graph_tools_impl.h

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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 |
   +------------------------------------------------------------------------+ */
#ifndef opengl_graph_tools_impl_H
#define opengl_graph_tools_impl_H

#include <mrpt/opengl/CGridPlaneXY.h>
#include <mrpt/opengl/CPointCloud.h>
#include <mrpt/opengl/CSetOfObjects.h>
#include <mrpt/opengl/CSimpleLine.h>
#include <mrpt/opengl/CSetOfLines.h>
#include <mrpt/opengl/stock_objects.h>
#include <mrpt/poses/CPoint3D.h>
#include <mrpt/img/TColor.h>

namespace mrpt::opengl::graph_tools
{
template <class GRAPH_T>
CSetOfObjects::Ptr graph_visualize(
    const GRAPH_T& g, const mrpt::system::TParametersDouble& extra_params)
{
    MRPT_TRY_START

    using mrpt::math::TPose3D;
    using mrpt::poses::CPose3D;

    // Is a 2D or 3D graph network?
    using constraint_t = typename GRAPH_T::constraint_t;

    const bool is_3D_graph = constraint_t::is_3D();

    // create opengl obejct to be filled.
    CSetOfObjects::Ptr ret = mrpt::make_aligned_shared<CSetOfObjects>();

    // graph visualization parameters
    const bool show_ID_labels =
        0 != extra_params.getWithDefaultVal("show_ID_labels", 0);
    const bool show_ground_grid =
        0 != extra_params.getWithDefaultVal("show_ground_grid", 1);
    const bool show_edges =
        0 != extra_params.getWithDefaultVal("show_edges", 1);
    const bool show_node_corners =
        0 != extra_params.getWithDefaultVal("show_node_corners", 1);
    const bool show_edge_rel_poses =
        0 != extra_params.getWithDefaultVal("show_edge_rel_poses", 0);
    const double nodes_point_size =
        extra_params.getWithDefaultVal("nodes_point_size", 0.);
    const double nodes_corner_scale =
        extra_params.getWithDefaultVal("nodes_corner_scale", 0.7);
    const double nodes_edges_corner_scale =
        extra_params.getWithDefaultVal("nodes_edges_corner_scale", 0.4);
    const unsigned int nodes_point_color = extra_params.getWithDefaultVal(
        "nodes_point_color", (unsigned int)0xA0A0A0);
    const unsigned int edge_color =
        extra_params.getWithDefaultVal("edge_color", (unsigned int)0x400000FF);
    const unsigned int edge_rel_poses_color = extra_params.getWithDefaultVal(
        "edge_rel_poses_color", (unsigned int)0x40FF8000);
    const double edge_width = extra_params.getWithDefaultVal("edge_width", 2.);

    if (show_ground_grid)
    {
        // Estimate bounding box.
        mrpt::math::TPoint3D BB_min(-10., -10., 0.), BB_max(10., 10., 0.);

        for (typename GRAPH_T::global_poses_t::const_iterator itNod =
                 g.nodes.begin();
             itNod != g.nodes.end(); ++itNod)
        {
            const CPose3D p = CPose3D(
                itNod->second);  // Convert to 3D from whatever its real type.

            keep_min(BB_min.x, p.x());
            keep_min(BB_min.y, p.y());
            keep_min(BB_min.z, p.z());

            keep_max(BB_max.x, p.x());
            keep_max(BB_max.y, p.y());
            keep_max(BB_max.z, p.z());
        }

        // Create ground plane:
        const double grid_frequency = 5.0;
        CGridPlaneXY::Ptr grid = CGridPlaneXY::Create(
            BB_min.x, BB_max.x, BB_min.y, BB_max.y, BB_min.z, grid_frequency);
        grid->setColor(0.3, 0.3, 0.3);
        ret->insert(grid);
    }  // end show_ground_grid

    // Draw nodes as thick points:
    if (nodes_point_size > 0)
    {
        CPointCloud::Ptr pnts = mrpt::make_aligned_shared<CPointCloud>();
        pnts->setColor(
            mrpt::img::TColorf(mrpt::img::TColor(nodes_point_color)));
        pnts->setPointSize(nodes_point_size);

        // Add nodes:
        for (typename GRAPH_T::global_poses_t::const_iterator itNod =
                 g.nodes.begin();
             itNod != g.nodes.end(); ++itNod)
        {
            const CPose3D p = CPose3D(
                itNod->second);  // Convert to 3D from whatever its real type.
            pnts->insertPoint(p.x(), p.y(), p.z());
        }

        pnts->enablePointSmooth();

        ret->insert(pnts);
    }  // end draw node points

    // Show a 2D corner at each node (or just an empty object with the ID label)
    if (show_node_corners || show_ID_labels)
    {
        for (typename GRAPH_T::global_poses_t::const_iterator itNod =
                 g.nodes.begin();
             itNod != g.nodes.end(); ++itNod)
        {
            const CPose3D p = CPose3D(
                itNod->second);  // Convert to 3D from whatever its real type.
            CSetOfObjects::Ptr gl_corner =
                show_node_corners
                    ? (is_3D_graph
                           ? stock_objects::CornerXYZSimple(
                                 nodes_corner_scale, 1.0 /*line width*/)
                           : stock_objects::CornerXYSimple(
                                 nodes_corner_scale, 1.0 /*line width*/))
                    : mrpt::make_aligned_shared<CSetOfObjects>();
            gl_corner->setPose(p);
            if (show_ID_labels)  // don't show IDs twice!
            {
                gl_corner->setName(
                    format("%u", static_cast<unsigned int>(itNod->first)));
                gl_corner->enableShowName();
            }
            ret->insert(gl_corner);
        }
    }  // end draw node corners

    if (show_edge_rel_poses)
    {
        const mrpt::img::TColor col8bit(
            edge_rel_poses_color & 0xffffff, edge_rel_poses_color >> 24);

        for (const auto& edge : g)
        {
            // Node ID of the source pose:
            const auto node_id_start = g.edges_store_inverse_poses
                                           ? edge.first.second
                                           : edge.first.first;

            // Draw only if we have the global coords of starting nodes:
            auto itNod = g.nodes.find(node_id_start);
            if (itNod != g.nodes.end())
            {
                const CPose3D pSource = CPose3D(itNod->second);
                // Create a set of objects at that pose and do the rest in
                // relative coords:
                auto gl_rel_edge = mrpt::opengl::CSetOfObjects::Create();
                gl_rel_edge->setPose(pSource);

                const auto& edge_pose = edge.second.getPoseMean();
                const auto edge_pose_pt = mrpt::poses::CPoint3D(edge_pose);

                auto gl_edge_corner =
                    (is_3D_graph
                         ? stock_objects::CornerXYZSimple(
                               nodes_edges_corner_scale, 1.0 /*line width*/)
                         : stock_objects::CornerXYSimple(
                               nodes_edges_corner_scale, 1.0 /*line width*/));

                gl_edge_corner->setPose(edge_pose);
                gl_rel_edge->insert(gl_edge_corner);

                auto gl_line = mrpt::opengl::CSimpleLine::Create(
                    0, 0, 0, edge_pose_pt.x(), edge_pose_pt.y(),
                    edge_pose_pt.z());
                gl_line->setColor_u8(col8bit);
                gl_line->setLineWidth(edge_width);
                gl_rel_edge->insert(gl_line);

                ret->insert(gl_rel_edge);
            }
        }
    }

    if (show_edges)
    {
        CSetOfLines::Ptr gl_edges = mrpt::make_aligned_shared<CSetOfLines>();
        const mrpt::img::TColor col8bit(
            edge_color & 0xffffff, edge_color >> 24);

        gl_edges->setColor_u8(col8bit);
        gl_edges->setLineWidth(edge_width);

        for (const auto& edge : g)
        {
            const auto id1 = edge.first.first;
            const auto id2 = edge.first.second;

            // Draw only if we have the global coords of both nodes:
            auto itNod1 = g.nodes.find(id1);
            auto itNod2 = g.nodes.find(id2);
            if (itNod1 != g.nodes.end() && itNod2 != g.nodes.end())
            {
                const CPose3D p1 = CPose3D(itNod1->second);
                const CPose3D p2 = CPose3D(itNod2->second);
                gl_edges->appendLine(
                    mrpt::math::TPoint3D(p1.x(), p1.y(), p1.z()),
                    mrpt::math::TPoint3D(p2.x(), p2.y(), p2.z()));
            }
        }
        ret->insert(gl_edges);

    }  // end draw edges

    return ret;

    MRPT_TRY_END
}
}  // namespace mrpt

#endif