CColorBar.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#include "opengl-precomp.h"  // Precompiled header
#include <mrpt/opengl/CColorBar.h>
#include <mrpt/utils/CStream.h>
#include <mrpt/opengl/gl_utils.h>
 
#include "opengl_internals.h"
 
using namespace mrpt;
using namespace mrpt::opengl;
using namespace mrpt::utils;
using namespace mrpt::math;
using namespace std;
 
IMPLEMENTS_SERIALIZABLE(CColorBar, CRenderizableDisplayList, mrpt::opengl)
 
CColorBar::CColorBar(
        /** The colormap to represent. */
        const mrpt::utils::TColormap colormap,
        /** size of the color bar */
        double width, double height,
        /** limits for [0,1] colormap indices */
        double min_col, double max_col,
        /** limits for values associated to extreme colors */
        double min_value, double max_value,
        /** sprintf-like format string for values */
        const std::string& label_format,
        /** Label text font size */
        double label_font_size)
        : m_colormap(colormap),
          m_width(width),
          m_height(height),
          m_label_format(label_format),
          m_min_col(min_col),
          m_max_col(max_col),
          m_min_value(min_value),
          m_max_value(max_value),
          m_label_font_size(label_font_size),
          m_disable_depth_test(true)
{
}
 
CColorBar::Ptr CColorBar::Create(
        /** The colormap to represent. */
        const mrpt::utils::TColormap colormap,
        /** size of the color bar */
        double width, double height,
        /** limits for [0,1] colormap indices */
        double min_col, double max_col,
        /** limits for values associated to extreme colors */
        double min_value, double max_value,
        /** sprintf-like format string for values */
        const std::string& label_format,
        /** Label text font size */
        double label_font_size)
{
        return CColorBar::Ptr(
                new CColorBar(
                        colormap, width, height, min_col, max_col, min_value, max_value,
                        label_format, label_font_size));
}
 
void CColorBar::setColormap(const mrpt::utils::TColormap colormap)
{
        m_colormap = colormap;
        CRenderizableDisplayList::notifyChange();
}
 
void CColorBar::setColorAndValueLimits(
        double col_min, double col_max, double value_min, double value_max)
{
        m_min_col = col_min;
        m_max_col = col_max;
        m_min_value = value_min;
        m_max_value = value_max;
        CRenderizableDisplayList::notifyChange();
}
 
void mrpt::opengl::CColorBar::enableDepthTest(bool enable)
{
        m_disable_depth_test = enable;
        CRenderizableDisplayList::notifyChange();
}
 
/*---------------------------------------------------------------
                                                        render
  ---------------------------------------------------------------*/
void CColorBar::render_dl() const
{
#if MRPT_HAS_OPENGL_GLUT
        if (m_disable_depth_test)
                glDisable(GL_DEPTH_TEST);  // colobars are typically displayed on-top of
        // the rest of objects!
        glDisable(GL_LIGHTING);
 
        // solid:
        glShadeModel(GL_SMOOTH);
 
        unsigned int num_divisions = 64;
        unsigned int num_labels = 4;
        unsigned int one_label_each_nth = floor((num_divisions) / num_labels);
 
        const double x0 = .0, x1 = m_width, x2 = m_width * 1.3;
        const double Ay = m_height / (num_divisions - 1);
 
        std::vector<mrpt::utils::TColorf> cols(num_divisions);
        for (unsigned int i = 0; i < num_divisions; i++)
        {
                const double col_idx =
                        m_min_col + i * (m_max_col - m_min_col) / (num_divisions - 1);
                mrpt::utils::colormap(
                        m_colormap, col_idx, cols[i].R, cols[i].G, cols[i].B);
        }
 
        for (unsigned int i = 0; i < num_divisions - 1; i++)
        {
                const double y0 = Ay * i, y1 = Ay * (i + 1);
                const TPoint3D pt00(x0, y0, 0), pt10(x1, y0, 0);
                const TPoint3D pt01(x0, y1, 0), pt11(x1, y1, 0);
 
                // Color quad:
 
                glBegin(GL_TRIANGLES);
                glColor3f(cols[i].R, cols[i].G, cols[i].B);
                glVertex3f(pt00.x, pt00.y, pt00.z);
                glVertex3f(pt10.x, pt10.y, pt10.z);
                glColor3f(cols[i + 1].R, cols[i + 1].G, cols[i + 1].B);
                glVertex3f(pt11.x, pt11.y, pt11.z);
                //
                glColor3f(cols[i].R, cols[i].G, cols[i].B);
                glVertex3f(pt00.x, pt00.y, pt00.z);
                glColor3f(cols[i + 1].R, cols[i + 1].G, cols[i + 1].B);
                glVertex3f(pt11.x, pt11.y, pt11.z);
                glVertex3f(pt01.x, pt01.y, pt01.z);
                glEnd();
        }
 
        mrpt::opengl::gl_utils::glSetFont("mono");
 
        for (unsigned int i = 0; i < num_divisions; i++)
        {
                const double val =
                        m_min_value + i * (m_max_value - m_min_value) / (num_divisions - 1);
                const double y0 = Ay * i;  //, y1 = Ay*(i + 1);
 
                // Text label:
                bool draw_label =
                        (i % one_label_each_nth) == 0 || i == (num_divisions - 1);
 
                if (draw_label)
                {
                        // Line:
                        glLineWidth(1.0);
                        glBegin(GL_LINES);
                        glColor3b(0, 0, 0);
                        glVertex2d(x0, y0);
                        glVertex2d(x2, y0);
                        glEnd();
 
                        // Text:
                        glPushMatrix();
 
                        glTranslatef(x2, y0, 0.0);
                        glColor3ub(0xff, 0xff, 0xff);
                        mrpt::opengl::gl_utils::glDrawText(
                                mrpt::format(m_label_format.c_str(), val), m_label_font_size);
 
                        glPopMatrix();
                }
        }
 
        glEnable(GL_LIGHTING);
 
#endif
}
 
/*---------------------------------------------------------------
   Implements the writing to a CStream capability of
         CSerializable objects
  ---------------------------------------------------------------*/
void CColorBar::writeToStream(mrpt::utils::CStream& out, int* version) const
{
        if (version)
                *version = 0;
        else
        {
                writeToStreamRender(out);
                // version 0
                out << uint32_t(m_colormap) << m_min_col << m_max_col << m_min_value
                        << m_max_value << m_label_format << m_label_font_size
                        << m_disable_depth_test;
        }
}
 
/*---------------------------------------------------------------
        Implements the reading from a CStream capability of
                CSerializable objects
  ---------------------------------------------------------------*/
void CColorBar::readFromStream(mrpt::utils::CStream& in, int version)
{
        switch (version)
        {
                case 0:
                        readFromStreamRender(in);
 
                        in.ReadAsAndCastTo<uint32_t, mrpt::utils::TColormap>(m_colormap);
                        in >> m_min_col >> m_max_col >> m_min_value >> m_max_value >>
                                m_label_format >> m_label_font_size >> m_disable_depth_test;
                        break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
        CRenderizableDisplayList::notifyChange();
}
 
void CColorBar::getBoundingBox(
        mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const
{
        bb_min.x = 0;
        bb_min.y = 0;
        bb_min.z = 0;
 
        bb_max.x = m_width;
        bb_max.y = m_height;
        bb_max.z = 0;
 
        // Convert to coordinates of my parent:
        m_pose.composePoint(bb_min, bb_min);
        m_pose.composePoint(bb_max, bb_max);
}