CVectorField2D.cpp

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     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 "opengl-precomp.h"  // Precompiled header

#include <mrpt/opengl/CVectorField2D.h>
#include <mrpt/utils/CStream.h>

#include "opengl_internals.h"

using namespace mrpt;
using namespace mrpt::opengl;
using namespace mrpt::utils;
using namespace mrpt::math;
using namespace std;

IMPLEMENTS_SERIALIZABLE(CVectorField2D, CRenderizableDisplayList, mrpt::opengl)

/** Constructor */
CVectorField2D::CVectorField2D()
        : xcomp(0, 0),
          ycomp(0, 0),
          xMin(-1.0),
          xMax(1.0),
          yMin(-1.0),
          yMax(1.0),
          m_LineWidth(1.0),
          m_pointSize(1.0),
          m_antiAliasing(true)
{
        m_point_color = m_color;
        m_field_color = m_color;
}

/** Constructor with a initial set of lines. */
CVectorField2D::CVectorField2D(
        CMatrixFloat Matrix_x, CMatrixFloat Matrix_y, float xmin, float xmax,
        float ymin, float ymax)
        : m_LineWidth(1.0), m_pointSize(1.0), m_antiAliasing(true)
{
        MRPT_UNUSED_PARAM(Matrix_x);
        MRPT_UNUSED_PARAM(Matrix_y);
        MRPT_UNUSED_PARAM(xmin);
        MRPT_UNUSED_PARAM(xmax);
        MRPT_UNUSED_PARAM(ymin);
        MRPT_UNUSED_PARAM(ymax);
        m_point_color = m_color;
        m_field_color = m_color;
}

/*---------------------------------------------------------------
                                                        render
  ---------------------------------------------------------------*/
void CVectorField2D::render_dl() const
{
#if MRPT_HAS_OPENGL_GLUT

        // Enable antialiasing:
        glPushAttrib(GL_COLOR_BUFFER_BIT | GL_LINE_BIT);
        if (m_antiAliasing || m_color.A != 255)
        {
                glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
                glEnable(GL_BLEND);
        }
        if (m_antiAliasing)
        {
                glEnable(GL_LINE_SMOOTH);
                glEnable(GL_POINT_SMOOTH);
        }

        glLineWidth(m_LineWidth);
        glPointSize(m_pointSize);

        checkOpenGLError();

        glDisable(GL_LIGHTING);  // Disable lights when drawing lines
        glBegin(GL_POINTS);
        glColor4ub(
                m_point_color.R, m_point_color.G, m_point_color.B, m_point_color.A);

        const float x_cell_size = (xMax - xMin) / (xcomp.getColCount() - 1);
        const float y_cell_size = (yMax - yMin) / (ycomp.getRowCount() - 1);

        for (unsigned int i = 0; i < xcomp.getColCount(); i++)
                for (unsigned int j = 0; j < xcomp.getRowCount(); j++)
                {
                        glVertex3f(xMin + i * x_cell_size, yMin + j * y_cell_size, 0);
                }

        glEnd();

        glBegin(GL_LINES);
        glColor4ub(
                m_field_color.R, m_field_color.G, m_field_color.B, m_field_color.A);
        for (unsigned int i = 0; i < xcomp.getColCount(); i++)
                for (unsigned int j = 0; j < xcomp.getRowCount(); j++)
                {
                        glVertex3f(xMin + i * x_cell_size, yMin + j * y_cell_size, 0);
                        glVertex3f(
                                xMin + i * x_cell_size + xcomp(j, i),
                                yMin + j * y_cell_size + ycomp(j, i), 0);
                }
        glEnd();

        glBegin(GL_TRIANGLES);
        glColor4ub(
                m_field_color.R, m_field_color.G, m_field_color.B, m_field_color.A);
        for (unsigned int i = 0; i < xcomp.getColCount(); i++)
                for (unsigned int j = 0; j < xcomp.getRowCount(); j++)
                {
                        const float tri_side =
                                0.25 *
                                sqrt(xcomp(j, i) * xcomp(j, i) + ycomp(j, i) * ycomp(j, i));
                        const float ang = ::atan2(ycomp(j, i), xcomp(j, i)) - 1.5708;
                        glVertex3f(
                                -sin(ang) * 0.866 * tri_side + xMin + i * x_cell_size +
                                        xcomp(j, i),
                                cos(ang) * 0.866 * tri_side + yMin + j * y_cell_size +
                                        ycomp(j, i),
                                0);
                        glVertex3f(
                                cos(ang) * 0.5 * tri_side + xMin + i * x_cell_size +
                                        xcomp(j, i),
                                sin(ang) * 0.5 * tri_side + yMin + j * y_cell_size +
                                        ycomp(j, i),
                                0);
                        glVertex3f(
                                -cos(ang) * 0.5 * tri_side + xMin + i * x_cell_size +
                                        xcomp(j, i),
                                -sin(ang) * 0.5 * tri_side + yMin + j * y_cell_size +
                                        ycomp(j, i),
                                0);
                }
        glEnd();

        checkOpenGLError();
        glEnable(GL_LIGHTING);  // Disable lights when drawing lines

        // End of antialiasing:
        glPopAttrib();

#endif
}

/*---------------------------------------------------------------
   Implements the writing to a CStream capability of
         CSerializable objects
  ---------------------------------------------------------------*/
void CVectorField2D::writeToStream(
        mrpt::utils::CStream& out, int* version) const
{
        if (version)
                *version = 0;
        else
        {
                writeToStreamRender(out);

                out << xcomp << ycomp;
                out << xMin << xMax << yMin << yMax;
                out << m_LineWidth;
                out << m_pointSize;
                out << m_antiAliasing;
                out << m_point_color;
                out << m_field_color;
        }
}

/*---------------------------------------------------------------
        Implements the reading from a CStream capability of
                CSerializable objects
  ---------------------------------------------------------------*/
void CVectorField2D::readFromStream(mrpt::utils::CStream& in, int version)
{
        switch (version)
        {
                case 0:
                        readFromStreamRender(in);

                        in >> xcomp >> ycomp;
                        in >> xMin >> xMax >> yMin >> yMax;
                        in >> m_LineWidth;
                        in >> m_pointSize;
                        in >> m_antiAliasing;
                        in >> m_point_color;
                        in >> m_field_color;
                        break;

                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
                        break;
        };
        CRenderizableDisplayList::notifyChange();
}

void CVectorField2D::getBoundingBox(
        mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const
{
        bb_min.x = xMin;
        bb_min.y = yMin;
        bb_min.z = 0;

        bb_max.x = xMax;
        bb_max.y = yMax;
        bb_max.z = 0;

        const float x_cell_size = (xMax - xMin) / (xcomp.getColCount() - 1);
        const float y_cell_size = (yMax - yMin) / (ycomp.getRowCount() - 1);

        for (unsigned int i = 0; i < xcomp.getColCount(); i++)
                for (unsigned int j = 0; j < xcomp.getRowCount(); j++)
                {
                        const float tri_side =
                                0.25 *
                                sqrt(xcomp(j, i) * xcomp(j, i) + ycomp(j, i) * ycomp(j, i));
                        const float ang = ::atan2(ycomp(j, i), xcomp(j, i)) - 1.5708;

                        if (-sin(ang) * 0.866 * tri_side + xMin + i * x_cell_size +
                                        xcomp(j, i) <
                                bb_min.x)
                                bb_min.x = -sin(ang) * 0.866 * tri_side + xMin +
                                                   i * x_cell_size + xcomp(j, i);

                        if (cos(ang) * 0.866 * tri_side + yMin + j * y_cell_size +
                                        ycomp(j, i) <
                                bb_min.y)
                                bb_min.y = cos(ang) * 0.866 * tri_side + yMin +
                                                   j * y_cell_size + ycomp(j, i);

                        if (-sin(ang) * 0.866 * tri_side + xMin + i * x_cell_size +
                                        xcomp(j, i) >
                                bb_max.x)
                                bb_max.x = -sin(ang) * 0.866 * tri_side + xMin +
                                                   i * x_cell_size + xcomp(j, i);

                        if (cos(ang) * 0.866 * tri_side + yMin + j * y_cell_size +
                                        ycomp(j, i) >
                                bb_max.y)
                                bb_max.y = cos(ang) * 0.866 * tri_side + yMin +
                                                   j * y_cell_size + ycomp(j, i);
                }

        // Convert to coordinates of my parent:
        m_pose.composePoint(bb_min, bb_min);
        m_pose.composePoint(bb_max, bb_max);
}

void CVectorField2D::adjustVectorFieldToGrid()
{
        ASSERT_(xcomp.size() > 0)

        const float ratio_xp =
                xcomp.maxCoeff() * (xcomp.getColCount() - 1) / (xMax - xMin);
        const float ratio_xn =
                xcomp.minCoeff() * (xcomp.getColCount() - 1) / (xMax - xMin);
        const float ratio_yp =
                ycomp.maxCoeff() * (ycomp.getRowCount() - 1) / (yMax - yMin);
        const float ratio_yn =
                ycomp.minCoeff() * (ycomp.getRowCount() - 1) / (yMax - yMin);
        const float norm_factor =
                0.85 / max(max(ratio_xp, abs(ratio_xn)), max(ratio_yp, abs(ratio_yn)));

        xcomp *= norm_factor;
        ycomp *= norm_factor;
        CRenderizableDisplayList::notifyChange();
}