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graph_tools_impl.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 #ifndef opengl_graph_tools_impl_H
10 #define opengl_graph_tools_impl_H
11 
18 
19 namespace mrpt
20 {
21  namespace opengl
22  {
23  namespace graph_tools
24  {
25  template<class GRAPH_T>
26  CSetOfObjectsPtr graph_visualize(
27  const GRAPH_T &g,
28  const mrpt::utils::TParametersDouble &extra_params)
29  {
31 
33  using mrpt::math::TPose3D;
34  using namespace mrpt::utils;
35 
36  // Is a 2D or 3D graph network?
37  typedef typename GRAPH_T::constraint_t constraint_t;
38 
39  const bool is_3D_graph = constraint_t::is_3D();
40 
41  CSetOfObjectsPtr ret = CSetOfObjects::Create();
42 
43  const bool show_ID_labels = 0!=extra_params.getWithDefaultVal("show_ID_labels", 0);
44  const bool show_ground_grid = 0!=extra_params.getWithDefaultVal("show_ground_grid", 1);
45  const bool show_edges = 0!=extra_params.getWithDefaultVal("show_edges", 1);
46  const bool show_node_corners = 0!=extra_params.getWithDefaultVal("show_node_corners", 1);
47  const bool show_edge_rel_poses = 0!=extra_params.getWithDefaultVal("show_edge_rel_poses", 0);
48  const double nodes_point_size = extra_params.getWithDefaultVal("nodes_point_size", 0. );
49  const double nodes_corner_scale = extra_params.getWithDefaultVal("nodes_corner_scale", 0.7 );
50  const double nodes_edges_corner_scale = extra_params.getWithDefaultVal("nodes_edges_corner_scale", 0.4 );
51  const unsigned int nodes_point_color = extra_params.getWithDefaultVal("nodes_point_color", (unsigned int)0xA0A0A0 );
52  const unsigned int edge_color = extra_params.getWithDefaultVal("edge_color", (unsigned int)0x400000FF );
53  const unsigned int edge_rel_poses_color = extra_params.getWithDefaultVal("edge_rel_poses_color", (unsigned int)0x40FF8000 );
54  const double edge_width = extra_params.getWithDefaultVal("edge_width", 2. );
55 
56  if (show_ground_grid)
57  {
58  // Estimate bounding box.
59  mrpt::math::TPoint3D BB_min(-10.,-10.,0.), BB_max(10.,10.,0.);
60 
61  for (typename GRAPH_T::global_poses_t::const_iterator itNod = g.nodes.begin();itNod!=g.nodes.end();++itNod)
62  {
63  const CPose3D p = CPose3D(itNod->second); // Convert to 3D from whatever its real type.
64 
65  keep_min( BB_min.x, p.x() );
66  keep_min( BB_min.y, p.y() );
67  keep_min( BB_min.z, p.z() );
68 
69  keep_max( BB_max.x, p.x() );
70  keep_max( BB_max.y, p.y() );
71  keep_max( BB_max.z, p.z() );
72  }
73 
74  // Create ground plane:
75  const double grid_frequency = 5.0;
76  CGridPlaneXYPtr grid = CGridPlaneXY::Create(BB_min.x, BB_max.x, BB_min.y, BB_max.y, BB_min.z, grid_frequency);
77  grid->setColor(0.3,0.3,0.3);
78  ret->insert( grid );
79  } // end show_ground_grid
80 
81  // Draw nodes as thick points:
82  if (nodes_point_size>0)
83  {
84  CPointCloudPtr pnts = CPointCloud::Create();
85  pnts->setColor( TColorf(TColor(nodes_point_color)) );
86  pnts->setPointSize(nodes_point_size);
87 
88  // Add nodes:
89  for (typename GRAPH_T::global_poses_t::const_iterator itNod = g.nodes.begin();itNod!=g.nodes.end();++itNod)
90  {
91  const CPose3D p = CPose3D(itNod->second); // Convert to 3D from whatever its real type.
92  pnts->insertPoint(p.x(),p.y(), p.z() );
93  }
94 
95  pnts->enablePointSmooth();
96 
97  ret->insert(pnts);
98  } // end draw node points
99 
100  // Show a 2D corner at each node (or just an empty object with the ID label)
101  if (show_node_corners || show_ID_labels)
102  {
103  for (typename GRAPH_T::global_poses_t::const_iterator itNod = g.nodes.begin();itNod!=g.nodes.end();++itNod)
104  {
105  const CPose3D p = CPose3D(itNod->second); // Convert to 3D from whatever its real type.
106  CSetOfObjectsPtr gl_corner = show_node_corners ?
107  (is_3D_graph ? stock_objects::CornerXYZSimple(nodes_corner_scale, 1.0 /*line width*/ ) : stock_objects::CornerXYSimple(nodes_corner_scale, 1.0 /*line width*/ ))
109  gl_corner->setPose( p );
110  if (show_ID_labels) // don't show IDs twice!
111  {
112  gl_corner->setName(format("%u",static_cast<unsigned int>(itNod->first) ));
113  gl_corner->enableShowName();
114  }
115  ret->insert( gl_corner );
116  }
117  } // end draw node corners
118 
119  if (show_edge_rel_poses)
120  {
121  const TColor col8bit(edge_rel_poses_color & 0xffffff, edge_rel_poses_color >> 24);
122 
123  for (typename GRAPH_T::const_iterator itEd = g.begin();itEd!=g.end();++itEd)
124  {
125  // Node ID of the source pose:
126  const TNodeID node_id_start = g.edges_store_inverse_poses ? itEd->first.second : itEd->first.first;
127 
128  // Draw only if we have the global coords of starting nodes:
129  typename GRAPH_T::global_poses_t::const_iterator itNod = g.nodes.find(node_id_start);
130  if (itNod!=g.nodes.end())
131  {
132  const CPose3D pSource = CPose3D(itNod->second);
133  // Create a set of objects at that pose and do the rest in relative coords:
134  mrpt::opengl::CSetOfObjectsPtr gl_rel_edge = mrpt::opengl::CSetOfObjects::Create();
135  gl_rel_edge->setPose(pSource);
136 
137  const typename GRAPH_T::constraint_no_pdf_t & edge_pose = itEd->second.getPoseMean();
138  const mrpt::poses::CPoint3D edge_pose_pt = mrpt::poses::CPoint3D(edge_pose);
139 
140  mrpt::opengl::CSetOfObjectsPtr gl_edge_corner =
141  (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*/ ));
142 
143  gl_edge_corner->setPose(edge_pose);
144  gl_rel_edge->insert(gl_edge_corner);
145 
146  mrpt::opengl::CSimpleLinePtr gl_line = mrpt::opengl::CSimpleLine::Create(0,0,0, edge_pose_pt.x(), edge_pose_pt.y(), edge_pose_pt.z() );
147  gl_line->setColor_u8( col8bit );
148  gl_line->setLineWidth(edge_width);
149  gl_rel_edge->insert(gl_line);
150 
151  ret->insert( gl_rel_edge );
152  }
153  }
154  }
155 
156  if (show_edges)
157  {
158  CSetOfLinesPtr gl_edges = CSetOfLines::Create();
159  const TColor col8bit(edge_color & 0xffffff, edge_color >> 24);
160 
161  gl_edges->setColor_u8( col8bit );
162  gl_edges->setLineWidth( edge_width );
163 
164  for (typename GRAPH_T::const_iterator itEd = g.begin();itEd!=g.end();++itEd)
165  {
166  const TNodeID id1 = itEd->first.first;
167  const TNodeID id2 = itEd->first.second;
168 
169  // Draw only if we have the global coords of both nodes:
170  typename GRAPH_T::global_poses_t::const_iterator itNod1 = g.nodes.find(id1);
171  typename GRAPH_T::global_poses_t::const_iterator itNod2 = g.nodes.find(id2);
172  if (itNod1!=g.nodes.end() && itNod2!=g.nodes.end())
173  {
174  const CPose3D p1 = CPose3D(itNod1->second);
175  const CPose3D p2 = CPose3D(itNod2->second);
176  gl_edges->appendLine( mrpt::math::TPoint3D(p1.x(),p1.y(),p1.z()), mrpt::math::TPoint3D(p2.x(),p2.y(),p2.z()) );
177  }
178  }
179  ret->insert( gl_edges );
180 
181  } // end draw edges
182 
183  return ret;
184 
186 
187  }
188 
189  }
190  }
191 }
192 
193 #endif
static CGridPlaneXYPtr Create()
static CPointCloudPtr Create()
static CSetOfLinesPtr Create()
static CSetOfObjectsPtr Create()
static CSimpleLinePtr Create()
A class used to store a 3D point.
Definition: CPoint3D.h:33
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:73
double x() const
Common members of all points & poses classes.
Definition: CPoseOrPoint.h:113
const Scalar * const_iterator
Definition: eigen_plugins.h:24
CSetOfObjectsPtr graph_visualize(const GRAPH_T &g, const mrpt::utils::TParametersDouble &extra_params=mrpt::utils::TParametersDouble())
Returns an opengl objects representation of an arbitrary graph, as a network of 3D pose frames.
uint64_t TNodeID
The type for node IDs in graphs of different types.
Definition: types_simple.h:45
#define MRPT_TRY_START
Definition: mrpt_macros.h:334
#define MRPT_TRY_END
Definition: mrpt_macros.h:335
CSetOfObjectsPtr OPENGL_IMPEXP CornerXYZSimple(float scale=1.0, float lineWidth=1.0)
Returns three arrows representing a X,Y,Z 3D corner (just thick lines instead of complex arrows for f...
CSetOfObjectsPtr OPENGL_IMPEXP CornerXYSimple(float scale=1.0, float lineWidth=1.0)
Returns two arrows representing a X,Y 2D corner (just thick lines, fast to render).
Classes for serialization, sockets, ini-file manipulation, streams, list of properties-values,...
Definition: zip.h:16
void keep_max(T &var, const K test_val)
If the second argument is above the first one, set the first argument to this higher value.
Definition: bits.h:145
void keep_min(T &var, const K test_val)
If the second argument is below the first one, set the first argument to this lower value.
Definition: bits.h:140
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
std::string BASE_IMPEXP format(const char *fmt,...) MRPT_printf_format_check(1
A std::string version of C sprintf.
Lightweight 3D point.
double z
X,Y,Z coordinates.
Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).
A RGB color - 8bit.
Definition: TColor.h:26
A RGB color - floats in the range [0,1].
Definition: TColor.h:53
For usage when passing a dynamic number of (numeric) arguments to a function, by name.
Definition: TParameters.h:47
T getWithDefaultVal(const std::string &s, const T &defaultVal) const
A const version of the [] operator and with a default value in case the parameter is not set (for usa...
Definition: TParameters.h:83



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