COctoMapVoxels.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     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 |
   +------------------------------------------------------------------------+ */
#pragma once
 
#include <mrpt/opengl/CRenderizableDisplayList.h>
#include <mrpt/math/lightweight_geom_data.h>
 
namespace mrpt
{
namespace opengl
{
enum predefined_voxel_sets_t
{
        VOXEL_SET_OCCUPIED = 0,
        VOXEL_SET_FREESPACE = 1
};
 
/** A flexible renderer of voxels, typically from a 3D octo map (see
 *mrpt::maps::COctoMap).
 *  This class is sort of equivalent to octovis::OcTreeDrawer from the octomap
 *package, but
 *  relying on MRPT's CRenderizableDisplayList so there's no need to manually
 *cache the rendering of OpenGL primitives.
 *
 *  Normally users call mrpt::maps::COctoMap::getAs3DObject() to obtain a
 *generic mrpt::opengl::CSetOfObjects which insides holds an instance of
 *COctoMapVoxels.
 *  You can also alternativelly call COctoMapVoxels::setFromOctoMap(), so you
 *can tune the display parameters, colors, etc.
 *  As with any other mrpt::opengl class, all object coordinates refer to some
 *frame of reference which is relative to the object parent and can be changed
 *with mrpt::opengl::CRenderizable::setPose()
 *
 *  This class draws these separate elements to represent an OctoMap:
 *              - A grid representation of all cubes, as simple lines (occupied/free,
 *leafs/nodes,... whatever). See:
 *                      - showGridLines()
 *                      - setGridLinesColor()
 *                      - setGridLinesWidth()
 *                      - push_back_GridCube()
 *              - A number of <b>voxel collections</b>, drawn as cubes each having a
 *different color (e.g. depending on the color scheme in the original
 *mrpt::maps::COctoMap object).
 *       The meanning of each collection is user-defined, but you can use the
 *constants VOXEL_SET_OCCUPIED, VOXEL_SET_FREESPACE for predefined meanings.
 *                      - showVoxels()
 *                      - push_back_Voxel()
 *
 *  Several coloring schemes can be selected with setVisualizationMode(). See
 *COctoMapVoxels::visualization_mode_t
 *
 *  <div align="center">
 *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px;
 *border-style: solid;">
 *   <tr> <td> mrpt::opengl::COctoMapVoxels </td> <td> \image html
 *preview_COctoMapVoxels.png </td> </tr>
 *  </table>
 *  </div>
 *
 *  \sa opengl::COpenGLScene
 * \ingroup mrpt_opengl_grp
 */
class COctoMapVoxels : public CRenderizableDisplayList
{
        DEFINE_SERIALIZABLE(COctoMapVoxels)
   public:
        /** The different coloring schemes, which modulate the generic
         * mrpt::opengl::CRenderizable object color. Set with setVisualizationMode()
         */
        enum visualization_mode_t
        {
                /** Color goes from black (at the bottom) to the chosen color (at the
                   top) */
                COLOR_FROM_HEIGHT,
                /** Color goes from black (occupied voxel) to the chosen color (free
                   voxel) */
                COLOR_FROM_OCCUPANCY,
                /** Transparency goes from opaque (occupied voxel) to transparent (free
                   voxel). */
                TRANSPARENCY_FROM_OCCUPANCY,
                /** Color goes from black (occupaid voxel) to the chosen color (free
                   voxel) and they are transparent */
                TRANS_AND_COLOR_FROM_OCCUPANCY,
                /** Combination of COLOR_FROM_HEIGHT and TRANSPARENCY_FROM_OCCUPANCY */
                MIXED,
                /** All cubes are of identical color. */
                FIXED
        };
 
        /** The info of each of the voxels */
        struct TVoxel
        {
                mrpt::math::TPoint3D coords;
                double side_length;
                mrpt::img::TColor color;
 
                TVoxel() {}
                TVoxel(
                        const mrpt::math::TPoint3D& coords_, const double side_length_,
                        mrpt::img::TColor color_)
                        : coords(coords_), side_length(side_length_), color(color_)
                {
                }
        };
 
        /** The info of each grid block */
        struct TGridCube
        {
                /** opposite corners of the cube */
                mrpt::math::TPoint3D min, max;
 
                TGridCube() {}
                TGridCube(
                        const mrpt::math::TPoint3D& min_, const mrpt::math::TPoint3D& max_)
                        : min(min_), max(max_)
                {
                }
        };
 
        struct TInfoPerVoxelSet
        {
                bool visible;
                std::vector<TVoxel> voxels;
 
                TInfoPerVoxelSet() : visible(true) {}
        };
 
   protected:
        std::deque<TInfoPerVoxelSet> m_voxel_sets;
        std::vector<TGridCube> m_grid_cubes;
 
        /** Cached bounding boxes */
        mrpt::math::TPoint3D m_bb_min, m_bb_max;
 
        bool m_enable_lighting;
        bool m_enable_cube_transparency;
        bool m_showVoxelsAsPoints;
        float m_showVoxelsAsPointsSize;
        bool m_show_grids;
        float m_grid_width;
        mrpt::img::TColor m_grid_color;
        visualization_mode_t m_visual_mode;
 
   public:
        /** Clears everything */
        void clear();
 
        /** Select the visualization mode. To have any effect, this method has to be
         * called before loading the octomap. */
        inline void setVisualizationMode(visualization_mode_t mode)
        {
                m_visual_mode = mode;
                CRenderizableDisplayList::notifyChange();
        }
        inline visualization_mode_t getVisualizationMode() const
        {
                return m_visual_mode;
        }
 
        /** Can be used to enable/disable the effects of lighting in this object */
        inline void enableLights(bool enable)
        {
                m_enable_lighting = enable;
                CRenderizableDisplayList::notifyChange();
        }
        inline bool areLightsEnabled() const { return m_enable_lighting; }
        /** By default, the alpha (transparency) component of voxel cubes is taken
         * into account, but transparency can be disabled with this method. */
        inline void enableCubeTransparency(bool enable)
        {
                m_enable_cube_transparency = enable;
                CRenderizableDisplayList::notifyChange();
        }
        inline bool isCubeTransparencyEnabled() const
        {
                return m_enable_cube_transparency;
        }
 
        /** Shows/hides the grid lines */
        inline void showGridLines(bool show)
        {
                m_show_grids = show;
                CRenderizableDisplayList::notifyChange();
        }
        inline bool areGridLinesVisible() const { return m_show_grids; }
        /** Shows/hides the voxels (voxel_set is a 0-based index for the set of
         * voxels to modify, e.g. VOXEL_SET_OCCUPIED, VOXEL_SET_FREESPACE) */
        inline void showVoxels(unsigned int voxel_set, bool show)
        {
                ASSERT_(voxel_set < m_voxel_sets.size());
                m_voxel_sets[voxel_set].visible = show;
                CRenderizableDisplayList::notifyChange();
        }
        inline bool areVoxelsVisible(unsigned int voxel_set) const
        {
                ASSERT_(voxel_set < m_voxel_sets.size());
                return m_voxel_sets[voxel_set].visible;
        }
 
        /** For quick renders: render voxels as points instead of cubes. \sa
         * setVoxelAsPointsSize */
        inline void showVoxelsAsPoints(const bool enable)
        {
                m_showVoxelsAsPoints = enable;
                CRenderizableDisplayList::notifyChange();
        }
        inline bool areVoxelsShownAsPoints() const { return m_showVoxelsAsPoints; }
        /** Only used when showVoxelsAsPoints() is enabled.  */
        inline void setVoxelAsPointsSize(float pointSize)
        {
                m_showVoxelsAsPointsSize = pointSize;
                CRenderizableDisplayList::notifyChange();
        }
        inline float getVoxelAsPointsSize() const
        {
                return m_showVoxelsAsPointsSize;
        }
 
        /** Sets the width of grid lines */
        inline void setGridLinesWidth(float w)
        {
                m_grid_width = w;
                CRenderizableDisplayList::notifyChange();
        }
        /** Gets the width of grid lines */
        inline float getGridLinesWidth() const { return m_grid_width; }
        inline void setGridLinesColor(const mrpt::img::TColor& color)
        {
                m_grid_color = color;
                CRenderizableDisplayList::notifyChange();
        }
        inline const mrpt::img::TColor& getGridLinesColor() const
        {
                return m_grid_color;
        }
 
        /** Returns the total count of grid cubes. */
        inline size_t getGridCubeCount() const { return m_grid_cubes.size(); }
        /** Returns the number of voxel sets. */
        inline size_t getVoxelSetCount() const { return m_voxel_sets.size(); }
        /** Returns the total count of voxels in one voxel set. */
        inline size_t getVoxelCount(const size_t set_index) const
        {
                ASSERT_(set_index < m_voxel_sets.size());
                return m_voxel_sets[set_index].voxels.size();
        }
 
        /** Manually changes the bounding box (normally the user doesn't need to
         * call this) */
        void setBoundingBox(
                const mrpt::math::TPoint3D& bb_min, const mrpt::math::TPoint3D& bb_max);
 
        inline void resizeGridCubes(const size_t nCubes)
        {
                m_grid_cubes.resize(nCubes);
                CRenderizableDisplayList::notifyChange();
        }
        inline void resizeVoxelSets(const size_t nVoxelSets)
        {
                m_voxel_sets.resize(nVoxelSets);
                CRenderizableDisplayList::notifyChange();
        }
        inline void resizeVoxels(const size_t set_index, const size_t nVoxels)
        {
                ASSERT_(set_index < m_voxel_sets.size());
                m_voxel_sets[set_index].voxels.resize(nVoxels);
                CRenderizableDisplayList::notifyChange();
        }
 
        inline void reserveGridCubes(const size_t nCubes)
        {
                m_grid_cubes.reserve(nCubes);
        }
        inline void reserveVoxels(const size_t set_index, const size_t nVoxels)
        {
                ASSERT_(set_index < m_voxel_sets.size());
                m_voxel_sets[set_index].voxels.reserve(nVoxels);
                CRenderizableDisplayList::notifyChange();
        }
 
        inline TGridCube& getGridCubeRef(const size_t idx)
        {
                ASSERTDEB_(idx < m_grid_cubes.size());
                CRenderizableDisplayList::notifyChange();
                return m_grid_cubes[idx];
        }
        inline const TGridCube& getGridCube(const size_t idx) const
        {
                ASSERTDEB_(idx < m_grid_cubes.size());
                return m_grid_cubes[idx];
        }
 
        inline TVoxel& getVoxelRef(const size_t set_index, const size_t idx)
        {
                ASSERTDEB_(
                        set_index < m_voxel_sets.size() &&
                        idx < m_voxel_sets[set_index].voxels.size());
                CRenderizableDisplayList::notifyChange();
                return m_voxel_sets[set_index].voxels[idx];
        }
        inline const TVoxel& getVoxel(
                const size_t set_index, const size_t idx) const
        {
                ASSERTDEB_(
                        set_index < m_voxel_sets.size() &&
                        idx < m_voxel_sets[set_index].voxels.size());
                CRenderizableDisplayList::notifyChange();
                return m_voxel_sets[set_index].voxels[idx];
        }
 
        inline void push_back_GridCube(const TGridCube& c)
        {
                CRenderizableDisplayList::notifyChange();
                m_grid_cubes.push_back(c);
        }
        inline void push_back_Voxel(const size_t set_index, const TVoxel& v)
        {
                ASSERTDEB_(set_index < m_voxel_sets.size());
                CRenderizableDisplayList::notifyChange();
                m_voxel_sets[set_index].voxels.push_back(v);
        }
 
        void sort_voxels_by_z();
 
        /** Render */
        void render_dl() const override;
 
        /** Evaluates the bounding box of this object (including possible children)
         * in the coordinate frame of the object parent. */
        void getBoundingBox(
                mrpt::math::TPoint3D& bb_min,
                mrpt::math::TPoint3D& bb_max) const override;
 
        /** Sets the contents of the object from a mrpt::maps::COctoMap object.
         * \tparam Typically, an mrpt::maps::COctoMap object
         *
         * \note Declared as a template because in the library [mrpt-opengl] we
         * don't have access to the library [mrpt-maps].
         */
        template <class OCTOMAP>
        void setFromOctoMap(OCTOMAP& m)
        {
                m.getAsOctoMapVoxels(*this);
        }
 
        /** Constructor */
        COctoMapVoxels();
        /** Private, virtual destructor: only can be deleted from smart pointers. */
        virtual ~COctoMapVoxels() {}
};
 
}  // namespace opengl
}  // namespace mrpt