maskor/qt3dpointcloudrenderer

Adds the ability to render generic PCLPointcloud2s and LAS/LAZ in the new Qt3D 5.8/5.9

qt3dpointcloudrenderer's Issues

BSD or Apache

This seemed like a good starting point for getting into opengl and qt, but GNU license means it can only be used in student projects since it contaminates the entire codebase making this code basically useless.

Since this isn't some super advanced, secret stuff that you later want to make a commercial and useless version of, is there a reason it can't be switched to BSD or Apache license?

Building with Qt5.6

Can this work with Qt5.6?

I get Qt3DPointcloudRenderer/src/qpointcloudgeometry.cpp:4:10: fatal error: 'Qt3DRender/qbufferdatagenerator.h' file not found

When I googled it though, I found an issue about that file having been called qbufferfunctor.h in the past, but I'm not familiar with Qt to know if I can just symlink that file to the new name?

Puzzles: does it need to call delete to free memory for Qt3D?

In class QPointcloudGeometryPrivate

class QPointcloudGeometryPrivate
{
public:
    QPointcloudGeometryPrivate()
        :m_vertexBuffer(NULL)
        ,m_colorBuffer(NULL)
        ,m_pointcloud(NULL)
        ,m_colorOffset(0)
        ,m_colorFormatUintRgba(false)
        ,m_colorAvailable(false)
    {}
    Qt3DRender::QBuffer *m_vertexBuffer;
    Qt3DRender::QBuffer *m_colorBuffer;
    QPointcloud *m_pointcloud;
    int m_colorOffset;
    bool m_colorFormatUintRgba;
    bool m_colorAvailable;
};

Will the memory of QBuffer s and QPointcloud be released automatically? I don't see any delete syntax so will they set a parent QObject implicitly? thank you for your reply

Successful build results in immediate crash on launch

I'm building with Qt 5.12 as follows:

1. Clone repository and cd into it
2. mkdir build && cd build
3. cmake .. && make

However, when launching the produced example binary, it dies immediately with the message:

realloc(): invalid pointer
Aborted (core dumped)

gcc version is 8.2.1
cmake version is 3.12.1
make version is 4.2.1

Any help would be greatly appreciated!

Update: Fixed (sort of)

I fixed this by updating from the fedora repository's version of PCL to a compiled-from-source one at version 1.9.

Now I can get the application to launch but am getting errors regarding GLSL versions:

Read Pointcloud "/home/ce/Downloads/test.pcd" with 26691 points.
QOpenGLShader::compile(Vertex): 0:51(10): error: GLSL 1.50 is not supported. Supported versions are: 1.10, 1.20, 1.30, 1.40, 1.00 ES, and 3.00 ES

*** Problematic Vertex shader source code ***
/****************************************************************************
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** Copyright (C) 2017 Klaralvdalens Datakonsult AB (KDAB).
** Contact: https://www.qt.io/licensing/
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** This file is part of the Qt3D module of the Qt Toolkit.
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** $QT_BEGIN_LICENSE:BSD$
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** accordance with the commercial license agreement provided with the
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** information use the contact form at https://www.qt.io/contact-us.
**
** BSD License Usage
** Alternatively, you may use this file under the terms of the BSD license
** as follows:
**
** "Redistribution and use in source and binary forms, with or without
** modification, are permitted provided that the following conditions are
** met:
**   * Redistributions of source code must retain the above copyright
**     notice, this list of conditions and the following disclaimer.
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#version 150 core
#define lowp
#define mediump
#define highp
#line 51

in vec3 vertexPosition;
in vec3 vertexNormal;
in vec4 vertexTangent;
in vec2 vertexTexCoord;

out vec3 worldPosition;
out vec3 worldNormal;
out vec4 worldTangent;
out vec2 texCoord;

uniform mat4 modelMatrix;
uniform mat3 modelNormalMatrix;
uniform mat4 modelViewProjection;

uniform float texCoordScale;

void main()
{
    // Pass through scaled texture coordinates
    texCoord = vertexTexCoord * texCoordScale;

    // Transform position, normal, and tangent to world space
    worldPosition = vec3(modelMatrix * vec4(vertexPosition, 1.0));
    worldNormal = normalize(modelNormalMatrix * vertexNormal);
    worldTangent.xyz = normalize(vec3(modelMatrix * vec4(vertexTangent.xyz, 0.0)));
    worldTangent.w = vertexTangent.w;

    // Calculate vertex position in clip coordinates
    gl_Position = modelViewProjection * vec4(vertexPosition, 1.0);
}

How to access that intensity attribute from qml or from shader?

Qt3DPointcloudRenderer/src/qpointcloudgeometry.cpp

Line 279 in 72ab626

pf = pfs.find("intensity");

Seg Fault on Exit in Example

Building off master ( 0e06324 ) with clang++-3.8, Qt 5.7.0 on Ubuntu 14.04.03 I get a seg fault on exit with the example.

./Qt3DPointcloudRenderer_example 
Read Pointcloud "data/bunny.pcd" with 397 points.
Read Pointcloud "data/bunny_normal.pcd" with 397 points.
[1]    22423 segmentation fault (core dumped)  ./Qt3DPointcloudRenderer_example

The outputted core file tells me nothing, but I can get a little bit of info with clang's address sanitizer:

./Qt3DPointcloudRenderer_example 
Read Pointcloud "data/bunny.pcd" with 397 points.
Read Pointcloud "data/bunny_normal.pcd" with 397 points.
=================================================================
==23217==ERROR: AddressSanitizer: alloc-dealloc-mismatch (malloc vs operator delete) on 0x629000064200
    #0 0x51be90 in operator delete(void*) (/home/matt/workspace/qtquick/pointcloud/Qt3DPointcloudRenderer/bld/example/Qt3DPointcloudRenderer_example+0x51be90)
    #1 0x7f75d32c33c8  (/opt/Qt5.7.0/5.7/gcc_64/lib/libQt53DRender.so.5+0x15e3c8)
    #2 0x7f75d32c33f2  (/opt/Qt5.7.0/5.7/gcc_64/lib/libQt53DRender.so.5+0x15e3f2)
    #3 0x7f75d31f67d5  (/opt/Qt5.7.0/5.7/gcc_64/lib/libQt53DRender.so.5+0x917d5)
    #4 0x7f75d31f40cf in Qt3DRender::Render::NodeManagers::~NodeManagers() (/opt/Qt5.7.0/5.7/gcc_64/lib/libQt53DRender.so.5+0x8f0cf)
    #5 0x7f75d325649a in Qt3DRender::QRenderAspectPrivate::~QRenderAspectPrivate() (/opt/Qt5.7.0/5.7/gcc_64/lib/libQt53DRender.so.5+0xf149a)
    #6 0x7f75d32565f8 in Qt3DRender::QRenderAspectPrivate::~QRenderAspectPrivate() (/opt/Qt5.7.0/5.7/gcc_64/lib/libQt53DRender.so.5+0xf15f8)
    #7 0x7f75c83aa1f5 in QObject::~QObject() (/opt/Qt5.7.0/5.7/gcc_64/lib/libQt5Core.so.5+0x2a11f5)
    #8 0x7f75d3256258 in Qt3DRender::QRenderAspect::~QRenderAspect() (/opt/Qt5.7.0/5.7/gcc_64/lib/libQt53DRender.so.5+0xf1258)
    #9 0x7f75c83a364f in QObject::event(QEvent*) (/opt/Qt5.7.0/5.7/gcc_64/lib/libQt5Core.so.5+0x29a64f)
    #10 0x7f75c837a989 in QCoreApplication::notify(QObject*, QEvent*) (/opt/Qt5.7.0/5.7/gcc_64/lib/libQt5Core.so.5+0x271989)
    #11 0x7f75c837aadf in QCoreApplication::notifyInternal2(QObject*, QEvent*) (/opt/Qt5.7.0/5.7/gcc_64/lib/libQt5Core.so.5+0x271adf)
    #12 0x7f75c837d51a in QCoreApplicationPrivate::sendPostedEvents(QObject*, int, QThreadData*) (/opt/Qt5.7.0/5.7/gcc_64/lib/libQt5Core.so.5+0x27451a)
    #13 0x7f75c81b3806  (/opt/Qt5.7.0/5.7/gcc_64/lib/libQt5Core.so.5+0xaa806)
    #14 0x7f75c81b4600  (/opt/Qt5.7.0/5.7/gcc_64/lib/libQt5Core.so.5+0xab600)
    #15 0x7f75c78db183 in start_thread /build/eglibc-oGUzwX/eglibc-2.19/nptl/pthread_create.c:312
    #16 0x7f75c6fe537c in clone /build/eglibc-oGUzwX/eglibc-2.19/misc/../sysdeps/unix/sysv/linux/x86_64/clone.S:111

0x629000064200 is located 0 bytes inside of 16384-byte region [0x629000064200,0x629000068200)
allocated by thread T3 (Qt3DCore::QAspe) here:
    #0 0x4ed818 in __interceptor_malloc (/home/matt/workspace/qtquick/pointcloud/Qt3DPointcloudRenderer/bld/example/Qt3DPointcloudRenderer_example+0x4ed818)
    #1 0x7f75d32b86b8  (/opt/Qt5.7.0/5.7/gcc_64/lib/libQt53DRender.so.5+0x1536b8)

Thread T3 (Qt3DCore::QAspe) created by T0 here:
    #0 0x456b8d in pthread_create (/home/matt/workspace/qtquick/pointcloud/Qt3DPointcloudRenderer/bld/example/Qt3DPointcloudRenderer_example+0x456b8d)
    #1 0x7f75c81b3ba8 in QThread::start(QThread::Priority) (/opt/Qt5.7.0/5.7/gcc_64/lib/libQt5Core.so.5+0xaaba8)

SUMMARY: AddressSanitizer: alloc-dealloc-mismatch (/home/matt/workspace/qtquick/pointcloud/Qt3DPointcloudRenderer/bld/example/Qt3DPointcloudRenderer_example+0x51be90) in operator delete(void*)
==23217==HINT: if you don't care about these errors you may set ASAN_OPTIONS=alloc_dealloc_mismatch=0
==23217==ABORTING

Added a way to add to the QPointCloud

(not really an issue..)

I added a method to add to the QPointcloud. Not sure if you're interested. If so, I can send a pull request?