LaserScanner.h

/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2026  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;
 
    void notifySimulableSetPose(const mrpt::math::TPose3D& newPose) override;
 
    mrpt::math::TPose3D getRelativePose() const override
    {
        return scan_model_.sensorPose.asTPose();
    }
    void setRelativePose(const mrpt::math::TPose3D& p) override
    {
        scan_model_.setSensorPose(mrpt::poses::CPose3D(p));
    }
 
    // when not using the 3D raytrace mode.
    void internal_simulate_lidar_2d_mode(const TSimulContext& context);
 
    int z_order_;  
 
    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