CVectorField2D.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 "opengl-precomp.h"  // Precompiled header
 
#include <mrpt/opengl/CVectorField2D.h>
#include <mrpt/serialization/CArchive.h>
 
#include "opengl_internals.h"
 
using namespace mrpt;
using namespace mrpt::opengl;
 
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.cols() - 1);
    const float y_cell_size = (yMax - yMin) / (ycomp.rows() - 1);
 
    for (unsigned int i = 0; i < xcomp.cols(); i++)
        for (unsigned int j = 0; j < xcomp.rows(); 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.cols(); i++)
        for (unsigned int j = 0; j < xcomp.rows(); 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.cols(); i++)
        for (unsigned int j = 0; j < xcomp.rows(); 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
  ---------------------------------------------------------------*/
uint8_t CVectorField2D::serializeGetVersion() const { return 0; }
void CVectorField2D::serializeTo(mrpt::serialization::CArchive& out) const
{
    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;
}
 
void CVectorField2D::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t 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.cols() - 1);
    const float y_cell_size = (yMax - yMin) / (ycomp.rows() - 1);
 
    for (unsigned int i = 0; i < xcomp.cols(); i++)
        for (unsigned int j = 0; j < xcomp.rows(); 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.cols() - 1) / (xMax - xMin);
    const float ratio_xn =
        xcomp.minCoeff() * (xcomp.cols() - 1) / (xMax - xMin);
    const float ratio_yp =
        ycomp.maxCoeff() * (ycomp.rows() - 1) / (yMax - yMin);
    const float ratio_yn =
        ycomp.minCoeff() * (ycomp.rows() - 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();
}