CMeshFast.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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/poses/CPose3D.h>
#include <mrpt/opengl/CMeshFast.h>
#include <mrpt/opengl/CSetOfTriangles.h>
#include <mrpt/img/color_maps.h>
#include <mrpt/serialization/CArchive.h>
 
#include "opengl_internals.h"
 
using namespace mrpt;
using namespace mrpt::opengl;
using namespace mrpt::img;
using namespace mrpt::poses;
using namespace mrpt::math;
using namespace std;
 
IMPLEMENTS_SERIALIZABLE(CMeshFast, CRenderizableDisplayList, mrpt::opengl)
 
void CMeshFast::updatePoints() const
{
        CRenderizableDisplayList::notifyChange();
 
        const auto cols = Z.cols();
        const auto rows = Z.rows();
 
        if ((m_colorFromZ) || (m_isImage)) updateColorsMatrix();
 
        ASSERT_((cols > 0) && (rows > 0));
        ASSERT_((xMax > xMin) && (yMax > yMin));
        X.setSize(rows, cols);
        Y.setSize(rows, cols);
        const float sCellX = (xMax - xMin) / (rows - 1);
        const float sCellY = (yMax - yMin) / (cols - 1);
 
        for (int iX = 0; iX < rows; iX++)
                for (int iY = 0; iY < cols; iY++)
                {
                        X(iX, iY) = xMin + iX * sCellX;
                        Y(iX, iY) = yMin + iY * sCellY;
                }
 
        pointsUpToDate = true;
}
 
/*---------------------------------------------------------------
                                                        render
  ---------------------------------------------------------------*/
void CMeshFast::render_dl() const
{
#if MRPT_HAS_OPENGL_GLUT
 
        if (!pointsUpToDate) updatePoints();
 
        ASSERT_(X.size() == Y.size());
        ASSERT_(X.size() == Z.size());
 
        if (m_color.A != 255)
        {
                glEnable(GL_BLEND);
                glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
        }
 
        glPointSize(m_pointSize);
 
        if (m_pointSmooth)
                glEnable(GL_POINT_SMOOTH);
        else
                glDisable(GL_POINT_SMOOTH);
 
        // Disable lighting for point clouds:
        glDisable(GL_LIGHTING);
 
        glBegin(GL_POINTS);
        for (unsigned int i = 0; i < X.rows(); i++)
                for (unsigned int j = 0; j < X.cols(); j++)
                {
                        if (m_isImage && m_textureImage.isColor())
                                glColor4f(C_r(i, j), C_g(i, j), C_b(i, j), m_color.A / 255.f);
 
                        else if (m_isImage)
                                glColor4f(C(i, j), C(i, j), C(i, j), m_color.A / 255.f);
 
                        else if (m_colorFromZ)
                        {
                                float rz, gz, bz;
                                colormap(m_colorMap, C(i, j), rz, gz, bz);
                                glColor4f(rz, gz, bz, m_color.A / 255.f);
                        }
 
                        else
                                glColor4f(
                                        m_color.R / 255.f, m_color.G / 255.f, m_color.B / 255.f,
                                        m_color.A / 255.f);
 
                        glVertex3f(X(i, j), Y(i, j), Z(i, j));
                }
 
        glEnd();
 
        glEnable(GL_LIGHTING);
 
        // Undo flags:
        if (m_color.A != 255) glDisable(GL_BLEND);
 
        if (m_pointSmooth) glDisable(GL_POINT_SMOOTH);
 
        checkOpenGLError();
#endif
}
 
void CMeshFast::assignImage(const CImage& img)
{
        MRPT_START
 
        // Make a copy:
        m_textureImage = img;
 
        // Delete content in Z
        Z.setSize(img.getHeight(), img.getWidth());
        Z.assign(0);
 
        // Update flags/states
        m_modified_Image = true;
        m_enableTransparency = false;
        m_colorFromZ = false;
        m_isImage = true;
        pointsUpToDate = false;
 
        CRenderizableDisplayList::notifyChange();
 
        MRPT_END
}
 
void CMeshFast::assignImageAndZ(
        const CImage& img, const mrpt::math::CMatrixTemplateNumeric<float>& in_Z)
{
        MRPT_START
 
        ASSERT_(
                (img.getWidth() == static_cast<size_t>(in_Z.cols())) &&
                (img.getHeight() == static_cast<size_t>(in_Z.rows())));
 
        Z = in_Z;
 
        // Make a copy:
        m_textureImage = img;
 
        // Update flags/states
        m_modified_Image = true;
        m_enableTransparency = false;
        m_colorFromZ = false;
        m_isImage = true;
        pointsUpToDate = false;
 
        CRenderizableDisplayList::notifyChange();
 
        MRPT_END
}
 
uint8_t CMeshFast::serializeGetVersion() const { return 0; }
void CMeshFast::serializeTo(mrpt::serialization::CArchive& out) const
{
        writeToStreamRender(out);
 
        out << m_textureImage;
        out << m_isImage;
        out << xMin << xMax << yMin << yMax;
        out << X << Y << Z;  // We don't need to serialize C, it's computed
        out << m_enableTransparency;
        out << m_colorFromZ;
        out << int16_t(m_colorMap);
        out << m_pointSize;
        out << m_pointSmooth;
}
 
void CMeshFast::serializeFrom(
        mrpt::serialization::CArchive& in, uint8_t version)
{
        switch (version)
        {
                case 0:
                {
                        readFromStreamRender(in);
 
                        in >> m_textureImage;
                        in >> m_isImage;
 
                        in >> xMin;
                        in >> xMax;
                        in >> yMin;
                        in >> yMax;
 
                        in >> X >> Y >> Z;
                        in >> m_enableTransparency;
                        in >> m_colorFromZ;
 
                        int16_t i;
                        in >> i;
                        m_colorMap = TColormap(i);
                        in >> m_pointSize;
                        in >> m_pointSmooth;
                        m_modified_Z = true;
                }
 
                        pointsUpToDate = false;
                        break;
 
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
        CRenderizableDisplayList::notifyChange();
}
 
void CMeshFast::updateColorsMatrix() const
{
        if ((!m_modified_Z) && (!m_modified_Image)) return;
 
        CRenderizableDisplayList::notifyChange();
 
        if (m_isImage)
        {
                const int cols = m_textureImage.getWidth();
                const int rows = m_textureImage.getHeight();
 
                if ((cols != Z.cols()) || (rows != Z.rows()))
                {
                        printf("\nTexture Image and Z sizes have to be equal");
                }
                else if (m_textureImage.isColor())
                {
                        C_r.setSize(rows, cols);
                        C_g.setSize(rows, cols);
                        C_b.setSize(rows, cols);
                        m_textureImage.getAsRGBMatrices(C_r, C_g, C_b);
                }
                else
                {
                        C.setSize(rows, cols);
                        m_textureImage.getAsMatrix(C);
                }
        }
        else
        {
                const size_t cols = Z.cols();
                const size_t rows = Z.rows();
 
                C.setSize(rows, cols);
 
                // Color is proportional to difference between height of a cell and
                //  the mean of the nearby cells MEANS:
                C = Z;
                C.normalize(0.01f, 0.99f);
        }
 
        m_modified_Image = false;
        m_modified_Z = false;  // Done
        pointsUpToDate = false;
}
 
void CMeshFast::setZ(const mrpt::math::CMatrixTemplateNumeric<float>& in_Z)
{
        Z = in_Z;
        m_modified_Z = true;
        pointsUpToDate = false;
 
        // Delete previously loaded images
        m_isImage = false;
 
        CRenderizableDisplayList::notifyChange();
}
 
void CMeshFast::getBoundingBox(
        mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const
{
        bb_min.x = xMin;
        bb_min.y = yMin;
        bb_min.z = Z.minCoeff();
 
        bb_max.x = xMax;
        bb_max.y = yMax;
        bb_max.z = Z.maxCoeff();
 
        // Convert to coordinates of my parent:
        m_pose.composePoint(bb_min, bb_min);
        m_pose.composePoint(bb_max, bb_max);
}