CVisualizer_impl.h

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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 |
   +------------------------------------------------------------------------+ */
#ifndef CVISUALIZER_IMPL_H
#define CVISUALIZER_IMPL_H
 
namespace mrpt
{
namespace graphs
{
namespace 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?
        typedef typename GRAPH_T::constraint_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()
{
}
 
// 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::utils::TParametersDouble viz_params) const
{
        using namespace mrpt::opengl;
        using namespace mrpt::utils;
 
        // 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::utils::TParametersDouble* viz_params /*=NULL*/) const
{
        using namespace mrpt::opengl;
        using namespace mrpt::utils;
        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 (typename GRAPH_T::global_poses_t::const_iterator 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(0.3, 0.3, 0.3);
        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::utils::TParametersDouble* viz_params /*=NULL*/) const
{
        ASSERTMSG_(viz_params, "Pointer to viz_params was not provided.");
 
        using namespace mrpt::opengl;
        using namespace mrpt::utils;
 
        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 = mrpt::make_aligned_shared<CPointCloud>();
        pnts->setColor(TColorf(TColor(nodes_point_color)));
        pnts->setPointSize(nodes_point_size);
 
        // Add all nodesnodes:
        for (typename GRAPH_T::global_poses_t::const_iterator 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());
        }
 
        pnts->enablePointSmooth();
        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::utils::TParametersDouble* viz_params /*=NULL*/) const
{
        using namespace mrpt::opengl;
        using namespace mrpt::utils;
        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 (typename GRAPH_T::global_poses_t::const_iterator 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*/))
                                : mrpt::make_aligned_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::utils::TParametersDouble* viz_params /*=NULL*/) const
{
        using namespace mrpt::opengl;
        using namespace mrpt::utils;
        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 (typename GRAPH_T::const_iterator 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:
                typename GRAPH_T::global_poses_t::const_iterator 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::make_aligned_shared<mrpt::opengl::CSetOfObjects>();
                        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::utils::TParametersDouble* viz_params /*=NULL*/) const
{
        using namespace mrpt::opengl;
        using namespace mrpt::utils;
        ASSERTMSG_(viz_params, "Pointer to viz_params was not provided.");
 
        CSetOfLines::Ptr gl_edges = mrpt::make_aligned_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 (typename GRAPH_T::const_iterator 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:
                typename GRAPH_T::global_poses_t::const_iterator n_it1 =
                        m_graph.nodes.find(id1);
                typename GRAPH_T::global_poses_t::const_iterator 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);
}
}
}
}  // end of namespaces
 
#endif /* end of include guard: CVISUALIZER_IMPL_H */