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COctoMapVoxels.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 
10 #ifndef opengl_COctoMapVoxels_H
11 #define opengl_COctoMapVoxels_H
12 
15 
16 namespace mrpt
17 {
18  namespace opengl
19  {
21  {
24  };
25 
26  // This must be added to any CSerializable derived class:
27  DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( COctoMapVoxels, CRenderizableDisplayList, OPENGL_IMPEXP )
28 
29  /** A flexible renderer of voxels, typically from a 3D octo map (see mrpt::maps::COctoMap).
30  * This class is sort of equivalent to octovis::OcTreeDrawer from the octomap package, but
31  * relying on MRPT's CRenderizableDisplayList so there's no need to manually cache the rendering of OpenGL primitives.
32  *
33  * Normally users call mrpt::maps::COctoMap::getAs3DObject() to obtain a generic mrpt::opengl::CSetOfObjects which insides holds an instance of COctoMapVoxels.
34  * You can also alternativelly call COctoMapVoxels::setFromOctoMap(), so you can tune the display parameters, colors, etc.
35  * As with any other mrpt::opengl class, all object coordinates refer to some frame of reference which is relative to the object parent and can be changed with mrpt::opengl::CRenderizable::setPose()
36  *
37  * This class draws these separate elements to represent an OctoMap:
38  * - A grid representation of all cubes, as simple lines (occupied/free, leafs/nodes,... whatever). See:
39  * - showGridLines()
40  * - setGridLinesColor()
41  * - setGridLinesWidth()
42  * - push_back_GridCube()
43  * - A number of <b>voxel collections</b>, drawn as cubes each having a different color (e.g. depending on the color scheme in the original mrpt::maps::COctoMap object).
44  * The meanning of each collection is user-defined, but you can use the constants VOXEL_SET_OCCUPIED, VOXEL_SET_FREESPACE for predefined meanings.
45  * - showVoxels()
46  * - push_back_Voxel()
47  *
48  * Several coloring schemes can be selected with setVisualizationMode(). See COctoMapVoxels::visualization_mode_t
49  *
50  * <div align="center">
51  * <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;">
52  * <tr> <td> mrpt::opengl::COctoMapVoxels </td> <td> \image html preview_COctoMapVoxels.png </td> </tr>
53  * </table>
54  * </div>
55  *
56  * \sa opengl::COpenGLScene
57  * \ingroup mrpt_opengl_grp
58  */
60  {
62  public:
63 
64  /** The different coloring schemes, which modulate the generic mrpt::opengl::CRenderizable object color. Set with setVisualizationMode() */
66  {
67  COLOR_FROM_HEIGHT, //!< Color goes from black (at the bottom) to the chosen color (at the top)
68  COLOR_FROM_OCCUPANCY, //!< Color goes from black (occupied voxel) to the chosen color (free voxel)
69  TRANSPARENCY_FROM_OCCUPANCY, //!< Transparency goes from opaque (occupied voxel) to transparent (free voxel).
70  TRANS_AND_COLOR_FROM_OCCUPANCY, //!< Color goes from black (occupaid voxel) to the chosen color (free voxel) and they are transparent
71  MIXED, //!< Combination of COLOR_FROM_HEIGHT and TRANSPARENCY_FROM_OCCUPANCY
72  FIXED //!< All cubes are of identical color.
73  };
74 
75 
76  /** The info of each of the voxels */
78  {
80  double side_length;
82 
83  TVoxel() {}
84  TVoxel(const mrpt::math::TPoint3D &coords_, const double side_length_, mrpt::utils::TColor color_) : coords(coords_), side_length(side_length_),color(color_) {}
85  };
86 
87  /** The info of each grid block */
89  {
90  mrpt::math::TPoint3D min,max; //!< opposite corners of the cube
91 
92  TGridCube() {}
93  TGridCube(const mrpt::math::TPoint3D &min_,const mrpt::math::TPoint3D &max_) : min(min_),max(max_) { }
94  };
95 
97  {
98  bool visible;
99  std::vector<TVoxel> voxels;
100 
101  TInfoPerVoxelSet() : visible(true) {}
102  };
103  protected:
104 
105  std::deque<TInfoPerVoxelSet> m_voxel_sets;
106  std::vector<TGridCube> m_grid_cubes;
107 
108  mrpt::math::TPoint3D m_bb_min, m_bb_max; //!< Cached bounding boxes
109 
118 
119  public:
120 
121  /** Clears everything */
122  void clear();
123 
124  /** Select the visualization mode. To have any effect, this method has to be called before loading the octomap. */
126  m_visual_mode = mode; CRenderizableDisplayList::notifyChange();
127  }
128  inline visualization_mode_t getVisualizationMode() const {return m_visual_mode;}
129 
130  /** Can be used to enable/disable the effects of lighting in this object */
131  inline void enableLights(bool enable) { m_enable_lighting=enable; CRenderizableDisplayList::notifyChange(); }
132  inline bool areLightsEnabled() const { return m_enable_lighting; }
133 
134 
135 
136  /** By default, the alpha (transparency) component of voxel cubes is taken into account, but transparency can be disabled with this method. */
137  inline void enableCubeTransparency(bool enable) { m_enable_cube_transparency=enable; CRenderizableDisplayList::notifyChange(); }
138  inline bool isCubeTransparencyEnabled() const { return m_enable_cube_transparency; }
139 
140  /** Shows/hides the grid lines */
141  inline void showGridLines(bool show) { m_show_grids=show; CRenderizableDisplayList::notifyChange(); }
142  inline bool areGridLinesVisible() const { return m_show_grids; }
143 
144  /** Shows/hides the voxels (voxel_set is a 0-based index for the set of voxels to modify, e.g. VOXEL_SET_OCCUPIED, VOXEL_SET_FREESPACE) */
145  inline void showVoxels(unsigned int voxel_set, bool show) { ASSERT_(voxel_set<m_voxel_sets.size()) m_voxel_sets[voxel_set].visible=show; CRenderizableDisplayList::notifyChange(); }
146  inline bool areVoxelsVisible(unsigned int voxel_set) const { ASSERT_(voxel_set<m_voxel_sets.size()) return m_voxel_sets[voxel_set].visible; }
147 
148  /** For quick renders: render voxels as points instead of cubes. \sa setVoxelAsPointsSize */
149  inline void showVoxelsAsPoints(const bool enable) { m_showVoxelsAsPoints=enable; CRenderizableDisplayList::notifyChange(); }
150  inline bool areVoxelsShownAsPoints() const { return m_showVoxelsAsPoints; }
151 
152  /** Only used when showVoxelsAsPoints() is enabled. */
153  inline void setVoxelAsPointsSize(float pointSize) { m_showVoxelsAsPointsSize=pointSize; CRenderizableDisplayList::notifyChange(); }
154  inline float getVoxelAsPointsSize() const { return m_showVoxelsAsPointsSize; }
155 
156  /** Sets the width of grid lines */
157  inline void setGridLinesWidth(float w) { m_grid_width=w; CRenderizableDisplayList::notifyChange(); }
158  /** Gets the width of grid lines */
159  inline float getGridLinesWidth() const { return m_grid_width; }
160 
162  inline const mrpt::utils::TColor & getGridLinesColor() const { return m_grid_color; }
163 
164  /** Returns the total count of grid cubes. */
165  inline size_t getGridCubeCount() const { return m_grid_cubes.size(); }
166  /** Returns the number of voxel sets. */
167  inline size_t getVoxelSetCount() const { return m_voxel_sets.size(); }
168  /** Returns the total count of voxels in one voxel set. */
169  inline size_t getVoxelCount(const size_t set_index) const { ASSERT_(set_index<m_voxel_sets.size()) return m_voxel_sets[set_index].voxels.size(); }
170 
171  /** Manually changes the bounding box (normally the user doesn't need to call this) */
172  void setBoundingBox(const mrpt::math::TPoint3D &bb_min, const mrpt::math::TPoint3D &bb_max);
173 
174  inline void resizeGridCubes(const size_t nCubes) { m_grid_cubes.resize(nCubes); CRenderizableDisplayList::notifyChange(); }
175  inline void resizeVoxelSets(const size_t nVoxelSets) { m_voxel_sets.resize(nVoxelSets); CRenderizableDisplayList::notifyChange(); }
176  inline void resizeVoxels(const size_t set_index, const size_t nVoxels) { ASSERT_(set_index<m_voxel_sets.size()) m_voxel_sets[set_index].voxels.resize(nVoxels); CRenderizableDisplayList::notifyChange(); }
177 
178  inline void reserveGridCubes(const size_t nCubes) { m_grid_cubes.reserve(nCubes); }
179  inline void reserveVoxels(const size_t set_index, const size_t nVoxels) { ASSERT_(set_index<m_voxel_sets.size()) m_voxel_sets[set_index].voxels.reserve(nVoxels); CRenderizableDisplayList::notifyChange(); }
180 
181  inline TGridCube & getGridCubeRef(const size_t idx) { ASSERTDEB_(idx<m_grid_cubes.size()) CRenderizableDisplayList::notifyChange(); return m_grid_cubes[idx]; }
182  inline const TGridCube & getGridCube(const size_t idx) const { ASSERTDEB_(idx<m_grid_cubes.size()) return m_grid_cubes[idx]; }
183 
184  inline TVoxel & getVoxelRef(const size_t set_index, const size_t idx) { ASSERTDEB_(set_index<m_voxel_sets.size() && idx<m_voxel_sets[set_index].voxels.size()) CRenderizableDisplayList::notifyChange(); return m_voxel_sets[set_index].voxels[idx]; }
185  inline const TVoxel & getVoxel(const size_t set_index, const size_t idx) const { ASSERTDEB_(set_index<m_voxel_sets.size() && idx<m_voxel_sets[set_index].voxels.size()) CRenderizableDisplayList::notifyChange(); return m_voxel_sets[set_index].voxels[idx]; }
186 
187  inline void push_back_GridCube(const TGridCube & c) { CRenderizableDisplayList::notifyChange(); m_grid_cubes.push_back(c); }
188  inline void push_back_Voxel(const size_t set_index, const TVoxel & v) { ASSERTDEB_(set_index<m_voxel_sets.size()) CRenderizableDisplayList::notifyChange(); m_voxel_sets[set_index].voxels.push_back(v); }
189 
190  void sort_voxels_by_z();
191 
192  /** Render */
193  void render_dl() const MRPT_OVERRIDE;
194 
195  /** Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. */
196  void getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const MRPT_OVERRIDE;
197 
198  /** Sets the contents of the object from a mrpt::maps::COctoMap object.
199  * \tparam Typically, an mrpt::maps::COctoMap object
200  *
201  * \note Declared as a template because in the library [mrpt-opengl] we don't have access to the library [mrpt-maps].
202  */
203  template <class OCTOMAP>
204  void setFromOctoMap(OCTOMAP &m) {
205  m.getAsOctoMapVoxels(*this);
206  }
207 
208  private:
209  /** Constructor */
210  COctoMapVoxels();
211  /** Private, virtual destructor: only can be deleted from smart pointers. */
212  virtual ~COctoMapVoxels() { }
213  };
214  DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( COctoMapVoxels, CRenderizableDisplayList, OPENGL_IMPEXP )
215 
216  } // end namespace
217 } // End of namespace
218 
219 #endif
bool areVoxelsVisible(unsigned int voxel_set) const
const GLdouble * v
Definition: glew.h:1296
void showVoxels(unsigned int voxel_set, bool show)
Shows/hides the voxels (voxel_set is a 0-based index for the set of voxels to modify, e.g.
void reserveVoxels(const size_t set_index, const size_t nVoxels)
TGridCube & getGridCubeRef(const size_t idx)
const GLshort * coords
Definition: glext.h:6387
#define min(a, b)
visualization_mode_t
The different coloring schemes, which modulate the generic mrpt::opengl::CRenderizable object color...
void enableLights(bool enable)
Can be used to enable/disable the effects of lighting in this object.
mrpt::math::TPoint3D m_bb_min
std::deque< TInfoPerVoxelSet > m_voxel_sets
void setVoxelAsPointsSize(float pointSize)
Only used when showVoxelsAsPoints() is enabled.
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
size_t getGridCubeCount() const
Returns the total count of grid cubes.
const GLfloat * c
Definition: glew.h:10088
TVoxel & getVoxelRef(const size_t set_index, const size_t idx)
Combination of COLOR_FROM_HEIGHT and TRANSPARENCY_FROM_OCCUPANCY.
void enableCubeTransparency(bool enable)
By default, the alpha (transparency) component of voxel cubes is taken into account, but transparency can be disabled with this method.
GLubyte GLubyte GLubyte GLubyte w
Definition: glew.h:1797
Color goes from black (at the bottom) to the chosen color (at the top)
void reserveGridCubes(const size_t nCubes)
EIGEN_STRONG_INLINE void notifyChange() const
Must be called to notify that the object has changed (so, the display list must be updated) ...
Transparency goes from opaque (occupied voxel) to transparent (free voxel).
void resizeVoxels(const size_t set_index, const size_t nVoxels)
GLenum mode
Definition: glew.h:5050
void clear()
Clear the contents of this container.
Definition: ts_hash_map.h:113
A renderizable object suitable for rendering with OpenGL's display lists.
A flexible renderer of voxels, typically from a 3D octo map (see mrpt::maps::COctoMap).
void push_back_GridCube(const TGridCube &c)
float getVoxelAsPointsSize() const
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
Color goes from black (occupaid voxel) to the chosen color (free voxel) and they are transparent...
float getGridLinesWidth() const
Gets the width of grid lines.
const TGridCube & getGridCube(const size_t idx) const
A RGB color - 8bit.
Definition: TColor.h:26
bool isCubeTransparencyEnabled() const
GLuint color
Definition: glew.h:5778
const mrpt::utils::TColor & getGridLinesColor() const
The info of each grid block.
void push_back_Voxel(const size_t set_index, const TVoxel &v)
TVoxel(const mrpt::math::TPoint3D &coords_, const double side_length_, mrpt::utils::TColor color_)
The info of each of the voxels.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
size_t getVoxelSetCount() const
Returns the number of voxel sets.
#define ASSERTDEB_(f)
Defines an assertion mechanism - only when compiled in debug.
Color goes from black (occupied voxel) to the chosen color (free voxel)
visualization_mode_t m_visual_mode
visualization_mode_t getVisualizationMode() const
void showVoxelsAsPoints(const bool enable)
For quick renders: render voxels as points instead of cubes.
void resizeVoxelSets(const size_t nVoxelSets)
const TVoxel & getVoxel(const size_t set_index, const size_t idx) const
void setGridLinesColor(const mrpt::utils::TColor &color)
#define ASSERT_(f)
void showGridLines(bool show)
Shows/hides the grid lines.
const GLdouble * m
Definition: glew.h:5094
size_t getVoxelCount(const size_t set_index) const
Returns the total count of voxels in one voxel set.
void setVisualizationMode(visualization_mode_t mode)
Select the visualization mode.
std::vector< TGridCube > m_grid_cubes
Lightweight 3D point.
mrpt::utils::TColor m_grid_color
void resizeGridCubes(const size_t nCubes)
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
virtual ~COctoMapVoxels()
Private, virtual destructor: only can be deleted from smart pointers.
void setGridLinesWidth(float w)
Sets the width of grid lines.
bool areVoxelsShownAsPoints() const
TGridCube(const mrpt::math::TPoint3D &min_, const mrpt::math::TPoint3D &max_)



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