 );
+    m_infoSurfaceArea2D = m_infoProperties->addProperty( "Area m²: ", "Surface area in m².", 0.0 );
 
 
     // ---> Put the code for your properties here. See "src/modules/template/" for an extensively documented example.
     m_detailDepth = m_properties->addProperty( "Detail Depth 2^n m: ", "Resulting 2^n meters detail "
                             "depth for the octree search tree.", 0, m_propCondition );
-    m_detailDepth->setMin( -3 );
+    m_detailDepth->setMin( -4 );
     m_detailDepth->setMax( 4 );
     m_detailDepthLabel = m_properties->addProperty( "Voxel width meters: ", "Resulting detail depth "
                             "in meters for the octree search tree.", pow( 2.0, m_detailDepth->get() ) * 2.0 );
@@ -179,12 +180,11 @@ void WMElevationImageExport::moduleMain()
             m_detailDepthLabel->set( pow( 2.0, m_detailDepth->get() ) * 2.0 );
             m_elevationImage = new WQuadTree( pow( 2.0, m_detailDepth->get() ) );
 
-            boost::shared_ptr< WTriangleMesh > tmpMesh( new WTriangleMesh( 0, 0 ) );
             for( size_t vertex = 0; vertex < count; vertex++)
             {
-                float x = verts->at( vertex*3 );
-                float y = verts->at( vertex*3+1 );
-                float z = verts->at( vertex*3+2 );
+                double x = verts->at( vertex*3 );
+                double y = verts->at( vertex*3+1 );
+                double z = verts->at( vertex*3+2 );
                 m_elevationImage->registerPoint( x, y, z );
                 m_progressStatus->increment( 1 );
             }
@@ -212,9 +212,13 @@ void WMElevationImageExport::moduleMain()
                 image->highlightBuildingGroups( m_pointGroups->getData(), m_elevationImage );
 
                 WBmpSaver::saveImage( image, m_elevationImageExportablePath->get().c_str() );
+                delete image;
             }
+            m_infoSurfaceArea2D->set( m_elevationImageOutliner->getSurfaceArea2D( m_elevationImage ) );
             m_elevationImageDisplay->updateData( m_elevationImageOutliner->getOutputMesh() );
             m_exportTriggerProp->set( WPVBaseTypes::PV_TRIGGER_READY, true );
+            delete m_elevationImage;
+            delete m_elevationImageOutliner;
             m_progressStatus->finish();
         }
 

LiDARToolbox/src/elevationImageExport/WMElevationImageExport.h

@@ -207,6 +207,12 @@ private:
      */
     WPropDouble m_zMax;
 
+    /**
+     * Info field for surface area in m^2 of the elevation image.
+     * Area = [node count] * [node radius]^2 * 4.
+     */
+    WPropDouble m_infoSurfaceArea2D;
+
     /**
      * Determines the resolution of the smallest octree nodes in 2^n meters
      */

LiDARToolbox/src/pointsTransform/WMPointsTransform.h

@@ -75,6 +75,9 @@ template< class T > class WModuleInputData;
 class WDataSetScalar;
 class WGEManagedGroupNode;
 
+
+using std::numeric_limits;
+
 /**
  * Transforms a point set: Available options: Cropping, stretching, translation and 
  * rotation.
@@ -118,6 +121,55 @@ public:
      */
     virtual const char** getXPMIcon() const;
 
+    /**
+     * Color adjustment reference constant - Automatical color adjustment.
+     */
+    static const size_t M_COLOR_AUTO;
+
+    /**
+     * Color adjustment reference constant - Automatical color adjustment with the offset
+     * of 0.
+     */
+    static const size_t M_COLOR_AUTO_ONLY_CONTRAST;
+
+    /**
+     * Color adjustment reference constant - Manual color adjustment.
+     */
+    static const size_t M_COLOR_MANUAL;
+
+    /**
+     * Color adjustment reference constant - Editing colors manually with the same
+     * aspect ratio between all colors.
+     */
+    static const size_t M_COLOR_MANUAL_JOINED;
+
+    /**
+     * Color adjustment reference constant - manual color adjustment with all enterable
+     * numbers (without useing sliders).
+     */
+    static const size_t M_COLOR_MANUAL_UNBOUNDED;
+
+    /**
+     * Color adjustment reference constant - manual color adjustment with all enterable
+     * numbers (without useing sliders). Aspect ratio between colors is kept.
+     */
+    static const size_t M_COLOR_MANUAL_UNBOUNDED_JOINED;
+
+    /**
+     * Color display mode - Colored.
+     */
+    static const size_t M_COLOR_MODE_COLORED;
+
+    /**
+     * Color display mode - Perceptional proportions of Red=30%, Green=59% and Blue=11%.
+     */
+    static const size_t M_COLOR_MODE_GREYSCALE_PERCEPTIONAL;
+
+    /**
+     * Color display mode - Proportional proportions of Red=33%, Green=33% and Blue=33%.
+     */
+    static const size_t M_COLOR_MODE_GREYSCALE_PROPORTIONAL;
+
 protected:
     /**
      * Entry point after loading the module. Runs in separate thread.
@@ -186,6 +238,11 @@ private:
      */
     void onFileSave();
 
+    /**
+     * Method that handles color intensity correction.
+     */
+    void onColorIntensityCorrect();
+
     /**
      * WDataSetPoints data input (proposed for LiDAR data).
      */
@@ -268,39 +325,29 @@ private:
     vector<WPropDouble> m_infoBoundingBoxMax;
 
     /**
-     * Options for surface features.
+     * Information about minimal color channel intensity values.
      */
-    WPropGroup m_pointsCropGroup;
+    vector<WPropDouble> m_infoColorMin;
 
     /**
-     * Minimal X value of the selection.
+     * Information about maximal color channel intensity values.
      */
-    WPropDouble m_fromX;
+    vector<WPropDouble> m_infoColorMax;
 
     /**
-     * Maximal X value of the selection.
-     */
-    WPropDouble m_toX;
-
-    /**
-     * Maximal Y value of the selection.
-     */
-    WPropDouble m_fromY;
-
-    /**
-     * Minimal Y value of the selection.
+     * Options for surface features.
      */
-    WPropDouble m_toY;
+    WPropGroup m_pointsCropGroup;
 
     /**
-     * Minimal Z value of the selection.
+     * Minimal Coordinate value of the selection.
      */
-    WPropDouble m_fromZ;
+    vector<WPropDouble> m_fromCoord;
 
     /**
-     * Maximal Z value of the selection.
+     * Maximal Coordinate value of the selection.
      */
-    WPropDouble m_toZ;
+    vector<WPropDouble> m_toCoord;
 
     /**
      * Switch to cut away the selection instead of to crop the area.
@@ -331,19 +378,9 @@ private:
     WPropGroup m_translatePointsGroup;
 
     /**
-     * X coordinate translation offset.
-     */
-    WPropDouble m_translateX;
-
-    /**
-     * Y coordinate translation offset.
+     * Coordinate translation offset.
      */
-    WPropDouble m_translateY;
-
-    /**
-     * Z coordinate translation offset.
-     */
-    WPropDouble m_translateZ;
+    vector<WPropDouble> m_translationOffset;
 
     /**
      * Group that multiplies each coordinate by a factor.
@@ -351,19 +388,9 @@ private:
     WPropGroup m_groupMultiplyPoints;
 
     /**
-     * Each X coordinate is multiplied by this value
-     */
-    WPropDouble m_factorX;
-
-    /**
-     * Each Y coordinate is multiplied by this value
-     */
-    WPropDouble m_factorY;
-
-    /**
-     * Each Z coordinate is multiplied by this value
+     * Each coordinate is multiplied by this factor.
      */
-    WPropDouble m_factorZ;
+    vector<WPropDouble> m_coordFactor;
 
     /**
      * Rotation options.
@@ -386,19 +413,9 @@ private:
     WPropDouble m_rotation3AngleXZ;
 
     /**
-     * Rotation anchor on the X coordinate.
+     * Rotation anchor coordinate.
      */
-    WPropDouble m_rotationAnchorX;
-
-    /**
-     * Rotation anchor on the Y coordinate.
-     */
-    WPropDouble m_rotationAnchorY;
-
-    /**
-     * Rotation anchor on the Z coordinate.
-     */
-    WPropDouble m_rotationAnchorZ;
+    vector<WPropDouble> m_rotationAnchor;
 
     /**
      * Color equalizer settings group.
@@ -406,34 +423,35 @@ private:
     WPropGroup m_groupColorEqualizer;
 
     /**
-     * Red contrast - Factor that is applied before adding the red offset.
-     */
-    WPropDouble m_contrastRed;
-
-    /**
-     * Green contrast - Factor that is applied before adding the green offset.
+     * Color contrast - Factor that is applied before adding the green offset.
+     * Colors are sorted in order: Red, green, blue
      */
-    WPropDouble m_contrastGreen;
+    vector<WPropDouble> m_contrast;
 
     /**
-     * Blue contrast - Factor that is applied before adding the blue offset.
+     * Color offset.- Offset that is added after applying the red factor.
+     * Colors are sorted in order: Red, green, blue
      */
-    WPropDouble m_contrastBlue;
+    vector<WPropDouble> m_colorOffset;
 
     /**
-     * Red offset.- Offset that is added after applying the red factor.
+     * Type of the color adjustment:
+     *     M_COLOR_AUTO = 0;
+     *     M_COLOR_AUTO_ONLY_CONTRAST = 1;
+     *     M_COLOR_MANUAL = 2;
+     *     M_COLOR_MANUAL_JOINED = 3;
+     *     M_COLOR_MANUAL_UNBOUNDED = 4;
+     *     M_COLOR_MANUAL_UNBOUNDED_JOINED = 5;
      */
-    WPropDouble m_offsetRed;
+    WPropSelection m_colorAdjustmentType;
 
     /**
-     * Green offset.- Offset that is added after applying the green factor.
+     * Color modes:
+     *     M_COLOR_MODE_COLORED = 0 (Usual separated color channels).
+     *     M_COLOR_MODE_GREYSCALE_PERCEPTIONAL = 1 (Red=30%, Green=59% and Blue=11%).
+     *     M_COLOR_MODE_GREYSCALE_PROPORTIONAL = 2 (Red=33%, Green=33% and Blue=33%).
      */
-    WPropDouble m_OffsetGreen;
-
-    /**
-     * Blue offset.- Offset that is added after applying the blue factor.
-     */
-    WPropDouble m_offsetBlue;
+    WPropSelection m_colorModeType;
 
     /**
      * Color equalizer settings group.
@@ -479,34 +497,24 @@ private:
     WPointSubtactionHelper m_pointSubtraction;
 
     /**
-     * Minimal X coordinate of input points.
-     */
-    double m_minX;
-
-    /**
-     * Maximal X coordinate of input points.
-     */
-    double m_maxX;
-
-    /**
-     * Minimal Y coordinate of input points.
+     * Minimal coordinate of input points.
      */
-    double m_minY;
+    vector<double> m_minCoord;
 
     /**
-     * Maximal Y coordinate of input points.
+     * Maximal coordinate of input points.
      */
-    double m_maxY;
+    vector<double> m_maxCoord;
 
     /**
-     * Minimal Z coordinate of input points.
+     * Minimal Color channel intensity.