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CVectorField3D.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
10#ifndef opengl_CVectorField3D_H
11#define opengl_CVectorField3D_H
12
15#include <mrpt/math/CMatrix.h>
17#include <Eigen/Dense>
18
19namespace mrpt
20{
21 namespace opengl
22 {
24
25 // This must be added to any CSerializable derived class:
27
28 /** A 3D vector field representation, consisting of points and arrows drawn at any spatial position.
29 * This opengl object has been created to represent scene flow, and hence both the vector field and
30 * the coordinates of the points at which the vector field is represented are stored in matrices because
31 * they are computed from intensity and depth images.
32 * \sa opengl::COpenGLScene
33 *
34 * <div align="center">
35 * <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;">
36 * <tr> <td> mrpt::opengl::CVectorField2D </td> <td> \image html preview_CVectorField2D.png </td> </tr>
37 * </table>
38 * </div>
39 *
40 * \ingroup mrpt_opengl_grp
41 */
42
44 {
46 protected:
47 mrpt::math::CMatrix x_vf; //!< X component of the vector field
48 mrpt::math::CMatrix y_vf; //!< Y component of the vector field
49 mrpt::math::CMatrix z_vf; //!< Z component of the vector field
50
51 mrpt::math::CMatrix x_p; //!< X coordinate of the points at which the vector field is plotted
52 mrpt::math::CMatrix y_p; //!< Y coordinate of the points at which the vector field is plotted
53 mrpt::math::CMatrix z_p; //!< Z coordinate of the points at which the vector field is plotted
54
55 float m_LineWidth; //!< By default it is 1.0
56 float m_pointSize; //!< By default it is 1.0
57 bool m_antiAliasing; //!< By default it is true
58 bool m_colorFromModule; //!< By default it is false
59 bool m_showPoints; //!< By default it is true
60
63
64 mrpt::utils::TColor m_still_color; //!< Color associated to fields with null module
65 mrpt::utils::TColor m_maxspeed_color; //!< Color associated to fields whose module is equal or larger than 'm_maxspeed'
66 float m_maxspeed; //!< Value of the module of the motion field which will correspond to 'm_maxspeed_color'
67
68 public:
69 /**
70 * Clear the matrices
71 */
72 inline void clear() {
73 x_vf.resize(0,0); y_vf.resize(0,0); z_vf.resize(0,0);
74 x_p.resize(0,0); y_p.resize(0,0); z_p.resize(0,0);
75
77 }
78
79 /**
80 * Set the point color in the range [0,1]
81 */
82 inline void setPointColor( const float R, const float G, const float B, const float A = 1)
83 {
84 m_point_color = mrpt::utils::TColor(R*255,G*255,B*255,A*255);
86 }
87
88 /**
89 * Get the point color in the range [0,1]
90 */
91 inline mrpt::utils::TColorf getPointColor() const { return mrpt::utils::TColorf(m_point_color); }
92
93 /**
94 * Set the arrow color in the range [0,1]
95 */
96 inline void setVectorFieldColor( const float R, const float G, const float B, const float A = 1)
97 {
98 m_field_color = mrpt::utils::TColor(R*255,G*255,B*255,A*255);
100 }
101
102 /**
103 * Get the motion field min and max colors (colormap) in the range [0,1]
104 */
106 {
107 Cmin = m_still_color/255;
108 Cmax = m_maxspeed_color/255;
109 }
110
111 /**
112 * Set the motion field min and max colors (colormap) in the range [0,1]
113 */
114 inline void setMotionFieldColormap( const float Rmin, const float Gmin, const float Bmin, const float Rmax, const float Gmax, const float Bmax, const float Amin = 1, const float Amax = 1)
115 {
116 m_still_color = mrpt::utils::TColor(Rmin*255,Gmin*255,Bmin*255,Amin*255);
117 m_maxspeed_color = mrpt::utils::TColor(Rmax*255,Gmax*255,Bmax*255,Amax*255);
119 }
120
121 /**
122 * Get the arrow color in the range [0,1]
123 */
124 inline mrpt::utils::TColorf getVectorFieldColor() const { return mrpt::utils::TColorf(m_field_color); }
125
126 /**
127 * Set the size with which points will be drawn. By default 1.0
128 */
129 inline void setPointSize(const float p) { m_pointSize=p; CRenderizableDisplayList::notifyChange(); }
130
131 /**
132 * Get the size with which points are drawn. By default 1.0
133 */
134 inline float getPointSize() const { return m_pointSize; }
135
136 /**
137 * Set the width with which lines will be drawn.
138 */
139 inline void setLineWidth(const float w) { m_LineWidth = w; CRenderizableDisplayList::notifyChange(); }
140
141 /**
142 * Get the width with which lines are drawn.
143 */
144 float getLineWidth() const {return m_LineWidth; }
145
146 /**
147 * Set the max speed associated for the color map ( m_still_color, m_maxspeed_color)
148 */
149 inline void setMaxSpeedForColor (const float s) { m_maxspeed = s; CRenderizableDisplayList::notifyChange(); }
150
151 /**
152 * Get the max_speed with which lines are drawn.
153 */
154 float getMaxSpeedForColor() const {return m_maxspeed; }
155
156 /**
157 * Get the vector field in three independent matrices: Matrix_x, Matrix_y and Matrix_z.
158 */
160 Matrix_x = x_vf;
161 Matrix_y = y_vf;
162 Matrix_z = z_vf;
163 }
164
165 void getVectorField(Eigen::MatrixXf &Matrix_x, Eigen::MatrixXf &Matrix_y, Eigen::MatrixXf &Matrix_z) const {
166 Matrix_x = x_vf;
167 Matrix_y = y_vf;
168 Matrix_z = z_vf;
169 }
170
171 /**
172 * Get the coordiantes of the points at which the vector field is plotted: Coord_x, Coord_y and Coord_z.
173 */
175 Coord_x = x_p;
176 Coord_y = y_p;
177 Coord_z = z_p;
178 }
179
180 void getPointCoordinates(Eigen::MatrixXf &Coord_x, Eigen::MatrixXf &Coord_y, Eigen::MatrixXf &Coord_z) const {
181 Coord_x = x_p;
182 Coord_y = y_p;
183 Coord_z = z_p;
184 }
185
186 /** Get the "x" component of the vector field as a matrix. */
187 inline const mrpt::math::CMatrixFloat & getVectorField_x() const { return x_vf; }
188 /** \overload */
189 inline mrpt::math::CMatrixFloat & getVectorField_x() { return x_vf; }
190
191 /** Get the "y" component of the vector field as a matrix. */
192 inline const mrpt::math::CMatrixFloat & getVectorField_y() const { return y_vf; }
193 /** \overload */
194 inline mrpt::math::CMatrixFloat & getVectorField_y() { return y_vf; }
195
196 /** Get the "z" component of the vector field as a matrix. */
197 inline const mrpt::math::CMatrixFloat & getVectorField_z() const { return z_vf; }
198 /** \overload */
199 inline mrpt::math::CMatrixFloat & getVectorField_z() { return z_vf; }
200
201 /**
202 * Set the vector field with Matrix_x, Matrix_y and Matrix_z.
203 */
205 ASSERT_((Matrix_x.getRowCount() == Matrix_y.getRowCount())&&(Matrix_x.getRowCount() == Matrix_z.getRowCount()))
206 ASSERT_((Matrix_x.getColCount() == Matrix_y.getColCount())&&(Matrix_x.getColCount() == Matrix_z.getColCount()))
207 x_vf = Matrix_x;
208 y_vf = Matrix_y;
209 z_vf = Matrix_z;
211 }
212
213 void setVectorField(Eigen::MatrixXf &Matrix_x,Eigen::MatrixXf &Matrix_y, Eigen::MatrixXf &Matrix_z) {
214 ASSERT_((Matrix_x.getRowCount() == Matrix_y.getRowCount())&&(Matrix_x.getRowCount() == Matrix_z.getRowCount()))
215 ASSERT_((Matrix_x.getColCount() == Matrix_y.getColCount())&&(Matrix_x.getColCount() == Matrix_z.getColCount()))
216 x_vf = Matrix_x;
217 y_vf = Matrix_y;
218 z_vf = Matrix_z;
220 }
221
222 /**
223 * Set the coordinates of the points at which the vector field is plotted with Matrix_x, Matrix_y and Matrix_z.
224 */
226 ASSERT_((Matrix_x.getRowCount() == Matrix_y.getRowCount())&&(Matrix_x.getRowCount() == Matrix_z.getRowCount()))
227 ASSERT_((Matrix_x.getColCount() == Matrix_y.getColCount())&&(Matrix_x.getColCount() == Matrix_z.getColCount()))
228 x_p = Matrix_x;
229 y_p = Matrix_y;
230 z_p = Matrix_z;
232 }
233
234 void setPointCoordinates(Eigen::MatrixXf &Matrix_x, Eigen::MatrixXf &Matrix_y, Eigen::MatrixXf &Matrix_z) {
235 ASSERT_((Matrix_x.getRowCount() == Matrix_y.getRowCount())&&(Matrix_x.getRowCount() == Matrix_z.getRowCount()))
236 ASSERT_((Matrix_x.getColCount() == Matrix_y.getColCount())&&(Matrix_x.getColCount() == Matrix_z.getColCount()))
237 x_p = Matrix_x;
238 y_p = Matrix_y;
239 z_p = Matrix_z;
241 }
242
243
244 /**
245 * Resizes the set.
246 */
247 void resize(size_t rows, size_t cols) {
248 x_vf.resize(rows,cols); y_vf.resize(rows,cols); z_vf.resize(rows,cols);
249 x_p.resize(rows,cols); y_p.resize(rows,cols); z_p.resize(rows,cols);
251 }
252
253 /** Returns the total count of rows used to represent the vector field. */
254 inline size_t getColCount() const { return x_vf.getColCount(); }
255
256 /** Returns the total count of columns used to represent the vector field. */
257 inline size_t getRowCount() const { return x_vf.getRowCount(); }
258
259 /**
260 * Class factory
261 */
263 /** Render
264 */
266
267
268 /** Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. */
269 void getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const MRPT_OVERRIDE;
270
271 void enableAntiAliasing(bool enable=true) { m_antiAliasing = enable; CRenderizableDisplayList::notifyChange(); }
272 void enableColorFromModule(bool enable=true) { m_colorFromModule = enable; CRenderizableDisplayList::notifyChange(); }
273 void enableShowPoints(bool enable=true) { m_showPoints = enable; CRenderizableDisplayList::notifyChange(); }
274 bool isAntiAliasingEnabled() const { return m_antiAliasing; }
275 bool isColorFromModuleEnabled() const { return m_colorFromModule; }
276
277 private:
278 /** Constructor */
280 /** Constructor with a initial set of lines. */
282 /** Private, virtual destructor: only can be deleted from smart pointers. */
283 virtual ~CVectorField3D() { }
284 };
285 DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CVectorField3D, CRenderizableDisplayList, OPENGL_IMPEXP )
286
287
288 } // end namespace
289
290} // End of namespace
291
292
293#endif
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
This class is a "CSerializable" wrapper for "CMatrixFloat".
Definition: CMatrix.h:31
A renderizable object suitable for rendering with OpenGL's display lists.
EIGEN_STRONG_INLINE void notifyChange() const
Must be called to notify that the object has changed (so, the display list must be updated)
A 3D vector field representation, consisting of points and arrows drawn at any spatial position.
const mrpt::math::CMatrixFloat & getVectorField_y() const
Get the "y" component of the vector field as a matrix.
mrpt::math::CMatrixFloat & getVectorField_y()
This is an overloaded member function, provided for convenience. It differs from the above function o...
size_t getRowCount() const
Returns the total count of columns used to represent the vector field.
virtual ~CVectorField3D()
Private, virtual destructor: only can be deleted from smart pointers.
mrpt::math::CMatrix y_p
Y coordinate of the points at which the vector field is plotted.
bool m_showPoints
By default it is true.
mrpt::utils::TColorf getPointColor() const
Get the point color in the range [0,1].
mrpt::math::CMatrixFloat & getVectorField_z()
This is an overloaded member function, provided for convenience. It differs from the above function o...
mrpt::math::CMatrixFloat & getVectorField_x()
This is an overloaded member function, provided for convenience. It differs from the above function o...
void getVectorField(Eigen::MatrixXf &Matrix_x, Eigen::MatrixXf &Matrix_y, Eigen::MatrixXf &Matrix_z) const
void getPointCoordinates(Eigen::MatrixXf &Coord_x, Eigen::MatrixXf &Coord_y, Eigen::MatrixXf &Coord_z) const
void setLineWidth(const float w)
Set the width with which lines will be drawn.
float getLineWidth() const
Get the width with which lines are drawn.
float getMaxSpeedForColor() const
Get the max_speed with which lines are drawn.
void setPointCoordinates(Eigen::MatrixXf &Matrix_x, Eigen::MatrixXf &Matrix_y, Eigen::MatrixXf &Matrix_z)
void setMaxSpeedForColor(const float s)
Set the max speed associated for the color map ( m_still_color, m_maxspeed_color)
float m_LineWidth
By default it is 1.0.
mrpt::utils::TColor m_still_color
Color associated to fields with null module.
void setVectorFieldColor(const float R, const float G, const float B, const float A=1)
Set the arrow color in the range [0,1].
mrpt::utils::TColor m_field_color
void clear()
Clear the matrices.
const mrpt::math::CMatrixFloat & getVectorField_x() const
Get the "x" component of the vector field as a matrix.
float m_maxspeed
Value of the module of the motion field which will correspond to 'm_maxspeed_color'.
bool m_colorFromModule
By default it is false.
void enableColorFromModule(bool enable=true)
bool m_antiAliasing
By default it is true.
float getPointSize() const
Get the size with which points are drawn.
mrpt::math::CMatrix x_vf
X component of the vector field.
void resize(size_t rows, size_t cols)
Resizes the set.
float m_pointSize
By default it is 1.0.
mrpt::math::CMatrix y_vf
Y component of the vector field.
mrpt::utils::TColorf getVectorFieldColor() const
Get the arrow color in the range [0,1].
CVectorField3D(mrpt::math::CMatrixFloat x_vf_ini, mrpt::math::CMatrixFloat y_vf_ini, mrpt::math::CMatrixFloat z_vf_ini, mrpt::math::CMatrixFloat x_p_ini, mrpt::math::CMatrixFloat y_p_ini, mrpt::math::CMatrixFloat z_p_ini)
Constructor with a initial set of lines.
size_t getColCount() const
Returns the total count of rows used to represent the vector field.
void setVectorField(mrpt::math::CMatrixFloat &Matrix_x, mrpt::math::CMatrixFloat &Matrix_y, mrpt::math::CMatrixFloat &Matrix_z)
Set the vector field with Matrix_x, Matrix_y and Matrix_z.
void enableShowPoints(bool enable=true)
static CVectorField3DPtr Create(const mrpt::math::CMatrixFloat x_vf_ini, const mrpt::math::CMatrixFloat y_vf_ini, const mrpt::math::CMatrixFloat z_vf_ini, const mrpt::math::CMatrixFloat x_p_ini, const mrpt::math::CMatrixFloat y_p_ini, const mrpt::math::CMatrixFloat z_p_ini)
Class factory.
void getVectorField(mrpt::math::CMatrixFloat &Matrix_x, mrpt::math::CMatrixFloat &Matrix_y, mrpt::math::CMatrixFloat &Matrix_z) const
Get the vector field in three independent matrices: Matrix_x, Matrix_y and Matrix_z.
void getPointCoordinates(mrpt::math::CMatrixFloat &Coord_x, mrpt::math::CMatrixFloat &Coord_y, mrpt::math::CMatrixFloat &Coord_z) const
Get the coordiantes of the points at which the vector field is plotted: Coord_x, Coord_y and Coord_z.
mrpt::math::CMatrix z_p
Z coordinate of the points at which the vector field is plotted.
void getVectorFieldColor(mrpt::utils::TColorf Cmin, mrpt::utils::TColorf Cmax) const
Get the motion field min and max colors (colormap) in the range [0,1].
void setVectorField(Eigen::MatrixXf &Matrix_x, Eigen::MatrixXf &Matrix_y, Eigen::MatrixXf &Matrix_z)
mrpt::utils::TColor m_maxspeed_color
Color associated to fields whose module is equal or larger than 'm_maxspeed'.
void setMotionFieldColormap(const float Rmin, const float Gmin, const float Bmin, const float Rmax, const float Gmax, const float Bmax, const float Amin=1, const float Amax=1)
Set the motion field min and max colors (colormap) in the range [0,1].
void render_dl() const MRPT_OVERRIDE
Render.
const mrpt::math::CMatrixFloat & getVectorField_z() const
Get the "z" component of the vector field as a matrix.
mrpt::math::CMatrix z_vf
Z component of the vector field.
mrpt::utils::TColor m_point_color
mrpt::math::CMatrix x_p
X coordinate of the points at which the vector field is plotted.
void setPointCoordinates(mrpt::math::CMatrixFloat &Matrix_x, mrpt::math::CMatrixFloat &Matrix_y, mrpt::math::CMatrixFloat &Matrix_z)
Set the coordinates of the points at which the vector field is plotted with Matrix_x,...
void setPointSize(const float p)
Set the size with which points will be drawn.
void setPointColor(const float R, const float G, const float B, const float A=1)
Set the point color in the range [0,1].
#define ASSERT_(f)
Definition: mrpt_macros.h:261
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
Definition: mrpt_macros.h:28
struct OPENGL_IMPEXP CVectorField3DPtr
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
A RGB color - 8bit.
Definition: TColor.h:26
A RGB color - floats in the range [0,1].
Definition: TColor.h:53



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