CVisualizer_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

namespace mrpt::graphs::detail
{
// constructor, destructor
////////////////////////////////////////////////////////////
template <
    class CPOSE, class MAPS_IMPLEMENTATION, class NODE_ANNOTATIONS,
    class EDGE_ANNOTATIONS>
CVisualizer<CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS>::
	CVisualizer(const GRAPH_T& graph_in)
    : m_graph(graph_in)
{
    // Is a 2D or 3D graph network?
    using constraint_t = typename GRAPH_T::constraint_t;
    m_is_3D_graph = constraint_t::is_3D();
}
template <
    class CPOSE, class MAPS_IMPLEMENTATION, class NODE_ANNOTATIONS,
    class EDGE_ANNOTATIONS>
CVisualizer<CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS>::
	~CVisualizer() = default;

// methods implementations
////////////////////////////////////////////////////////////
template <
    class CPOSE, class MAPS_IMPLEMENTATION, class NODE_ANNOTATIONS,
    class EDGE_ANNOTATIONS>
void CVisualizer<
    CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS>::
    getAs3DObject(
        mrpt::opengl::CSetOfObjects::Ptr& object,
        mrpt::system::TParametersDouble viz_params) const
{
    using namespace mrpt::opengl;

    // graph visualization parameters
    const bool show_ID_labels =
        0 != viz_params.getWithDefaultVal("show_ID_labels", 0);
    const bool show_ground_grid =
        0 != viz_params.getWithDefaultVal("show_ground_grid", 1);
    const bool show_edges = 0 != viz_params.getWithDefaultVal("show_edges", 1);
    const bool show_node_corners =
        0 != viz_params.getWithDefaultVal("show_node_corners", 1);
    const bool show_edge_rel_poses =
        0 != viz_params.getWithDefaultVal("show_edge_rel_poses", 0);
    const double nodes_point_size =
        viz_params.getWithDefaultVal("nodes_point_size", 0.);

    if (show_ground_grid)
    {
        this->drawGroundGrid(object, &viz_params);
    }

    if (nodes_point_size > 0)
    {
        this->drawNodePoints(object, &viz_params);
    }

    if (show_node_corners || show_ID_labels)
    {
        this->drawNodeCorners(object, &viz_params);
    }

    if (show_edge_rel_poses)
    {
        this->drawEdgeRelPoses(object, &viz_params);
    }

    if (show_edges)
    {
        this->drawEdges(object, &viz_params);
    }
}

template <
    class CPOSE, class MAPS_IMPLEMENTATION, class NODE_ANNOTATIONS,
    class EDGE_ANNOTATIONS>
void CVisualizer<
    CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS>::
    drawGroundGrid(
        mrpt::opengl::CSetOfObjects::Ptr& object,
        const mrpt::system::TParametersDouble* viz_params /*=NULL*/) const
{
    using namespace mrpt::opengl;
    ASSERTMSG_(viz_params, "Pointer to viz_params was not provided.");

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

    for (auto n_it = m_graph.nodes.begin(); n_it != m_graph.nodes.end(); ++n_it)
    {
        const CPose3D p = CPose3D(
            n_it->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(0.3f, 0.3f, 0.3f);
    object->insert(grid);
}

template <
    class CPOSE, class MAPS_IMPLEMENTATION, class NODE_ANNOTATIONS,
    class EDGE_ANNOTATIONS>
void CVisualizer<
    CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS>::
    drawNodePoints(
        mrpt::opengl::CSetOfObjects::Ptr& object,
        const mrpt::system::TParametersDouble* viz_params /*=NULL*/) const
{
    ASSERTMSG_(viz_params, "Pointer to viz_params was not provided.");

    using namespace mrpt::opengl;
    using namespace mrpt::img;

    const double nodes_point_size =
        viz_params->getWithDefaultVal("nodes_point_size", 0.);
    const unsigned int nodes_point_color = viz_params->getWithDefaultVal(
        "nodes_point_color", (unsigned int)0xA0A0A0);

    CPointCloud::Ptr pnts = std::make_shared<CPointCloud>();
    pnts->setColor(TColorf(TColor(nodes_point_color)));
    pnts->setPointSize(nodes_point_size);

    // Add all nodesnodes:
    for (auto n_it = m_graph.nodes.begin(); n_it != m_graph.nodes.end(); ++n_it)
    {
        const CPose3D p = CPose3D(
            n_it->second);  // Convert to 3D from whatever its real type.
        pnts->insertPoint(p.x(), p.y(), p.z());
    }

    object->insert(pnts);
}

template <
    class CPOSE, class MAPS_IMPLEMENTATION, class NODE_ANNOTATIONS,
    class EDGE_ANNOTATIONS>
void CVisualizer<
    CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS>::
    drawNodeCorners(
        mrpt::opengl::CSetOfObjects::Ptr& object,
        const mrpt::system::TParametersDouble* viz_params /*=NULL*/) const
{
    using namespace mrpt::opengl;
    using mrpt::poses::CPose3D;

    ASSERTMSG_(viz_params, "Pointer to viz_params was not provided.");

    const bool show_node_corners =
        0 != viz_params->getWithDefaultVal("show_node_corners", 1);
    const bool show_ID_labels =
        0 != viz_params->getWithDefaultVal("show_ID_labels", 0);
    const double nodes_corner_scale =
        viz_params->getWithDefaultVal("nodes_corner_scale", 0.7);

    for (auto n_it = m_graph.nodes.begin(); n_it != m_graph.nodes.end(); ++n_it)
    {
        // Convert to 3D from whatever its real type.  CSetOfObjects::Ptr
        // gl_corner = show_node_corners ?
        const CPose3D p = CPose3D(n_it->second);
        CSetOfObjects::Ptr gl_corner =
            show_node_corners
                ? (m_is_3D_graph ? stock_objects::CornerXYZSimple(
                                       nodes_corner_scale, 1.0 /*line width*/)
                                 : stock_objects::CornerXYSimple(
                                       nodes_corner_scale, 1.0 /*line width*/))
                : std::make_shared<CSetOfObjects>();
        gl_corner->setPose(p);
        if (show_ID_labels)
        {  // don't show IDs twice!
            gl_corner->setName(
                format("%u", static_cast<unsigned int>(n_it->first)));
            gl_corner->enableShowName();
        }
        object->insert(gl_corner);
    }
}

template <
    class CPOSE, class MAPS_IMPLEMENTATION, class NODE_ANNOTATIONS,
    class EDGE_ANNOTATIONS>
void CVisualizer<
    CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS>::
    drawEdgeRelPoses(
        mrpt::opengl::CSetOfObjects::Ptr& object,
        const mrpt::system::TParametersDouble* viz_params /*=NULL*/) const
{
    using namespace mrpt::opengl;
    using namespace mrpt::img;
    using mrpt::graphs::TNodeID;
    ASSERTMSG_(viz_params, "Pointer to viz_params was not provided.");

    const double nodes_edges_corner_scale =
        viz_params->getWithDefaultVal("nodes_edges_corner_scale", 0.4);
    const unsigned int edge_rel_poses_color = viz_params->getWithDefaultVal(
        "edge_rel_poses_color", (unsigned int)0x40FF8000);
    const TColor col8bit(
        edge_rel_poses_color & 0xffffff, edge_rel_poses_color >> 24);
    const double edge_width = viz_params->getWithDefaultVal("edge_width", 2.);

    for (auto edge_it = m_graph.begin(); edge_it != m_graph.end(); ++edge_it)
    {
        // Node ID of the source pose:
        const TNodeID node_id_start = m_graph.edges_store_inverse_poses
                                          ? edge_it->first.second
                                          : edge_it->first.first;

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

            const typename GRAPH_T::constraint_no_pdf_t& edge_pose =
                edge_it->second.getPoseMean();
            const mrpt::poses::CPoint3D edge_pose_pt =
                mrpt::poses::CPoint3D(edge_pose);

            mrpt::opengl::CSetOfObjects::Ptr gl_edge_corner =
                (m_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);

            mrpt::opengl::CSimpleLine::Ptr 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);

            object->insert(gl_rel_edge);
        }
    }
}

template <
    class CPOSE, class MAPS_IMPLEMENTATION, class NODE_ANNOTATIONS,
    class EDGE_ANNOTATIONS>
void CVisualizer<
    CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS>::
    drawEdges(
        mrpt::opengl::CSetOfObjects::Ptr& object,
        const mrpt::system::TParametersDouble* viz_params /*=NULL*/) const
{
    using namespace mrpt::opengl;
    using namespace mrpt::img;
    using namespace mrpt::poses;
    ASSERTMSG_(viz_params, "Pointer to viz_params was not provided.");

    CSetOfLines::Ptr gl_edges = std::make_shared<CSetOfLines>();
    const unsigned int edge_color =
        viz_params->getWithDefaultVal("edge_color", (unsigned int)0x400000FF);
    const double edge_width = viz_params->getWithDefaultVal("edge_width", 2.);

    const TColor col8bit(edge_color & 0xffffff, edge_color >> 24);

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

    // for all registered edges.
    for (auto edge_it = m_graph.begin(); edge_it != m_graph.end(); ++edge_it)
    {
        const TNodeID id1 = edge_it->first.first;
        const TNodeID id2 = edge_it->first.second;

        // Draw only if we have the global coords of both nodes:
        auto n_it1 = m_graph.nodes.find(id1);
        auto n_it2 = m_graph.nodes.find(id2);
        if (n_it1 != m_graph.nodes.end() && n_it2 != m_graph.nodes.end())
        {  // both nodes found?
            const CPose3D p1 = CPose3D(n_it1->second);
            const CPose3D p2 = CPose3D(n_it2->second);
            gl_edges->appendLine(
                mrpt::math::TPoint3D(p1.x(), p1.y(), p1.z()),
                mrpt::math::TPoint3D(p2.x(), p2.y(), p2.z()));
        }
    }
    object->insert(gl_edges);
}
}  // namespace mrpt::graphs::detail