COctoMapVoxels.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, 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/opengl/COctoMapVoxels.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/serialization/stl_serialization.h>
#include "opengl_internals.h"

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

IMPLEMENTS_SERIALIZABLE(COctoMapVoxels, CRenderizableDisplayList, mrpt::opengl)

/** Ctor */
COctoMapVoxels::COctoMapVoxels() : m_grid_color(0xE0, 0xE0, 0xE0, 0x90) {}
/** Clears everything */
void COctoMapVoxels::clear()
{
    m_voxel_sets.clear();
    m_grid_cubes.clear();

    CRenderizableDisplayList::notifyChange();
}

void COctoMapVoxels::setBoundingBox(
    const mrpt::math::TPoint3D& bb_min, const mrpt::math::TPoint3D& bb_max)
{
    m_bb_min = bb_min;
    m_bb_max = bb_max;
}

#if MRPT_HAS_OPENGL_GLUT

// See: http://www.songho.ca/opengl/gl_vertexarray.html

// cube ///////////////////////////////////////////////////////////////////////
//        v6----- v5
// +Z    /|      /|
// A    v1------v0|
// |    | |     | |
// |    | |v7---|-|v4   / -X
// |    |/      |/     /
// |    v2------v3    L +X
// ----------------------> +Y
//

const GLubyte grid_line_indices[] = {0, 1, 1, 2, 2, 3, 3, 0, 4, 5, 5, 6,
                                     6, 7, 7, 4, 0, 5, 1, 6, 2, 7, 3, 4};

const GLubyte cube_indices[36] = {0, 1, 2, 2, 3, 0, 0, 3, 4, 4, 5, 0,
                                  0, 5, 6, 6, 1, 0, 1, 6, 7, 7, 2, 1,
                                  7, 4, 3, 3, 2, 7, 4, 7, 6, 6, 5, 4};

// normal array
const GLfloat normals_cube[3 * 6 * 4] = {
    1,  0,  0,  1,  0,  0,  1,  0,  0,  0,  0,  0,  // v0,v1,v2,v3 (front)
    0,  1,  0,  0,  1,  0,  0,  1,  0,  0,  1,  0,  // v0,v3,v4,v5 (right)
    0,  0,  1,  0,  0,  1,  0,  0,  1,  0,  0,  1,  // v0,v5,v6,v1 (top)
    0,  -1, 0,  0,  -1, 0,  0,  -1, 0,  0,  -1, 0,  // v1,v6,v7,v2 (left)
    0,  0,  -1, 0,  0,  -1, 0,  0,  -1, 0,  0,  -1,  // v7,v4,v3,v2 (bottom)
    -1, 0,  0,  -1, 0,  0,  -1, 0,  0,  -1, 0,  0};  // v4,v7,v6,v5 (back)

#endif

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

    glEnableClientState(GL_VERTEX_ARRAY);

    // Draw grids ====================================
    if (m_show_grids)
    {
        glLineWidth(m_grid_width);
        checkOpenGLError();

        glDisable(GL_LIGHTING);  // Disable lights when drawing lines

        // Antialiasing:
        glPushAttrib(GL_COLOR_BUFFER_BIT | GL_LINE_BIT);
        glEnable(GL_LINE_SMOOTH);
        if (m_grid_color.A != 255)
        {
            glEnable(GL_BLEND);
            glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
        }

        glColor4ub(
            m_grid_color.R, m_grid_color.G, m_grid_color.B, m_grid_color.A);

        const size_t nGrids = m_grid_cubes.size();
        for (size_t i = 0; i < nGrids; i++)
        {
            const TGridCube& c = m_grid_cubes[i];

            const GLdouble vertices[8 * 3] = {
                c.max.x, c.max.y, c.max.z, c.max.x, c.min.y, c.max.z,
                c.max.x, c.min.y, c.min.z, c.max.x, c.max.y, c.min.z,
                c.min.x, c.max.y, c.min.z, c.min.x, c.max.y, c.max.z,
                c.min.x, c.min.y, c.max.z, c.min.x, c.min.y, c.min.z};
            glVertexPointer(3, GL_DOUBLE, 0, vertices);
            glDrawElements(
                GL_LINES,
                sizeof(grid_line_indices) / sizeof(grid_line_indices[0]),
                GL_UNSIGNED_BYTE, grid_line_indices);
        }

        glEnable(GL_LIGHTING);  // Disable lights when drawing lines
        // End of antialiasing:
        glPopAttrib();
    }

    // Draw cubes ====================================
    if (!m_enable_lighting) glDisable(GL_LIGHTING);

    glEnableClientState(GL_NORMAL_ARRAY);

    glNormalPointer(GL_FLOAT, 0, normals_cube);

    if (m_enable_cube_transparency)
    {
        glEnable(GL_BLEND);
        glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
    }

    if (m_showVoxelsAsPoints)
    {
        glPointSize(m_showVoxelsAsPointsSize);
        glBegin(GL_POINTS);
    }

    for (const auto& m_voxel_set : m_voxel_sets)
    {
        if (!m_voxel_set.visible) continue;

        const std::vector<TVoxel>& voxels = m_voxel_set.voxels;
        const size_t N = voxels.size();
        for (size_t j = 0; j < N; j++)
        {
            const mrpt::img::TColor& vx_j_col = voxels[j].color;
            glColor4ub(vx_j_col.R, vx_j_col.G, vx_j_col.B, vx_j_col.A);

            const mrpt::math::TPoint3D& c = voxels[j].coords;
            const double L = voxels[j].side_length * 0.5;

            if (!m_showVoxelsAsPoints)
            {
                // Render as cubes:
                const GLdouble vertices[8 * 3] = {
                    c.x + L, c.y + L, c.z + L, c.x + L, c.y - L, c.z + L,
                    c.x + L, c.y - L, c.z - L, c.x + L, c.y + L, c.z - L,
                    c.x - L, c.y + L, c.z - L, c.x - L, c.y + L, c.z + L,
                    c.x - L, c.y - L, c.z + L, c.x - L, c.y - L, c.z - L};
                glVertexPointer(3, GL_DOUBLE, 0, vertices);
                glDrawElements(
                    GL_TRIANGLES,
                    sizeof(cube_indices) / sizeof(cube_indices[0]),
                    GL_UNSIGNED_BYTE, cube_indices);
            }
            else
            {
                // Render as simple points:
                glVertex3f(c.x, c.y, c.z);
            }
        }
    }

    if (m_showVoxelsAsPoints)
    {
        glEnd();  // of  GL_POINTS
    }

    if (m_enable_cube_transparency) glDisable(GL_BLEND);

    glDisableClientState(GL_NORMAL_ARRAY);

    if (!m_enable_lighting) glEnable(GL_LIGHTING);

    glDisableClientState(GL_VERTEX_ARRAY);
    checkOpenGLError();

#endif
}

DECLARE_CUSTOM_TTYPENAME(COctoMapVoxels::TInfoPerVoxelSet)
DECLARE_CUSTOM_TTYPENAME(COctoMapVoxels::TGridCube)
DECLARE_CUSTOM_TTYPENAME(COctoMapVoxels::TVoxel)

namespace mrpt::opengl
{
using mrpt::serialization::CArchive;
CArchive& operator<<(CArchive& out, const COctoMapVoxels::TInfoPerVoxelSet& a)
{
    out << a.visible << a.voxels;
    return out;
}
CArchive& operator>>(CArchive& in, COctoMapVoxels::TInfoPerVoxelSet& a)
{
    in >> a.visible >> a.voxels;
    return in;
}

CArchive& operator<<(CArchive& out, const COctoMapVoxels::TGridCube& a)
{
    out << a.min << a.max;
    return out;
}
CArchive& operator>>(CArchive& in, COctoMapVoxels::TGridCube& a)
{
    in >> a.min >> a.max;
    return in;
}

CArchive& operator<<(CArchive& out, const COctoMapVoxels::TVoxel& a)
{
    out << a.coords << a.side_length << a.color;
    return out;
}
CArchive& operator>>(CArchive& in, COctoMapVoxels::TVoxel& a)
{
    in >> a.coords >> a.side_length >> a.color;
    return in;
}
}  // end of namespace mrpt::opengl

uint8_t COctoMapVoxels::serializeGetVersion() const { return 2; }
void COctoMapVoxels::serializeTo(CArchive& out) const
{
    writeToStreamRender(out);

    out << m_voxel_sets << m_grid_cubes << m_bb_min << m_bb_max
        << m_enable_lighting << m_showVoxelsAsPoints << m_showVoxelsAsPointsSize
        << m_show_grids << m_grid_width << m_grid_color
        << m_enable_cube_transparency  // added in v1
        << uint32_t(m_visual_mode);  // added in v2
}

void COctoMapVoxels::serializeFrom(CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        case 1:
        case 2:
        {
            readFromStreamRender(in);

            in >> m_voxel_sets >> m_grid_cubes >> m_bb_min >> m_bb_max >>
                m_enable_lighting >> m_showVoxelsAsPoints >>
                m_showVoxelsAsPointsSize >> m_show_grids >> m_grid_width >>
                m_grid_color;

            if (version >= 1)
                in >> m_enable_cube_transparency;
            else
                m_enable_cube_transparency = false;

            if (version >= 2)
            {
                uint32_t i;
                in >> i;
                m_visual_mode =
                    static_cast<COctoMapVoxels::visualization_mode_t>(i);
            }
            else
                m_visual_mode = COctoMapVoxels::COLOR_FROM_OCCUPANCY;
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };

    CRenderizableDisplayList::notifyChange();
}

void COctoMapVoxels::getBoundingBox(
    mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const
{
    bb_min = m_bb_min;
    bb_max = m_bb_max;

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

bool sort_voxels_z(
    const COctoMapVoxels::TVoxel& a, const COctoMapVoxels::TVoxel& b)
{
    return a.coords.z < b.coords.z;
}

void COctoMapVoxels::sort_voxels_by_z()
{
    for (auto& m_voxel_set : m_voxel_sets)
    {
        std::sort(
            m_voxel_set.voxels.begin(), m_voxel_set.voxels.end(),
            &sort_voxels_z);
    }
}