CAngularObservationMesh.cpp

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
 
#include "maps-precomp.h" // Precomp header
 
#include <mrpt/opengl/CAngularObservationMesh.h>
#include <mrpt/poses/CPoint3D.h>
#include <mrpt/utils/stl_serialization.h>
#include <mrpt/utils/CStream.h>
 
#if MRPT_HAS_OPENGL_GLUT
        #ifdef MRPT_OS_WINDOWS
                // Windows:
                #include <windows.h>
        #endif
 
        #ifdef MRPT_OS_APPLE
                #include <OpenGL/gl.h>
        #else
                #include <GL/gl.h>
        #endif
#endif
 
// Include libraries in linking:
#if MRPT_HAS_OPENGL_GLUT && defined(MRPT_OS_WINDOWS)
                // WINDOWS:
                #if defined(_MSC_VER) || defined(__BORLANDC__)
                        #pragma comment (lib,"opengl32.lib")
                        #pragma comment (lib,"GlU32.lib")
                #endif
#endif // MRPT_HAS_OPENGL_GLUT
 
 
 
using namespace mrpt;
using namespace mrpt::obs;
using namespace mrpt::maps;
using namespace mrpt::math;
using namespace mrpt::opengl;
using namespace mrpt::utils;
using namespace mrpt::poses;
using namespace mrpt::math;
 
IMPLEMENTS_SERIALIZABLE(CAngularObservationMesh,CRenderizableDisplayList,mrpt::opengl)
 
void CAngularObservationMesh::addTriangle(const TPoint3D &p1,const TPoint3D &p2,const TPoint3D &p3) const       {
        const TPoint3D *arr[3]={&p1,&p2,&p3};
        CSetOfTriangles::TTriangle t;
        for (size_t i=0;i<3;i++)        {
                t.x[i]=arr[i]->x;
                t.y[i]=arr[i]->y;
                t.z[i]=arr[i]->z;
                t.r[i]=m_color.R*(1.f/255);
                t.g[i]=m_color.G*(1.f/255);
                t.b[i]=m_color.B*(1.f/255);
                t.a[i]=m_color.A*(1.f/255);
        }
        triangles.push_back(t);
        CRenderizableDisplayList::notifyChange();
}
 
void CAngularObservationMesh::updateMesh() const        {
        CRenderizableDisplayList::notifyChange();
 
        size_t numRows=scanSet.size();
        triangles.clear();
        if (numRows<=1) {
                actualMesh.setSize(0,0);
                validityMatrix.setSize(0,0);
                meshUpToDate=true;
                return;
        }
        if (pitchBounds.size()!=numRows&&pitchBounds.size()!=2) return;
        size_t numCols=scanSet[0].scan.size();
        actualMesh.setSize(numRows,numCols);
        validityMatrix.setSize(numRows,numCols);
        double *pitchs=new double[numRows];
        if (pitchBounds.size()==2)      {
                double p1=pitchBounds[0];
                double p2=pitchBounds[1];
                for (size_t i=0;i<numRows;i++) pitchs[i]=p1+(p2-p1)*static_cast<double>(i)/static_cast<double>(numRows-1);
        }       else for (size_t i=0;i<numRows;i++) pitchs[i]=pitchBounds[i];
        const bool rToL=scanSet[0].rightToLeft;
        for (size_t i=0;i<numRows;i++)  {
                const std::vector<float> &scan=scanSet[i].scan;
                const std::vector<char> valid=scanSet[i].validRange;
                const double pitchIncr=scanSet[i].deltaPitch;
                const double aperture=scanSet[i].aperture;
                const CPose3D origin=scanSet[i].sensorPose;
                //This is not an error...
                for (size_t j=0;j<numCols;j++) if ((validityMatrix(i,j)=(valid[j]!=0))) {
                        double pYaw=aperture*((static_cast<double>(j)/static_cast<double>(numCols-1))-0.5);
                        // Without the pitch since it's already within each sensorPose:
                        actualMesh(i,j)=(origin+CPose3D(0,0,0,rToL?pYaw:-pYaw,pitchIncr))+CPoint3D(scan[j],0,0);
                }
        }
        delete[] pitchs;
        triangles.reserve(2*(numRows-1)*(numCols-1));
        for (size_t k=0;k<numRows-1;k++)        {
                for (size_t j=0;j<numCols-1;j++)        {
                        int b1=validityMatrix(k,j)?1:0;
                        int b2=validityMatrix(k,j+1)?1:0;
                        int b3=validityMatrix(k+1,j)?1:0;
                        int b4=validityMatrix(k+1,j+1)?1:0;
                        switch (b1+b2+b3+b4)    {
                                case 0:
                                case 1:
                                case 2:
                                        break;
                                case 3:
                                        if (!b1) addTriangle(actualMesh(k,j+1),actualMesh(k+1,j),actualMesh(k+1,j+1));
                                        else if (!b2) addTriangle(actualMesh(k,j),actualMesh(k+1,j),actualMesh(k+1,j+1));
                                        else if (!b3) addTriangle(actualMesh(k,j),actualMesh(k,j+1),actualMesh(k+1,j+1));
                                        else if (!b4) addTriangle(actualMesh(k,j),actualMesh(k,j+1),actualMesh(k+1,j));
                                        break;
                                case 4:
                                        addTriangle(actualMesh(k,j),actualMesh(k,j+1),actualMesh(k+1,j));
                                        addTriangle(actualMesh(k+1,j+1),actualMesh(k,j+1),actualMesh(k+1,j));
                        }
                }
        }
        meshUpToDate=true;
}
 
void CAngularObservationMesh::render_dl() const {
#if MRPT_HAS_OPENGL_GLUT
        if (mEnableTransparency)        {
                glEnable(GL_BLEND);
                glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);
        }       else    {
                glEnable(GL_DEPTH_TEST);
                glDisable(GL_BLEND);
        }
        glEnable(GL_COLOR_MATERIAL);
        glShadeModel(GL_SMOOTH);
        if (!meshUpToDate) updateMesh();
        if (!mWireframe) glBegin(GL_TRIANGLES);
        for (size_t i=0;i<triangles.size();i++) {
                const CSetOfTriangles::TTriangle &t=triangles[i];
                float ax=t.x[1]-t.x[0];
                float bx=t.x[2]-t.x[0];
                float ay=t.y[1]-t.y[0];
                float by=t.y[2]-t.y[0];
                float az=t.z[1]-t.z[0];
                float bz=t.z[2]-t.z[0];
                glNormal3f(ay*bz-az*by,az*bx-ax*bz,ax*by-ay*bx);
                if (mWireframe) glBegin(GL_LINE_LOOP);
                for (int i=0;i<3;i++)   {
                        glColor4f(t.r[i],t.g[i],t.b[i],t.a[i]);
                        glVertex3f(t.x[i],t.y[i],t.z[i]);
                }
                if (mWireframe) glEnd();
        }
        if (!mWireframe) glEnd();
        glDisable(GL_BLEND);
        glDisable(GL_LIGHTING);
#endif
}
 
bool CAngularObservationMesh::traceRay(const mrpt::poses::CPose3D &o,double &dist) const        {
        MRPT_UNUSED_PARAM(o);
        MRPT_UNUSED_PARAM(dist);
        //TODO: redo
        return false;
}
 
bool CAngularObservationMesh::setScanSet(const std::vector<mrpt::obs::CObservation2DRangeScan> &scans)  {
        CRenderizableDisplayList::notifyChange();
 
        //Returns false if the scan is inconsistent
        if (scans.size()>0)     {
                size_t setSize=scans[0].scan.size();
                bool rToL=scans[0].rightToLeft;
                for (std::vector<CObservation2DRangeScan>::const_iterator it=scans.begin()+1;it!=scans.end();++it)      {
                        if (it->scan.size()!=setSize) return false;
                        if (it->rightToLeft!=rToL) return false;
                }
        }
        scanSet=scans;
        meshUpToDate=false;
        return true;
}
 
void CAngularObservationMesh::setPitchBounds(const double initial,const double final)   {
        CRenderizableDisplayList::notifyChange();
 
        pitchBounds.clear();
        pitchBounds.push_back(initial);
        pitchBounds.push_back(final);
        meshUpToDate=false;
}
void CAngularObservationMesh::setPitchBounds(const std::vector<double> &bounds) {
        CRenderizableDisplayList::notifyChange();
 
        pitchBounds=bounds;
        meshUpToDate=false;
}
void CAngularObservationMesh::getPitchBounds(double &initial,double &final) const {
        initial=pitchBounds.front();
        final=pitchBounds.back();
}
void CAngularObservationMesh::getPitchBounds(std::vector<double> &bounds) const {
        bounds=pitchBounds;
}
void CAngularObservationMesh::getScanSet(std::vector<CObservation2DRangeScan> &scans) const     {
        scans=scanSet;
}
 
void CAngularObservationMesh::generateSetOfTriangles(CSetOfTrianglesPtr &res) const     {
        if (!meshUpToDate) updateMesh();
        res->insertTriangles(triangles.begin(),triangles.end());
        //for (vector<CSetOfTriangles::TTriangle>::iterator it=triangles.begin();it!=triangles.end();++it) res->insertTriangle(*it);
}
 
struct CAngularObservationMesh_fnctr    {
                CPointsMap *m;
                CAngularObservationMesh_fnctr(CPointsMap *p):m(p)       {}
                inline void operator()(const CObservation2DRangeScan &obj)      {
                        m->insertObservation(&obj);
                }
        };
 
void CAngularObservationMesh::generatePointCloud(CPointsMap *out_map) const {
        ASSERT_(out_map);
        out_map->clear();
/*      size_t numRows=scanSet.size();
        if ((pitchBounds.size()!=numRows)&&(pitchBounds.size()!=2)) return;
        std::vector<double> pitchs(numRows);
        if (pitchBounds.size()==2)      {
                double p1=pitchBounds[0];
                double p2=pitchBounds[1];
                for (size_t i=0;i<numRows;i++) pitchs[i]=p1+(p2-p1)*static_cast<double>(i)/static_cast<double>(numRows-1);
        }       else for (size_t i=0;i<numRows;i++) pitchs[i]=pitchBounds[i];
        for (size_t i=0;i<numRows;i++) out_map->insertObservation(&scanSet[i]);
*/
 
        std::for_each(scanSet.begin(),scanSet.end(),CAngularObservationMesh_fnctr(out_map));
}
 
/*---------------------------------------------------------------
   Implements the writing to a CStream capability of
     CSerializable objects
  ---------------------------------------------------------------*/
void CAngularObservationMesh::writeToStream(mrpt::utils::CStream &out,int *version) const       {
        if (version) *version=0;
        else    {
                writeToStreamRender(out);
                //Version 0:
                out<<pitchBounds<<scanSet<<mWireframe<<mEnableTransparency;
        }
}
 
/*---------------------------------------------------------------
        Implements the reading from a CStream capability of
                CSerializable objects
  ---------------------------------------------------------------*/
void CAngularObservationMesh::readFromStream(mrpt::utils::CStream &in,int version)      {
        switch (version)        {
                case 0:
                        readFromStreamRender(in);
                        in>>pitchBounds>>scanSet>>mWireframe>>mEnableTransparency;
                        break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
        meshUpToDate=false;
}
 
void CAngularObservationMesh::TDoubleRange::values(std::vector<double> &vals) const     {
        double value=initialValue();
        double incr=increment();
        size_t am=amount();
        vals.resize(am);
        for (size_t i=0;i<am-1;i++,value+=incr) vals[i]=value;
        vals[am-1]=finalValue();
}
 
void CAngularObservationMesh::getTracedRays(CSetOfLinesPtr &res) const  {
        if (!meshUpToDate) updateMesh();
        size_t count=0;
        for (size_t i=0;i<validityMatrix.getRowCount();i++) for (size_t j=0;j<validityMatrix.getColCount();j++) if (validityMatrix(i,j)) count++;
        res->reserve(count);
        for (size_t i=0;i<actualMesh.getRowCount();i++) for (size_t j=0;j<actualMesh.getColCount();j++) if (validityMatrix(i,j)) res->appendLine(TPose3D(scanSet[i].sensorPose),actualMesh(i,j));
}
 
class FAddUntracedLines {
public:
        CSetOfLinesPtr &lins;
        const CPoint3D &pDist;
        std::vector<double> pitchs;
        FAddUntracedLines(CSetOfLinesPtr &l,const CPoint3D &p,const std::vector<double> &pi):lins(l),pDist(p),pitchs()  {
                pitchs.reserve(pi.size());
                for (std::vector<double>::const_reverse_iterator it=pi.rbegin();it!=pi.rend();++it) pitchs.push_back(*it);
        }
        void operator()(const CObservation2DRangeScan& obs)     {
                size_t hm=obs.scan.size();
                for (std::vector<char>::const_iterator it=obs.validRange.begin();it!=obs.validRange.end();++it) if (*it) hm--;
                lins->reserve(hm);
                for (size_t i=0;i<obs.scan.size();i++) if (!obs.validRange[i])  {
                        double yaw=obs.aperture*((static_cast<double>(i)/static_cast<double>(obs.scan.size()-1))-0.5);
                        lins->appendLine(TPoint3D(obs.sensorPose),TPoint3D(obs.sensorPose+CPose3D(0,0,0,obs.rightToLeft?yaw:-yaw,obs.deltaPitch*i+pitchs.back(),0)+pDist));
                }
                pitchs.pop_back();
        }
};
void CAngularObservationMesh::getUntracedRays(CSetOfLinesPtr &res,double dist) const    {
        for_each(scanSet.begin(),scanSet.end(),FAddUntracedLines(res,dist,pitchBounds));
}
 
TPolygon3D createFromTriangle(const CSetOfTriangles::TTriangle &t)      {
        TPolygon3D res(3);
        for (size_t i=0;i<3;i++)        {
                res[i].x=t.x[i];
                res[i].y=t.y[i];
                res[i].z=t.z[i];
        }
        return res;
}
 
void CAngularObservationMesh::generateSetOfTriangles(std::vector<TPolygon3D> &res) const        {
        if (!meshUpToDate) updateMesh();
        res.resize(triangles.size());
        transform(triangles.begin(),triangles.end(),res.begin(),createFromTriangle);
}
 
void CAngularObservationMesh::getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const
{
        if (!meshUpToDate) updateMesh();
 
        bb_min = mrpt::math::TPoint3D(std::numeric_limits<double>::max(),std::numeric_limits<double>::max(), std::numeric_limits<double>::max());
        bb_max = mrpt::math::TPoint3D(-std::numeric_limits<double>::max(),-std::numeric_limits<double>::max(),-std::numeric_limits<double>::max());
 
        for (size_t i=0;i<triangles.size();i++)
        {
                const CSetOfTriangles::TTriangle &t=triangles[i];
 
                keep_min(bb_min.x, t.x[0]);  keep_max(bb_max.x, t.x[0]);
                keep_min(bb_min.y, t.y[0]);  keep_max(bb_max.y, t.y[0]);
                keep_min(bb_min.z, t.z[0]);  keep_max(bb_max.z, t.z[0]);
 
                keep_min(bb_min.x, t.x[1]);  keep_max(bb_max.x, t.x[1]);
                keep_min(bb_min.y, t.y[1]);  keep_max(bb_max.y, t.y[1]);
                keep_min(bb_min.z, t.z[1]);  keep_max(bb_max.z, t.z[1]);
 
                keep_min(bb_min.x, t.x[2]);  keep_max(bb_max.x, t.x[2]);
                keep_min(bb_min.y, t.y[2]);  keep_max(bb_max.y, t.y[2]);
                keep_min(bb_min.z, t.z[2]);  keep_max(bb_max.z, t.z[2]);
        }
 
        // Convert to coordinates of my parent:
        m_pose.composePoint(bb_min, bb_min);
        m_pose.composePoint(bb_max, bb_max);
}