LaserScanner.h

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2023  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/opengl/CFBORender.h>
#include <mrpt/opengl/CPlanarLaserScan.h>
#include <mrpt/poses/CPose2D.h>
#include <mvsim/Sensors/SensorBase.h>

#include <mutex>

namespace mvsim
{
class LaserScanner : public SensorBase
{
        DECLARES_REGISTER_SENSOR(LaserScanner)
   public:
        LaserScanner(Simulable& parent, const rapidxml::xml_node<char>* root);
        virtual ~LaserScanner();

        // See docs in base class
        virtual void loadConfigFrom(const rapidxml::xml_node<char>* root) override;

        virtual void simul_pre_timestep(const TSimulContext& context) override;
        virtual void simul_post_timestep(const TSimulContext& context) override;

        void simulateOn3DScene(mrpt::opengl::COpenGLScene& gl_scene) override;
        void freeOpenGLResources() override;

        void registerOnServer(mvsim::Client& c) override;

   protected:
        virtual void internalGuiUpdate(
                const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& viz,
                const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& physical,
                bool childrenOnly) override;

        // when not using the 3D raytrace mode.
        void internal_simulate_lidar_2d_mode(const TSimulContext& context);

        int z_order_;  
        mrpt::poses::CPose2D sensor_pose_on_veh_;
        double rangeStdNoise_ = 0.01;
        double angleStdNoise_ = mrpt::DEG2RAD(0.01);
        bool see_fixtures_ = true;

        bool raytrace_3d_ = false;

        bool ignore_parent_body_ = false;

        bool viz_visiblePlane_ = false;
        bool viz_visibleLines_ = true;
        bool viz_visiblePoints_ = false;
        float viz_pointSize_ = 3.0f;
        mrpt::img::TColor viz_pointsColor_ = {0xff, 0x00, 0x00, 0x80};
        mrpt::img::TColor viz_planeColor_ = {0x00, 0x00, 0xff, 0x10};

        // Store here all scan parameters. This obj will be copied as a
        // "pattern" to fill it with actual scan data.
        mrpt::obs::CObservation2DRangeScan scan_model_;

        std::mutex last_scan_cs_;
        mrpt::obs::CObservation2DRangeScan::Ptr last_scan_;
        mrpt::obs::CObservation2DRangeScan::Ptr last_scan2gui_;

        bool gui_uptodate_ = false;

        mrpt::opengl::CPlanarLaserScan::Ptr gl_scan_;
        mrpt::opengl::CSetOfObjects::Ptr gl_sensor_origin_,
                gl_sensor_origin_corner_;
        mrpt::opengl::CSetOfObjects::Ptr gl_sensor_fov_;

        std::optional<TSimulContext> has_to_render_;
        std::mutex has_to_render_mtx_;

        std::shared_ptr<mrpt::opengl::CFBORender> fbo_renderer_depth_;

        std::vector<size_t> angleIdx2pixelIdx_;
        std::vector<float> angleIdx2secant_;
};
}  // namespace mvsim