CAngularObservationMesh.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, 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 "maps-precomp.h"  // Precomp header

#include <mrpt/opengl/CAngularObservationMesh.h>
#include <mrpt/poses/CPoint3D.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/serialization/stl_serialization.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::obs;
using namespace mrpt::maps;
using namespace mrpt::math;
using namespace mrpt::opengl;
using namespace mrpt::poses;
using namespace mrpt::math;

IMPLEMENTS_SERIALIZABLE(CAngularObservationMesh, CRenderizable, mrpt::opengl)

void CAngularObservationMesh::addTriangle(
    const TPoint3D& p1, const TPoint3D& p2, const TPoint3D& p3) const
{
    mrpt::opengl::TTriangle t;
    t.vertices[0].xyzrgba.pt = p1;
    t.vertices[1].xyzrgba.pt = p2;
    t.vertices[2].xyzrgba.pt = p3;
    t.computeNormals();
    t.setColor(m_color);

    triangles.emplace_back(std::move(t));
    CRenderizable::notifyChange();
}

void CAngularObservationMesh::updateMesh() const
{
    CRenderizable::notifyChange();

    size_t numRows = scanSet.size();
    triangles.clear();
    if (numRows <= 1)
    {
        actualMesh.setSize(0, 0);
        validityMatrix.setSize(0, 0);
        meshUpToDate = true;
        return;
    }
    if (pitchBounds.size() != numRows && pitchBounds.size() != 2) return;
    size_t numCols = scanSet[0].getScanSize();
    actualMesh.setSize(numRows, numCols);
    validityMatrix.setSize(numRows, numCols);
    std::vector<double> pitchs(numRows);
    if (pitchBounds.size() == 2)
    {
        double p1 = pitchBounds[0];
        double p2 = pitchBounds[1];
        for (size_t i = 0; i < numRows; i++)
            pitchs[i] = p1 + (p2 - p1) * static_cast<double>(i) /
                                 static_cast<double>(numRows - 1);
    }
    else
        for (size_t i = 0; i < numRows; i++) pitchs[i] = pitchBounds[i];
    const bool rToL = scanSet[0].rightToLeft;
    for (size_t i = 0; i < numRows; i++)
    {
        const auto& ss_i = scanSet[i];
        const double pitchIncr = scanSet[i].deltaPitch;
        const double aperture = scanSet[i].aperture;
        const CPose3D origin = scanSet[i].sensorPose;
        // This is not an error...
        for (size_t j = 0; j < numCols; j++)
            if ((validityMatrix(i, j) = ss_i.getScanRangeValidity(j)))
            {
                double pYaw = aperture * ((static_cast<double>(j) /
                                           static_cast<double>(numCols - 1)) -
                                          0.5);
                // Without the pitch since it's already within each sensorPose:
                actualMesh(i, j) =
                    ((origin +
                      CPose3D(0, 0, 0, rToL ? pYaw : -pYaw, pitchIncr)) +
                     CPoint3D(ss_i.getScanRange(j), 0, 0))
                        .asTPoint();
            }
    }

    triangles.reserve(2 * (numRows - 1) * (numCols - 1));
    for (size_t k = 0; k < numRows - 1; k++)
    {
        for (size_t j = 0; j < numCols - 1; j++)
        {
            int b1 = validityMatrix(k, j) ? 1 : 0;
            int b2 = validityMatrix(k, j + 1) ? 1 : 0;
            int b3 = validityMatrix(k + 1, j) ? 1 : 0;
            int b4 = validityMatrix(k + 1, j + 1) ? 1 : 0;
            switch (b1 + b2 + b3 + b4)
            {
                case 0:
                case 1:
                case 2:
                    break;
                case 3:
                    if (!b1)
                        addTriangle(
                            actualMesh(k, j + 1), actualMesh(k + 1, j),
                            actualMesh(k + 1, j + 1));
                    else if (!b2)
                        addTriangle(
                            actualMesh(k, j), actualMesh(k + 1, j),
                            actualMesh(k + 1, j + 1));
                    else if (!b3)
                        addTriangle(
                            actualMesh(k, j), actualMesh(k, j + 1),
                            actualMesh(k + 1, j + 1));
                    else if (!b4)
                        addTriangle(
                            actualMesh(k, j), actualMesh(k, j + 1),
                            actualMesh(k + 1, j));
                    break;
                case 4:
                    addTriangle(
                        actualMesh(k, j), actualMesh(k, j + 1),
                        actualMesh(k + 1, j));
                    addTriangle(
                        actualMesh(k + 1, j + 1), actualMesh(k, j + 1),
                        actualMesh(k + 1, j));
            }
        }
    }
    meshUpToDate = true;
}

void CAngularObservationMesh::render(const RenderContext& rc) const
{
    switch (rc.shader_id)
    {
        case DefaultShaderID::TRIANGLES:
            if (!m_Wireframe) CRenderizableShaderTriangles::render(rc);
            break;
        case DefaultShaderID::WIREFRAME:
            if (m_Wireframe) CRenderizableShaderWireFrame::render(rc);
            break;
    };
}
void CAngularObservationMesh::renderUpdateBuffers() const
{
    CRenderizableShaderTriangles::renderUpdateBuffers();
    CRenderizableShaderWireFrame::renderUpdateBuffers();
}

void CAngularObservationMesh::onUpdateBuffers_Wireframe()
{
    auto& vbd = CRenderizableShaderWireFrame::m_vertex_buffer_data;
    auto& cbd = CRenderizableShaderWireFrame::m_color_buffer_data;
    vbd.clear();
    cbd.clear();

    for (const auto& t : triangles)
    {
        // Was: glBegin(GL_LINE_LOOP);
        for (int k = 0; k <= 3; k++)
        {
            int kk = k % 3;
            vbd.emplace_back(t.x(kk), t.y(kk), t.z(kk));
            cbd.emplace_back(t.r(kk), t.g(kk), t.b(kk), t.a(kk));
        }
    }
}

void CAngularObservationMesh::onUpdateBuffers_Triangles()
{
    auto& tris = CRenderizableShaderTriangles::m_triangles;

    tris = this->triangles;

    // All faces, all vertices, same color:
    for (auto& t : tris)
    {
        t.setColor(m_color);
        t.computeNormals();
    }
}

bool CAngularObservationMesh::traceRay(
    [[maybe_unused]] const mrpt::poses::CPose3D& o,
    [[maybe_unused]] double& dist) const
{
    // TODO: redo
    return false;
}

bool CAngularObservationMesh::setScanSet(
    const std::vector<mrpt::obs::CObservation2DRangeScan>& scans)
{
    CRenderizable::notifyChange();

    // Returns false if the scan is inconsistent
    if (scans.size() > 0)
    {
        size_t setSize = scans[0].getScanSize();
        bool rToL = scans[0].rightToLeft;
        for (auto it = scans.begin() + 1; it != scans.end(); ++it)
        {
            if (it->getScanSize() != setSize) return false;
            if (it->rightToLeft != rToL) return false;
        }
    }
    scanSet = scans;
    meshUpToDate = false;
    CRenderizable::notifyChange();
    return true;
}

void CAngularObservationMesh::setPitchBounds(
    const double initial, const double final)
{
    CRenderizable::notifyChange();

    pitchBounds.clear();
    pitchBounds.push_back(initial);
    pitchBounds.push_back(final);
    meshUpToDate = false;
    CRenderizable::notifyChange();
}
void CAngularObservationMesh::setPitchBounds(const std::vector<double>& bounds)
{
    CRenderizable::notifyChange();

    pitchBounds = bounds;
    meshUpToDate = false;
    CRenderizable::notifyChange();
}
void CAngularObservationMesh::getPitchBounds(
    double& initial, double& final) const
{
    initial = pitchBounds.front();
    final = pitchBounds.back();
}
void CAngularObservationMesh::getPitchBounds(std::vector<double>& bounds) const
{
    bounds = pitchBounds;
}
void CAngularObservationMesh::getScanSet(
    std::vector<CObservation2DRangeScan>& scans) const
{
    scans = scanSet;
}

void CAngularObservationMesh::generateSetOfTriangles(
    CSetOfTriangles::Ptr& res) const
{
    if (!meshUpToDate) updateMesh();
    res->insertTriangles(triangles.begin(), triangles.end());
}

struct CAngularObservationMesh_fnctr
{
    CPointsMap* m;
    CAngularObservationMesh_fnctr(CPointsMap* p) : m(p) {}
    inline void operator()(const CObservation2DRangeScan& obj)
    {
        m->insertObservation(obj);
    }
};

void CAngularObservationMesh::generatePointCloud(CPointsMap* out_map) const
{
    ASSERT_(out_map);
    out_map->clear();
    /*  size_t numRows=scanSet.size();
        if ((pitchBounds.size()!=numRows)&&(pitchBounds.size()!=2)) return;
        std::vector<double> pitchs(numRows);
        if (pitchBounds.size()==2)  {
            double p1=pitchBounds[0];
            double p2=pitchBounds[1];
            for (size_t i=0;i<numRows;i++)
       pitchs[i]=p1+(p2-p1)*static_cast<double>(i)/static_cast<double>(numRows-1);
        }   else for (size_t i=0;i<numRows;i++) pitchs[i]=pitchBounds[i];
        for (size_t i=0;i<numRows;i++) out_map->insertObservation(&scanSet[i]);
    */

    std::for_each(
        scanSet.begin(), scanSet.end(), CAngularObservationMesh_fnctr(out_map));
}

uint8_t CAngularObservationMesh::serializeGetVersion() const { return 0; }
void CAngularObservationMesh::serializeTo(
    mrpt::serialization::CArchive& out) const
{
    writeToStreamRender(out);
    // Version 0:
    out << pitchBounds << scanSet << m_Wireframe << mEnableTransparency;
}

void CAngularObservationMesh::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
            readFromStreamRender(in);
            in >> pitchBounds >> scanSet >> m_Wireframe >> mEnableTransparency;
            break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
    meshUpToDate = false;
    CRenderizable::notifyChange();
}

void CAngularObservationMesh::TDoubleRange::values(
    std::vector<double>& vals) const
{
    double value = initialValue();
    double incr = increment();
    size_t am = amount();
    vals.resize(am);
    for (size_t i = 0; i < am - 1; i++, value += incr) vals[i] = value;
    vals[am - 1] = finalValue();
}

void CAngularObservationMesh::getTracedRays(CSetOfLines::Ptr& res) const
{
    if (!meshUpToDate) updateMesh();
    size_t count = 0;
    for (int i = 0; i < validityMatrix.rows(); i++)
        for (int j = 0; j < validityMatrix.cols(); j++)
            if (validityMatrix(i, j)) count++;
    res->reserve(count);
    for (int i = 0; i < actualMesh.rows(); i++)
        for (int j = 0; j < actualMesh.cols(); j++)
            if (validityMatrix(i, j))
                res->appendLine(
                    (scanSet[i].sensorPose).asTPose(), actualMesh(i, j));
}

class FAddUntracedLines
{
   public:
    CSetOfLines::Ptr& lins;
    const CPoint3D& pDist;
    std::vector<double> pitchs;
    FAddUntracedLines(
        CSetOfLines::Ptr& l, const CPoint3D& p, const std::vector<double>& pi)
        : lins(l), pDist(p), pitchs()
    {
        pitchs.reserve(pi.size());
        for (auto it = pi.rbegin(); it != pi.rend(); ++it)
            pitchs.push_back(*it);
    }
    void operator()(const CObservation2DRangeScan& obs)
    {
        size_t hm = obs.getScanSize();
        for (size_t i = 0; i < obs.getScanSize(); i++)
            if (obs.getScanRangeValidity(i)) hm--;
        lins->reserve(hm);
        for (size_t i = 0; i < obs.getScanSize(); i++)
            if (!obs.getScanRangeValidity(i))
            {
                double yaw = obs.aperture *
                             ((static_cast<double>(i) /
                               static_cast<double>(obs.getScanSize() - 1)) -
                              0.5);
                lins->appendLine(
                    obs.sensorPose.asTPose(),
                    (obs.sensorPose +
                     CPose3D(
                         0, 0, 0, obs.rightToLeft ? yaw : -yaw,
                         obs.deltaPitch * i + pitchs.back(), 0) +
                     pDist)
                        .asTPoint());
            }
        pitchs.pop_back();
    }
};
void CAngularObservationMesh::getUntracedRays(
    CSetOfLines::Ptr& res, double dist) const
{
    for_each(
        scanSet.begin(), scanSet.end(),
        FAddUntracedLines(res, dist, pitchBounds));
}

TPolygon3D createFromTriangle(const mrpt::opengl::TTriangle& t)
{
    TPolygon3D res(3);
    for (size_t i = 0; i < 3; i++) res[i] = t.vertices[i].xyzrgba.pt;
    return res;
}

void CAngularObservationMesh::generateSetOfTriangles(
    std::vector<TPolygon3D>& res) const
{
    if (!meshUpToDate) updateMesh();
    res.resize(triangles.size());
    transform(
        triangles.begin(), triangles.end(), res.begin(), createFromTriangle);
}

void CAngularObservationMesh::getBoundingBox(
    mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const
{
    if (!meshUpToDate) updateMesh();

    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 (const auto& t : triangles)
    {
        keep_min(bb_min.x, t.x(0));
        keep_max(bb_max.x, t.x(0));
        keep_min(bb_min.y, t.y(0));
        keep_max(bb_max.y, t.y(0));
        keep_min(bb_min.z, t.z(0));
        keep_max(bb_max.z, t.z(0));

        keep_min(bb_min.x, t.x(1));
        keep_max(bb_max.x, t.x(1));
        keep_min(bb_min.y, t.y(1));
        keep_max(bb_max.y, t.y(1));
        keep_min(bb_min.z, t.z(1));
        keep_max(bb_max.z, t.z(1));

        keep_min(bb_min.x, t.x(2));
        keep_max(bb_max.x, t.x(2));
        keep_min(bb_min.y, t.y(2));
        keep_max(bb_max.y, t.y(2));
        keep_min(bb_min.z, t.z(2));
        keep_max(bb_max.z, t.z(2));
    }

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