CRenderizable.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "opengl-precomp.h"  // Precompiled header

#include <mrpt/math/TPose3D.h>
#include <mrpt/math/utils.h>
#include <mrpt/opengl/CRenderizable.h>  // Include these before windows.h!!
#include <mrpt/opengl/CText.h>
#include <mrpt/poses/CPoint2D.h>
#include <mrpt/poses/CPoint3D.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/serialization/CArchive.h>

#include <mutex>

#include <mrpt/opengl/opengl_api.h>

using namespace std;
using namespace mrpt;
using namespace mrpt::opengl;

IMPLEMENTS_VIRTUAL_SERIALIZABLE(CRenderizable, CSerializable, mrpt::opengl)

// Default constructor:
CRenderizable::CRenderizable()
    : m_name(),

      m_color(255, 255, 255, 255),
      m_pose()

{
}

// Destructor:
CRenderizable::~CRenderizable() = default;

void CRenderizable::writeToStreamRender(
    mrpt::serialization::CArchive& out) const
{
    // MRPT 0.9.5 svn 2774 (Dec 14th 2011):
    // Added support of versioning at this level of serialization too.
    // Should have been done from the beginning, terrible mistake on my part.
    // Now, the only solution is something as ugly as this:
    //
    // For reference: In the past this started as:
    // out << m_name << (float)(m_color.R) << (float)(m_color.G) <<
    // (float)(m_color.B) << (float)(m_color.A);
    // ...

    // can't be >31 (but it would be mad geting to that situation!)
    const uint8_t serialization_version = 1;

    const bool all_scales_equal =
        (m_scale_x == m_scale_y && m_scale_z == m_scale_x);
    const bool all_scales_unity = (all_scales_equal && m_scale_x == 1.0f);

    const uint8_t magic_signature[2] = {
        0xFF,
        // bit7: fixed to 1 to mark this new header format
        // bit6: whether the 3 scale{x,y,z} are equal to 1.0
        // bit5: whether the 3 scale{x,y,z} are equal to each other
        static_cast<uint8_t>(
            serialization_version |
            (all_scales_unity ? 0xC0 : (all_scales_equal ? 0xA0 : 0x80)))};

    out << magic_signature[0] << magic_signature[1];

    // "m_name"
    const auto nameLen = static_cast<uint16_t>(m_name.size());
    out << nameLen;
    if (nameLen) out.WriteBuffer(m_name.c_str(), m_name.size());

    // Color, as u8:
    out << m_color.R << m_color.G << m_color.B << m_color.A;

    // the rest of fields:
    out << (float)m_pose.x() << (float)m_pose.y() << (float)m_pose.z()
        << (float)m_pose.yaw() << (float)m_pose.pitch() << (float)m_pose.roll();

    if (!all_scales_unity)
    {
        if (all_scales_equal)
            out << m_scale_x;
        else
            out << m_scale_x << m_scale_y << m_scale_z;
    }

    out << m_show_name << m_visible;
    out << m_representativePoint;  // v1
}

void CRenderizable::readFromStreamRender(mrpt::serialization::CArchive& in)
{
    // MRPT 0.9.5 svn 2774 (Dec 14th 2011):
    // See comments in CRenderizable::writeToStreamRender() for the employed
    // serialization mechanism.
    //
    // MRPT 1.9.9 (Aug 2019): Was
    // union {
    //  uint8_t magic_signature[2 + 2];
    //    (the extra 4 bytes will be used only for the old format)
    //  uint32_t magic_signature_uint32;
    //    So we can interpret the 4bytes above as a 32bit number cleanly.
    // };
    // Get rid of the "old" serialization format to avoid using "union".

    uint8_t magic_signature[2];

    in >> magic_signature[0] >> magic_signature[1];

    const bool is_new_format =
        (magic_signature[0] == 0xFF) && ((magic_signature[1] & 0x80) != 0);

    if (is_new_format)
    {
        // NEW FORMAT:
        uint8_t serialization_version = (magic_signature[1] & 0x1F);
        const bool all_scales_unity = ((magic_signature[1] & 0x40) != 0);
        const bool all_scales_equal_but_not_unity =
            ((magic_signature[1] & 0x20) != 0);

        switch (serialization_version)
        {
            case 0:
            case 1:
            {
                // "m_name"
                uint16_t nameLen;
                in >> nameLen;
                m_name.resize(nameLen);
                if (nameLen) in.ReadBuffer((void*)(&m_name[0]), m_name.size());

                // Color, as u8:
                in >> m_color.R >> m_color.G >> m_color.B >> m_color.A;

                // the rest of fields:
                float x, y, z, yaw, pitch, roll;
                in >> x >> y >> z >> yaw >> pitch >> roll;
                m_pose.x(x);
                m_pose.y(y);
                m_pose.z(z);
                m_pose.setYawPitchRoll(yaw, pitch, roll);

                if (all_scales_unity)
                    m_scale_x = m_scale_y = m_scale_z = 1;
                else
                {
                    if (all_scales_equal_but_not_unity)
                    {
                        in >> m_scale_x;
                        m_scale_y = m_scale_z = m_scale_x;
                    }
                    else
                        in >> m_scale_x >> m_scale_y >> m_scale_z;
                }

                in >> m_show_name >> m_visible;
                if (serialization_version >= 1)
                    in >> m_representativePoint;
                else
                    m_representativePoint = mrpt::math::TPoint3Df(0, 0, 0);
            }
            break;
            default:
                THROW_EXCEPTION_FMT(
                    "Can't parse CRenderizable standard data field: corrupt "
                    "data stream or format in a newer MRPT format? "
                    "(serialization version=%u)",
                    static_cast<unsigned int>(serialization_version));
        };
    }
    else
    {
        // OLD FORMAT:
        THROW_EXCEPTION("Serialized object is too old! Unsupported format.");
    }
}

/*--------------------------------------------------------------
                    setPose
  ---------------------------------------------------------------*/
CRenderizable& CRenderizable::setPose(const mrpt::poses::CPose3D& o)
{
    m_pose = o;
    return *this;
}
CRenderizable& CRenderizable::setPose(const mrpt::poses::CPose2D& o)
{
    m_pose = mrpt::poses::CPose3D(o);
    return *this;
}
CRenderizable& CRenderizable::setPose(const mrpt::math::TPose3D& o)
{
    m_pose = mrpt::poses::CPose3D(o);
    return *this;
}
CRenderizable& CRenderizable::setPose(const mrpt::math::TPose2D& o)
{
    m_pose = mrpt::poses::CPose3D(o);
    return *this;
}

/** Set the 3D pose from a mrpt::poses::CPose3D object */
CRenderizable& CRenderizable::setPose(const mrpt::poses::CPoint3D& o)
{
    m_pose.setFromValues(o.x(), o.y(), o.z(), 0, 0, 0);
    return *this;
}
/** Set the 3D pose from a mrpt::poses::CPose3D object */
CRenderizable& CRenderizable::setPose(const mrpt::poses::CPoint2D& o)
{
    m_pose.setFromValues(o.x(), o.y(), 0, 0, 0, 0);
    return *this;
}

mrpt::math::TPose3D CRenderizable::getPose() const { return m_pose.asTPose(); }
bool CRenderizable::traceRay(const mrpt::poses::CPose3D&, double&) const
{
    return false;
}

CRenderizable& CRenderizable::setColor_u8(const mrpt::img::TColor& c)
{
    m_color.R = c.R;
    m_color.G = c.G;
    m_color.B = c.B;
    m_color.A = c.A;
    return *this;
}

CText& CRenderizable::labelObject() const
{
    if (!m_label_obj)
    {
        m_label_obj = std::make_shared<mrpt::opengl::CText>();
        m_label_obj->setString(m_name);
    }
    return *m_label_obj;
}