Done port mrpt-maps to mrpt-viz

Author: jlblancoc

libs/maps/CMakeLists.txt

@@ -4,8 +4,8 @@
 list(APPEND maps_EXTRA_SRCS			"${MRPT_SOURCE_DIR}/libs/maps/src/maps/*.cpp" "${MRPT_SOURCE_DIR}/libs/maps/include/mrpt/maps/*.h" "${MRPT_SOURCE_DIR}/libs/maps/include/mrpt/slam/*.h")
 list(APPEND maps_EXTRA_SRCS_NAME 	"maps" "maps" "back-compat-hdrs")
 
-list(APPEND maps_EXTRA_SRCS			"${MRPT_SOURCE_DIR}/libs/maps/src/opengl/*.cpp" "${MRPT_SOURCE_DIR}/libs/maps/include/mrpt/viz/*.h")
-list(APPEND maps_EXTRA_SRCS_NAME 	"opengl" "opengl")
+list(APPEND maps_EXTRA_SRCS			"${MRPT_SOURCE_DIR}/libs/maps/src/viz/*.cpp" "${MRPT_SOURCE_DIR}/libs/maps/include/mrpt/viz/*.h")
+list(APPEND maps_EXTRA_SRCS_NAME 	"viz" "viz")
 
 list(APPEND maps_EXTRA_SRCS			"${MRPT_SOURCE_DIR}/libs/maps/src/obs/*.cpp" "${MRPT_SOURCE_DIR}/libs/maps/include/mrpt/obs/*.h")
 list(APPEND maps_EXTRA_SRCS_NAME 	"obs" "obs")

libs/maps/include/mrpt/maps/CColouredPointsMap.h

@@ -208,10 +208,6 @@ class CColouredPointsMap : public CPointsMap
   /** The options employed when inserting laser scans in the map. */
   TColourOptions colorScheme;
 
-  /** Reset the minimum-observed-distance buffer for all the points to a
-   * predefined value */
-  void resetPointsMinDist(float defValue = 2000.0f);
-
   // clang-format off
 	auto getPointsBufferRef_color_R() const    -> const mrpt::aligned_std_vector<float>* override { return &m_color_R;}
 	auto getPointsBufferRef_color_G() const    -> const mrpt::aligned_std_vector<float>* override { return &m_color_G; }
@@ -317,9 +313,6 @@ class CColouredPointsMap : public CPointsMap
 	/** The color data */
 	mrpt::aligned_std_vector<float> m_color_R, m_color_G, m_color_B;
 
-	/** Minimum distance from where the points have been seen */
-	// std::vector<float>	m_min_dist;
-
 	/** Clear the map, erasing all the points */
 	void internal_clear() override;
 

libs/maps/include/mrpt/viz/CAngularObservationMesh.h

@@ -13,10 +13,9 @@
 #include <mrpt/math/CMatrixDynamic.h>
 #include <mrpt/math/geometry.h>
 #include <mrpt/obs/CObservation2DRangeScan.h>
-#include <mrpt/viz/CRenderizableShaderTriangles.h>
-#include <mrpt/viz/CRenderizableShaderWireFrame.h>
 #include <mrpt/viz/CSetOfLines.h>
 #include <mrpt/viz/CSetOfTriangles.h>
+#include <mrpt/viz/CVisualObject.h>
 
 namespace mrpt::viz
 {
@@ -39,8 +38,9 @@ namespace mrpt::viz
  * \ingroup mrpt_maps_grp
  */
 class CAngularObservationMesh :
-    public CRenderizableShaderTriangles,
-    public CRenderizableShaderWireFrame
+    virtual public CVisualObject,
+    public VisualObjectParams_Triangles,
+    public VisualObjectParams_Lines
 {
   DEFINE_SERIALIZABLE(CAngularObservationMesh, mrpt::viz)
  public:
@@ -120,7 +120,7 @@ class CAngularObservationMesh :
      * and the increment.
      * \throw std::logic_error if the increment is zero.
      */
-    inline static TDoubleRange CreateFromIncrement(double initial, double final, double increment)
+    static TDoubleRange CreateFromIncrement(double initial, double final, double increment)
     {
       if (increment == 0) throw std::logic_error("Invalid increment value.");
       return TDoubleRange(initial, final, increment);
@@ -129,24 +129,23 @@ class CAngularObservationMesh :
      * Creates a range of values from the initial value, the final value
      * and a desired amount of samples.
      */
-    inline static TDoubleRange CreateFromAmount(double initial, double final, size_t amount)
+    static TDoubleRange CreateFromAmount(double initial, double final, size_t amount)
     {
       return TDoubleRange(initial, final, amount);
     }
     /**
      * Creates a zero-centered range of values from an aperture, an amount
      * of samples and a direction.
      */
-    inline static TDoubleRange CreateFromAperture(
-        double aperture, size_t amount, bool negToPos = true)
+    static TDoubleRange CreateFromAperture(double aperture, size_t amount, bool negToPos = true)
     {
       return TDoubleRange(aperture, amount, negToPos);
     }
     /**
      * Returns the total aperture of the range.
      * \throw std::logic_error on invalid range type.
      */
-    inline double aperture() const
+    double aperture() const
     {
       switch (rangeType)
       {
@@ -167,7 +166,7 @@ class CAngularObservationMesh :
      * Returns the first value of the range.
      * \throw std::logic_error on invalid range type.
      */
-    inline double initialValue() const
+    double initialValue() const
     {
       switch (rangeType)
       {
@@ -185,7 +184,7 @@ class CAngularObservationMesh :
      * Returns the last value of the range.
      * \throw std::logic_error on invalid range type.
      */
-    inline double finalValue() const
+    double finalValue() const
     {
       switch (rangeType)
       {
@@ -207,7 +206,7 @@ class CAngularObservationMesh :
      * Returns the increment between two consecutive values of the range.
      * \throw std::logic_error on invalid range type.
      */
-    inline double increment() const
+    double increment() const
     {
       switch (rangeType)
       {
@@ -228,7 +227,7 @@ class CAngularObservationMesh :
      * Returns the total amount of values in this range.
      * \throw std::logic_error on invalid range type.
      */
-    inline size_t amount() const
+    size_t amount() const
     {
       switch (rangeType)
       {
@@ -257,7 +256,7 @@ class CAngularObservationMesh :
      * positive, false otherwise.
      * \throw std::logic_error on invalid range type.
      */
-    inline bool negToPos() const
+    bool negToPos() const
     {
       switch (rangeType)
       {
@@ -315,47 +314,28 @@ class CAngularObservationMesh :
   /**
    * Returns whether the object is configured as wireframe or solid.
    */
-  inline bool isWireframe() const { return m_Wireframe; }
+  bool isWireframe() const { return m_Wireframe; }
   /**
    * Sets the display mode for the object. True=wireframe, False=solid.
    */
-  inline void setWireframe(bool enabled = true)
+  void setWireframe(bool enabled = true)
   {
     m_Wireframe = enabled;
-    CRenderizable::notifyChange();
+    CVisualObject::notifyChange();
   }
   /**
    * Returns whether the object may be transparent or not.
    */
-  inline bool isTransparencyEnabled() const { return mEnableTransparency; }
+  bool isTransparencyEnabled() const { return mEnableTransparency; }
   /**
    * Enables or disables transparencies.
    */
-  inline void enableTransparency(bool enabled = true)
+  void enableTransparency(bool enabled = true)
   {
     mEnableTransparency = enabled;
-    CRenderizable::notifyChange();
+    CVisualObject::notifyChange();
   }
 
-  /** @name Renderizable shader API virtual methods
-   * @{ */
-  void freeOpenGLResources() override
-  {
-    CRenderizableShaderTriangles::freeOpenGLResources();
-    CRenderizableShaderWireFrame::freeOpenGLResources();
-  }
-  void render(const RenderContext& rc) const override;
-  void renderUpdateBuffers() const override;
-
-  virtual shader_list_t requiredShaders() const override
-  {
-    // May use up to two shaders (triangles and lines):
-    return {DefaultShaderID::WIREFRAME, DefaultShaderID::TRIANGLES_LIGHT};
-  }
-  void onUpdateBuffers_Wireframe() override;
-  void onUpdateBuffers_Triangles() override;
-  /** @} */
-
   /**
    * Traces a ray to the object, returning the distance to a given pose
    * through its X axis.

libs/maps/include/mrpt/viz/CPlanarLaserScan.h

@@ -14,14 +14,9 @@
 #include <mrpt/maps/CSimplePointsMap.h>
 #include <mrpt/obs/CObservation.h>
 #include <mrpt/obs/CObservation2DRangeScan.h>
-#include <mrpt/viz/CRenderizableShaderPoints.h>
-#include <mrpt/viz/CRenderizableShaderTriangles.h>
-#include <mrpt/viz/CRenderizableShaderWireFrame.h>
+#include <mrpt/viz/CVisualObject.h>
 
-namespace mrpt
-{
-/** \ingroup mrpt_maps_grp */
-namespace viz
+namespace mrpt::viz
 {
 /** This object renders a 2D laser scan by means of three elements: the points,
  * the line along end-points and the 2D scanned surface.
@@ -53,61 +48,40 @@ namespace viz
  * \ingroup mrpt_maps_grp
  */
 class CPlanarLaserScan :
-    public CRenderizableShaderPoints,
-    public CRenderizableShaderTriangles,
-    public CRenderizableShaderWireFrame
+    virtual public CVisualObject,
+    public VisualObjectParams_Triangles,
+    public VisualObjectParams_Lines,
+    public VisualObjectParams_Points
 {
   DEFINE_SERIALIZABLE(CPlanarLaserScan, mrpt::viz)
 
  public:
-  /** @name Renderizable shader API virtual methods
-   * @{ */
-  void render(const RenderContext& rc) const override;
-  void renderUpdateBuffers() const override;
-  void freeOpenGLResources() override
-  {
-    CRenderizableShaderTriangles::freeOpenGLResources();
-    CRenderizableShaderWireFrame::freeOpenGLResources();
-    CRenderizableShaderPoints::freeOpenGLResources();
-  }
-
-  virtual shader_list_t requiredShaders() const override
-  {
-    return {
-        DefaultShaderID::WIREFRAME, DefaultShaderID::TRIANGLES_NO_LIGHT, DefaultShaderID::POINTS};
-  }
-  void onUpdateBuffers_Wireframe() override;
-  void onUpdateBuffers_Triangles() override;
-  void onUpdateBuffers_Points() override;
-  mrpt::math::TPoint3Df getLocalRepresentativePoint() const override;
-  /** @} */
-
   CPlanarLaserScan() = default;
   ~CPlanarLaserScan() override = default;
 
   /** Clear the scan */
   void clear();
 
   /** Show or hides the scanned points \sa sePointsWidth, setPointsColor*/
-  inline void enablePoints(bool enable = true)
+  void enablePoints(bool enable = true)
   {
     m_enable_points = enable;
-    CRenderizable::notifyChange();
+    CVisualObject::notifyChange();
   }
 
   /** Show or hides lines along all scanned points \sa setLineWidth,
    * setLineColor*/
-  inline void enableLine(bool enable = true)
+  void enableLine(bool enable = true)
   {
     m_enable_line = enable;
-    CRenderizable::notifyChange();
+    CVisualObject::notifyChange();
   }
 
   /** Show or hides the scanned area as a 2D surface \sa setSurfaceColor */
-  inline void enableSurface(bool enable = true)
+  void enableSurface(bool enable = true)
   {
     m_enable_surface = enable;
-    CRenderizable::notifyChange();
+    CVisualObject::notifyChange();
   }
 
   void setLineColor(float R, float G, float B, float A = 1.0f)
@@ -134,12 +108,13 @@ class CPlanarLaserScan :
 
   void setScan(const mrpt::obs::CObservation2DRangeScan& scan)
   {
-    CRenderizable::notifyChange();
+    CVisualObject::notifyChange();
     m_cache_valid = false;
     m_scan = scan;
   }
 
   auto internalBoundingBoxLocal() const -> mrpt::math::TBoundingBoxf override;
+  auto getLocalRepresentativePoint() const -> mrpt::math::TPoint3Df override;
 
  protected:
   mrpt::obs::CObservation2DRangeScan m_scan;
@@ -157,5 +132,4 @@ class CPlanarLaserScan :
   bool m_enable_surface{true};
 };
 
-}  // namespace viz
-}  // namespace mrpt
+}  // namespace mrpt::viz

libs/maps/src/maps/CColouredPointsMap.cpp

@@ -17,6 +17,7 @@
 #include <mrpt/serialization/aligned_serialization.h>
 #include <mrpt/system/os.h>
 #include <mrpt/viz/CPointCloudColoured.h>
+#include <mrpt/viz/CSetOfObjects.h>
 
 #include "CPointsMap_crtp_common.h"
 
@@ -492,9 +493,6 @@ bool CColouredPointsMap::colourFromObservation(
     chB = 2;
   }
 
-  unsigned int n_proj = 0;
-  const float factor = 1.0f / 255;  // Normalize pixels:
-
   // Get the colour of the projected points
   size_t k;
   for (itProPoints = projectedPoints.begin(), k = 0; itProPoints != projectedPoints.end();
@@ -506,21 +504,13 @@ bool CColouredPointsMap::colourFromObservation(
       unsigned int ii = p_idx[p_proj[k]];
       uint8_t* p = obs.image((unsigned int)itProPoints->x, (unsigned int)itProPoints->y);
 
-      m_color_R[ii] = p[chR] * factor;  // R
-      m_color_G[ii] = p[chG] * factor;  // G
-      m_color_B[ii] = p[chB] * factor;  // B
-      // m_min_dist[ii]	= p_dist[p_proj[k]];
-
-      n_proj++;
+      m_color_R[ii] = mrpt::u8tof(p[chR]);
+      m_color_G[ii] = mrpt::u8tof(p[chG]);
+      m_color_B[ii] = mrpt::u8tof(p[chB]);
     }
-  }  // end for
+  }
 
   return true;
-}  // end colourFromObservation
-
-void CColouredPointsMap::resetPointsMinDist([[maybe_unused]] float defValue)
-{
-  // m_min_dist.assign(x.size(),defValue);
 }
 
 bool CColouredPointsMap::save3D_and_colour_to_text_file(const std::string& file) const

libs/maps/src/maps/CPointsMap.cpp

@@ -28,6 +28,7 @@
 #include <mrpt/system/os.h>
 #include <mrpt/viz/CPointCloud.h>
 #include <mrpt/viz/CPointCloudColoured.h>
+#include <mrpt/viz/CSetOfObjects.h>
 
 #include <fstream>
 #include <sstream>