CPlanarLaserScan.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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/CPlanarLaserScan.h>
#include <mrpt/serialization/CArchive.h>
 
#if MRPT_HAS_OPENGL_GLUT
#ifdef _WIN32
// Windows:
#include <windows.h>
#endif
 
#ifdef __APPLE__
#include <OpenGL/gl.h>
#else
#include <GL/gl.h>
#endif
#endif
 
// Include libraries in linking:
#if MRPT_HAS_OPENGL_GLUT && defined(_WIN32)
// WINDOWS:
#if defined(_MSC_VER)
#pragma comment(lib, "opengl32.lib")
#pragma comment(lib, "GlU32.lib")
#endif
#endif  // MRPT_HAS_OPENGL_GLUT
 
using namespace mrpt;
using namespace mrpt::opengl;
using namespace mrpt::math;
using namespace std;
 
IMPLEMENTS_SERIALIZABLE(
    CPlanarLaserScan, CRenderizableDisplayList, mrpt::opengl)
 
/*---------------------------------------------------------------
                Constructor
  ---------------------------------------------------------------*/
CPlanarLaserScan::CPlanarLaserScan()
    : m_scan(),
      m_cache_points(),
      m_cache_valid(false),
      m_line_width(1),
      m_line_R(1.f),
      m_line_G(0.f),
      m_line_B(0.f),
      m_line_A(0.5f),
      m_points_width(3),
      m_points_R(1.0f),
      m_points_G(0.0f),
      m_points_B(0.0f),
      m_points_A(1.0f),
      m_plane_R(0.01f),
      m_plane_G(0.01f),
      m_plane_B(0.6f),
      m_plane_A(0.6f),
      m_enable_points(true),
      m_enable_line(true),
      m_enable_surface(true)
{
}
 
/*---------------------------------------------------------------
                            clear
  ---------------------------------------------------------------*/
void CPlanarLaserScan::clear()
{
    CRenderizableDisplayList::notifyChange();
    m_scan.resizeScan(0);
}
 
/*---------------------------------------------------------------
                            render
  ---------------------------------------------------------------*/
void CPlanarLaserScan::render_dl() const
{
#if MRPT_HAS_OPENGL_GLUT
    ASSERT_(m_scan.scan.size() == m_scan.validRange.size());
 
    // Load into cache:
    if (!m_cache_valid)
    {
        m_cache_valid = true;
        m_cache_points.clear();
        m_cache_points.insertionOptions.minDistBetweenLaserPoints = 0;
        m_cache_points.insertionOptions.isPlanarMap = false;
 
        m_cache_points.insertObservation(&m_scan);
    }
 
    size_t i, n;
    const float *x, *y, *z;
 
    m_cache_points.getPointsBuffer(n, x, y, z);
    if (!n || !x) return;
 
    glEnable(GL_BLEND);
    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
 
    // LINES
    // ----------------------------
    if (n > 1 && m_enable_line)
    {
        glLineWidth(m_line_width);
        checkOpenGLError();
 
        glBegin(GL_LINES);
        glColor4f(m_line_R, m_line_G, m_line_B, m_line_A);
 
        for (i = 0; i < n - 1; i++)
        {
            glVertex3f(x[i], y[i], z[i]);
            glVertex3f(x[i + 1], y[i + 1], z[i + 1]);
        }
        glEnd();
        checkOpenGLError();
    }
 
    // POINTS
    // ----------------------------
    if (n > 0 && m_enable_points)
    {
        glPointSize(m_points_width);
        checkOpenGLError();
 
        glBegin(GL_POINTS);
        glColor4f(m_points_R, m_points_G, m_points_B, m_points_A);
 
        for (i = 0; i < n; i++)
        {
            glVertex3f(x[i], y[i], z[i]);
        }
        glEnd();
        checkOpenGLError();
    }
 
    // SURFACE:
    // ------------------------------
    if (n > 1 && m_enable_surface)
    {
        glBegin(GL_TRIANGLES);
 
        glColor4f(m_plane_R, m_plane_G, m_plane_B, m_plane_A);
 
        for (i = 0; i < n - 1; i++)
        {
            glVertex3f(
                m_scan.sensorPose.x(), m_scan.sensorPose.y(),
                m_scan.sensorPose.z());
            glVertex3f(x[i], y[i], z[i]);
            glVertex3f(x[i + 1], y[i + 1], z[i + 1]);
        }
        glEnd();
        checkOpenGLError();
    }
 
    glDisable(GL_BLEND);
 
#endif
}
 
uint8_t CPlanarLaserScan::serializeGetVersion() const { return 1; }
void CPlanarLaserScan::serializeTo(mrpt::serialization::CArchive& out) const
{
    writeToStreamRender(out);
    out << m_scan;
    out << m_line_width << m_line_R << m_line_G << m_line_B << m_line_A
        << m_points_width << m_points_R << m_points_G << m_points_B
        << m_points_A << m_plane_R << m_plane_G << m_plane_B << m_plane_A
        << m_enable_points << m_enable_line << m_enable_surface;  // new in v1
}
 
void CPlanarLaserScan::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        case 1:
        {
            readFromStreamRender(in);
            in >> m_scan;
            in >> m_line_width >> m_line_R >> m_line_G >> m_line_B >>
                m_line_A >> m_points_width >> m_points_R >> m_points_G >>
                m_points_B >> m_points_A >> m_plane_R >> m_plane_G >>
                m_plane_B >> m_plane_A;
 
            if (version >= 1)
            {
                in >> m_enable_points >> m_enable_line >>
                    m_enable_surface;  // new in v1
            }
            else
            {
                m_enable_points = m_enable_line = m_enable_surface = true;
            }
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
    };
}
 
void CPlanarLaserScan::getBoundingBox(
    mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const
{
    // Load into cache:
    if (!m_cache_valid)
    {
        m_cache_valid = true;
        m_cache_points.clear();
        m_cache_points.insertionOptions.minDistBetweenLaserPoints = 0;
        m_cache_points.insertionOptions.isPlanarMap = false;
 
        m_cache_points.insertObservation(&m_scan);
    }
 
    size_t n;
    const float *x, *y, *z;
 
    m_cache_points.getPointsBuffer(n, x, y, z);
    if (!n || !x) return;
 
    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 < n; i++)
    {
        keep_min(bb_min.x, x[i]);
        keep_max(bb_max.x, x[i]);
        keep_min(bb_min.y, y[i]);
        keep_max(bb_max.y, y[i]);
        keep_min(bb_min.z, z[i]);
        keep_max(bb_max.z, z[i]);
    }
 
    // Convert to coordinates of my parent:
    m_pose.composePoint(bb_min, bb_min);
    m_pose.composePoint(bb_max, bb_max);
}