CMRVisualizer_impl.h

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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          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/img/TColorManager.h>

namespace mrpt::graphs::detail
{
// (Dummy) standard version
// vvvvvvvvvvvvvvvvvvvvvvvv
//////////////////////////////////////////////////////////

template <
    class CPOSE, class MAPS_IMPLEMENTATION, class NODE_ANNOTATIONS,
    class EDGE_ANNOTATIONS>
CMRVisualizer<CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS>::
	CMRVisualizer(const GRAPH_T& graph_in)
    : parent(graph_in)
{
    THROW_EXCEPTION(
        "CMRVisualizer standard (non-specialized) edition doesn't server any "
        "role."
        "In case you use this visualizer specify TMRSlamNodeAnnotations"
        "as the 3rd template argument");
}

template <
    class CPOSE, class MAPS_IMPLEMENTATION, class NODE_ANNOTATIONS,
    class EDGE_ANNOTATIONS>
CMRVisualizer<CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS>::
	~CMRVisualizer() = default;

template <
    class CPOSE, class MAPS_IMPLEMENTATION, class NODE_ANNOTATIONS,
    class EDGE_ANNOTATIONS>
void CMRVisualizer<
    CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS>::
    drawNodePoints(
        mrpt::opengl::CSetOfObjects::Ptr& object,
        const mrpt::system::TParametersDouble* viz_params /*=NULL*/) const
{
}

template <
    class CPOSE, class MAPS_IMPLEMENTATION, class NODE_ANNOTATIONS,
    class EDGE_ANNOTATIONS>
void CMRVisualizer<
    CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS>::
    drawEdges(
        mrpt::opengl::CSetOfObjects::Ptr& object,
        const mrpt::system::TParametersDouble* viz_params /*=NULL*/) const
{
}

// ^^^^^^^^^^^^^^^^^^^^^^^^
// (Dummy Standard version ends here.
//////////////////////////////////////////////////////////

// Specialized version for the multi-robot case
//////////////////////////////////////////////////////////

template <class CPOSE, class MAPS_IMPLEMENTATION, class EDGE_ANNOTATIONS>
CMRVisualizer<
    CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations,
    EDGE_ANNOTATIONS>::CMRVisualizer(const GRAPH_T& graph_in)
    : parent(graph_in)
{
}

template <class CPOSE, class MAPS_IMPLEMENTATION, class EDGE_ANNOTATIONS>
CMRVisualizer<
    CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations,
    EDGE_ANNOTATIONS>::~CMRVisualizer() = default;

template <class CPOSE, class MAPS_IMPLEMENTATION, class EDGE_ANNOTATIONS>
void CMRVisualizer<
    CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS>::
    drawNodePoints(
        mrpt::opengl::CSetOfObjects::Ptr& object,
        const mrpt::system::TParametersDouble* viz_params /*=NULL*/) const
{
    using namespace mrpt::opengl;
    using namespace mrpt::graphs;
    using namespace mrpt::img;
    using namespace std;

    const double nodes_point_size =
        viz_params->getWithDefaultVal("nodes_point_size", 0.);

    // in case this is a combination of graphs like in multiple-robot
    // graphSLAM applications, use a unique color for all the nodes that
    // have initially been registered by each graphSLAM agent.

    TColorManager nodes_color_mngr;
    // map of agent string identifier to its corresponding point cloud
    map<string, CPointCloud::Ptr> strid_to_cloud;
    // map of agent string identifier to its corresponding CPointCloud color
    map<string, TColorf> strid_to_color;

    // traverse all nodes; Register a new pair to the aforementioned maps
    // if a node of a (still) unknown agent is traversed
    for (typename GRAPH_T::global_poses_t::const_iterator n_it =
             this->m_graph.nodes.begin();
         n_it != this->m_graph.nodes.end(); ++n_it)
    {
        const typename GRAPH_T::global_pose_t curr_node = n_it->second;

        // const TMRSlamNodeAnnotations* node_annots = dynamic_cast<const
        // TMRSlamNodeAnnotations*>(&curr_node);
        // ASSERT_(node_annots);
        // std::string curr_strid = node_annots->agent_ID_str;
        const string& curr_strid = curr_node.agent_ID_str;

        // have I already found this agent_ID_str?
        if (strid_to_cloud.find(curr_strid) != strid_to_cloud.end())
        {
            // if the CPointCloud is registered, its color must also be
            // registered.
            ASSERTMSG_(
                strid_to_color.find(curr_strid) != strid_to_color.end(),
                "Agent string ID not found in colors map even though its "
                "CPointCloud exists.");
        }
        else
        {  // CPointCloud not yet registered.
            // Create CPointCloud
            strid_to_cloud.insert(
                make_pair(curr_strid, std::make_shared<CPointCloud>()));
            // Create TColorf
            strid_to_color.insert(
                make_pair(curr_strid, nodes_color_mngr.getNextTColorf()));

            CPointCloud::Ptr& curr_cloud = strid_to_cloud.at(curr_strid);
            curr_cloud->setColor(strid_to_color.at(curr_strid));
            curr_cloud->setPointSize(nodes_point_size);

        }  // end of (is CPointCloud/Color registered)

        // CPointCloud is initialized
        const CPose3D p = CPose3D(
            n_it->second);  // Convert to 3D from whatever its real type.

        // insert current pose to its corresponding CPointCloud instance
        CPointCloud::Ptr& curr_cloud = strid_to_cloud.at(curr_strid);
        curr_cloud->insertPoint(p.x(), p.y(), p.z());

    }  // end for - nodes loop

    // insert all CPointCloud(s)
    for (auto it = strid_to_cloud.begin(); it != strid_to_cloud.end(); ++it)
    {
        object->insert(it->second);
    }

}  // end of drawNodePoints

template <class CPOSE, class MAPS_IMPLEMENTATION, class EDGE_ANNOTATIONS>
void CMRVisualizer<
    CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS>::
    drawEdges(
        mrpt::opengl::CSetOfObjects::Ptr& object,
        const mrpt::system::TParametersDouble* viz_params /*=NULL*/) const
{
    using namespace mrpt::opengl;
    using namespace mrpt::img;

    ASSERTMSG_(viz_params, "Pointer to viz_params was not provided.");
    using PairToSetOfLines_t = map<pair<string, bool>, CSetOfLines::Ptr>;

    // Color manager instance managing the used colors for the registered edges
    TColorManager edges_color_mngr;
    // map of <agent string identifier, is_interconnecting_edge>
    // to its corresponding CSetOfLines pointer instance
    PairToSetOfLines_t id_to_set_of_lines;
    // map of agent string identifier to its corresponding CPointCloud color
    map<string, TColorf> strid_to_color;

    const double edge_width = viz_params->getWithDefaultVal("edge_width", 2.);
    // width of the edges connecting different the nodes registered by two
    // different agents
    // They are of outmost importance
    const double interconnecting_edge_width =
        viz_params->getWithDefaultVal("interconnecting_edge_width", 4.);

    // traverse all edges
    for (typename GRAPH_T::const_iterator edge_it = this->m_graph.begin();
         edge_it != this->m_graph.end(); ++edge_it)
    {
        const TNodeID& start_node = edge_it->first.first;
        const TNodeID& end_node = edge_it->first.second;

        // iterator objects to the start and end node instances
        typename GRAPH_T::global_poses_t::const_iterator n_it1 =
            this->m_graph.nodes.find(start_node);
        typename GRAPH_T::global_poses_t::const_iterator n_it2 =
            this->m_graph.nodes.find(end_node);

        // Draw only if we have the global coords of both start and end nodes:
        if (n_it1 == this->m_graph.nodes.end() ||
            n_it2 == this->m_graph.nodes.end())
        {
            // skipping current edge...
            continue;
        }

        // the CSetOfLines of the current edge depends only on the combination
        // of:
        // - agent_ID_str field of the **end node**
        // - Whether the edge is an interconnection between two nodes having
        // different agent_ID_str values.
        std::string curr_end_strid = n_it2->second.agent_ID_str;
        bool is_interconnecting_edge =
            n_it1->second.agent_ID_str != n_it2->second.agent_ID_str;

        pair<string, bool> curr_pair =
            make_pair(curr_end_strid, is_interconnecting_edge);

        // have I already found the current pair
        if (id_to_set_of_lines.find(curr_pair) != id_to_set_of_lines.end())
        {
        }
        else
        {  // CSetOfLines not yet registered.
            // Register a new CSetOfLines when a unique pair of
            // <agent_ID_str (of end_node), is_interconnecting_edge> is found
            id_to_set_of_lines.insert(
                make_pair(curr_pair, std::make_shared<CSetOfLines>()));

            // Create TColorf if not in map
            // Color depends only on the agent_ID_str
            if (strid_to_color.find(curr_end_strid) == strid_to_color.end())
            {
                strid_to_color.insert(make_pair(
                    curr_end_strid, edges_color_mngr.getNextTColorf()));
            }

            // both the CSetOfLines and TColorf entries should exist in their
            // corresponding maps by now
            CSetOfLines::Ptr& curr_set_of_lines =
                id_to_set_of_lines.at(curr_pair);

            // color of the line
            curr_set_of_lines->setColor(strid_to_color.at(curr_end_strid));

            // width of the line
            double curr_width = is_interconnecting_edge
                                    ? interconnecting_edge_width
                                    : edge_width;
            curr_set_of_lines->setLineWidth(curr_width);

        }  // end of (is CSetOfLines/Color registered)

        // CSetOfLines is initialized

        // insert current edge to its corresponding CSetOfLines instance
        CSetOfLines::Ptr& curr_set_of_lines = id_to_set_of_lines.at(curr_pair);
        const CPose3D p1 = CPose3D(n_it1->second);
        const CPose3D p2 = CPose3D(n_it2->second);
        curr_set_of_lines->appendLine(
            mrpt::math::TPoint3D(p1.x(), p1.y(), p1.z()),
            mrpt::math::TPoint3D(p2.x(), p2.y(), p2.z()));

    }  // end for - nodes loop

    // insert all CSetOfLines(s)
    for (auto it = id_to_set_of_lines.begin(); it != id_to_set_of_lines.end();
         ++it)
    {
        object->insert(it->second);
    }
}
}  // namespace mrpt::graphs::detail