COctoMapVoxels.cpp

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     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 "opengl-precomp.h"  // Precompiled header

#include <mrpt/opengl/COctoMapVoxels.h>
#include <mrpt/opengl/opengl_api.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/serialization/stl_serialization.h>

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

IMPLEMENTS_SERIALIZABLE(COctoMapVoxels, CRenderizable, 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();

    CRenderizable::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;
}

void COctoMapVoxels::render(const RenderContext& rc) const
{
    switch (rc.shader_id)
    {
        case DefaultShaderID::POINTS:
            if (m_showVoxelsAsPoints) CRenderizableShaderPoints::render(rc);
            break;
        case DefaultShaderID::TRIANGLES:
            if (!m_showVoxelsAsPoints) CRenderizableShaderTriangles::render(rc);
            break;
        case DefaultShaderID::WIREFRAME:
            if (m_show_grids) CRenderizableShaderWireFrame::render(rc);
            break;
    };
}
void COctoMapVoxels::renderUpdateBuffers() const
{
    CRenderizableShaderPoints::renderUpdateBuffers();
    CRenderizableShaderTriangles::renderUpdateBuffers();
    CRenderizableShaderWireFrame::renderUpdateBuffers();
}

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

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

static const uint8_t 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};

static const uint8_t cube_indices[2 * 6 * 3] = {
    // front:
    0, 1, 2, 0, 2, 3,
    // right:
    3, 4, 0, 4, 5, 0,
    // top
    0, 5, 6, 6, 1, 0,
    // left
    1, 6, 7, 7, 2, 1,
    // bottom
    7, 3, 4, 2, 3, 7,
    // back
    4, 7, 6, 5, 6, 4};

// normal array: one per triangle
static const mrpt::math::TPoint3Df normals_cube[6 * 2] = {
    {1, 0, 0},  {1, 0, 0},  // v0,v1,v2,v3 (front)
    {0, 1, 0},  {0, 1, 0},  // v0,v3,v4,v5 (right)
    {0, 0, 1},  {0, 0, 1},  // v0,v5,v6,v1 (top)
    {0, -1, 0}, {0, -1, 0},  // v1,v6,v7,v2 (left)
    {0, 0, -1}, {0, 0, -1},  // v7,v4,v3,v2 (bottom)
    {-1, 0, 0}, {-1, 0, 0}};  // v4,v7,v6,v5 (back)

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

    CRenderizableShaderWireFrame::setLineWidth(m_grid_width);

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

        const mrpt::math::TPoint3Df vs[8] = {
            {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}};

        const auto& gli = grid_line_indices;

        // glDrawElements(GL_LINES, , GL_UNSIGNED_BYTE, grid_line_indices);
        for (size_t k = 0; k < sizeof(gli) / sizeof(gli[0]); k += 2)
        {
            vbd.emplace_back(vs[gli[k]]);
            vbd.emplace_back(vs[gli[k + 1]]);
        }
    }

    cbd.assign(vbd.size(), m_grid_color);
}

void COctoMapVoxels::onUpdateBuffers_Triangles()
{
    auto& tris = CRenderizableShaderTriangles::m_triangles;
    tris.clear();

    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;
            // Was: glColor4ub(vx_j_col.R, vx_j_col.G, vx_j_col.B, vx_j_col.A);

            const mrpt::math::TPoint3Df& c = voxels[j].coords;
            const float L = voxels[j].side_length * 0.5f;

            // Render as cubes:
            const mrpt::math::TPoint3Df vs[8] = {
                {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}};

            // Was: glDrawElements(
            // GL_TRIANGLES, sizeof(cube_indices) / sizeof(cube_indices[0]),
            // GL_UNSIGNED_BYTE, cube_indices);
            // glDrawElements(GL_LINES, , GL_UNSIGNED_BYTE, grid_line_indices);

            const auto& ci = cube_indices;
            const auto& ns = normals_cube;

            for (size_t k = 0; k < sizeof(ci) / sizeof(ci[0]); k += 3)
            {
                mrpt::opengl::TTriangle tri(
                    // vertices:
                    vs[ci[k]], vs[ci[k + 1]], vs[ci[k + 2]],
                    // normals:
                    ns[k / 3], ns[k / 3], ns[k / 3]);

                for (int p = 0; p < 3; p++)
                {
                    tri.vertices[p].xyzrgba.r = vx_j_col.R;
                    tri.vertices[p].xyzrgba.g = vx_j_col.G;
                    tri.vertices[p].xyzrgba.b = vx_j_col.B;
                    tri.vertices[p].xyzrgba.a = vx_j_col.A;
                }

                tris.emplace_back(std::move(tri));
            }
        }
    }
}

void COctoMapVoxels::onUpdateBuffers_Points()
{
    auto& vbd = CRenderizableShaderPoints::m_vertex_buffer_data;
    auto& cbd = CRenderizableShaderPoints::m_color_buffer_data;

    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;
            const mrpt::math::TPoint3D& c = voxels[j].coords;

            vbd.emplace_back(c);
            cbd.emplace_back(vx_j_col);
        }
    }
}

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);
    };

    CRenderizable::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);
    }
}