1.MRPTのインストール
git clone https://github.com/MRPT/mrpt.git --recursive
mkdir build
cd build/
cmake ..
cmake --build 。
test_legacy を作成する
コードの実行時にエラーが発生した場合
MRPT エラー: ==== MRPT 例外 ====
メッセージ: MRPT は wxWidgets なしでコンパイルされました!
wxWidgets をインストールしてから MRPT をコンパイルする 必要があります
2.openglの可視化
コードメイン.cpp
/* +------------------------------------------------------------------------+
| Mobile Robot Programming Toolkit (MRPT) |
| https://www.mrpt.org/ |
| |
| Copyright (c) 2005-2022, Individual contributors, see AUTHORS file |
| See: https://www.mrpt.org/Authors - All rights reserved. |
| Released under BSD License. See: https://www.mrpt.org/License |
+------------------------------------------------------------------------+ */
#include <mrpt/gui/CDisplayWindow3D.h>
#include <mrpt/maps/COctoMap.h>
#include <mrpt/obs/stock_observations.h>
#include <mrpt/opengl.h>
#include <mrpt/opengl/CPlanarLaserScan.h>
#include <mrpt/random.h>
#include <mrpt/system/filesystem.h>
#include <iostream>
using namespace std;
using namespace mrpt;
using namespace mrpt::gui;
using namespace mrpt::opengl;
using namespace mrpt::math;
using namespace std::string_literals;
// ------------------------------------------------------
// TestOpenGLObjects
// ------------------------------------------------------
void TestOpenGLObjects()
{
mrpt::global_settings::OCTREE_RENDER_MAX_POINTS_PER_NODE(10000);
CDisplayWindow3D win("Demo of MRPT's OpenGL objects", 640, 480);
COpenGLScene::Ptr& theScene = win.get3DSceneAndLock();
auto& rng = mrpt::random::getRandomGenerator();
// Objects:
double off_x = 0;
const double off_y_label = 20;
const double STEP_X = 25;
// XY Grid
/**
* Define each one of the objects in its own scope and just attach it to the
* scene by using insert(obj) method call.
*/
{
// using mrpt smart pointers so that obj survives outside this scope.
auto obj = opengl::CGridPlaneXY::Create(-7, 7, -7, 7, 0, 1);
obj->setColor(0.7f, 0.7f, 0.7f);
obj->setLocation(off_x, 0, 0);
theScene->insert(obj);
auto obj2 = opengl::CGridPlaneXY::Create(-9, 9, -9, 9, 0, 2);
obj2->setColor(0.3f, 0.3f, 0.3f, 0.99f);
obj2->setLocation(off_x, 20, 0);
obj2->enableAntiAliasing();
theScene->insert(obj2);
auto gl_txt = opengl::CText::Create("CGridPlaneXY");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// XZ Grid
{
auto obj = opengl::CGridPlaneXZ::Create(-7, 7, -7, 7, 0, 1);
obj->setColor(0.7f, 0.7f, 0.7f);
obj->setLocation(off_x, 0, 0);
theScene->insert(obj);
auto gl_txt = opengl::CText::Create("CGridPlaneXZ");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// Arrow
{
auto obj = opengl::CArrow::Create(0, 0, 0, 3, 0, 0, 0.2f, 0.1f, 0.2f);
obj->setLocation(off_x, 0, 0);
obj->setColor(1, 0, 0);
obj->setName("arrow #1");
obj->enableShowName();
theScene->insert(obj);
auto obj2 = opengl::CArrow::Create(1, 2, 3, 6, -3, 0, 0.1f, 0.1f, 0.3f);
obj2->setLocation(off_x, 0, 0);
obj2->setColor(0, 0, 1);
theScene->insert(obj2);
auto gl_txt = opengl::CText::Create("CArrow");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// Axis
{
auto obj = opengl::CAxis::Create(-6, -6, -6, 6, 6, 6, 2, 2, true);
obj->setLocation(off_x, 0, 0);
theScene->insert(obj);
auto gl_txt = opengl::CText::Create("CAxis");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// Box
{
auto obj = opengl::CBox::Create(
TPoint3D(0, 0, 0), TPoint3D(1, 1, 1), true, 3.0);
obj->setLocation(off_x, 0, 0);
theScene->insert(obj);
auto obj2 =
opengl::CBox::Create(TPoint3D(0, 0, 0), TPoint3D(1, 1, 1), false);
obj2->setLocation(off_x, 4, 0);
theScene->insert(obj2);
auto obj3 =
opengl::CBox::Create(TPoint3D(0, 0, 0), TPoint3D(1, 1, 1), false);
obj3->enableBoxBorder(true);
obj3->setLineWidth(3);
obj3->setColor_u8(0xff, 0x00, 0x00, 0xa0);
obj3->setLocation(off_x, 8, 0);
theScene->insert(obj3);
auto gl_txt = opengl::CText::Create("CBox");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// Frustum
{
auto obj = opengl::CFrustum::Create(1, 5, 60, 45, 1.5f, true, false);
obj->setLocation(off_x, 0, 0);
theScene->insert(obj);
auto obj2 = opengl::CFrustum::Create(1, 5, 60, 45, 2.5f, true, true);
obj2->setLocation(off_x, 6, 0);
obj2->setColor_u8(0xff, 0x00, 0x00, 0x80);
theScene->insert(obj2);
// Default camera params:
mrpt::img::TCamera c;
c.nrows = 800;
c.ncols = 600;
c.setIntrinsicParamsFromValues(700, 700, 400, 300);
auto obj3 = opengl::CFrustum::Create(c);
obj3->setLocation(off_x, 12, 0);
obj3->setColor_u8(0xff, 0x00, 0x00, 0x80);
theScene->insert(obj3);
auto gl_txt = opengl::CText::Create("CFrustum");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// Cylinder
{
auto obj = opengl::CCylinder::Create(2, 2, 4, 20);
obj->setLocation(off_x, 0, 0);
obj->setColor(0, 0, 0.8f);
theScene->insert(obj);
auto obj2 = opengl::CCylinder::Create(2, 1, 4, 20);
obj2->setLocation(off_x, 6, 0);
obj2->setColor(0, 0, 0.8f);
theScene->insert(obj2);
auto obj3 = opengl::CCylinder::Create(2, 0, 4, 20);
obj3->setLocation(off_x, -6, 0);
obj3->setColor(0, 0, 0.8f);
theScene->insert(obj3);
auto gl_txt = opengl::CText::Create("CCylinder");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// CDisk
{
{
auto obj = opengl::CDisk::Create(2.0f, 1.8f, 50);
obj->setLocation(off_x, 0, 0);
obj->setColor(0.8f, 0, 0);
theScene->insert(obj);
}
{
auto obj = opengl::CDisk::Create(2.0f, 0, 50);
obj->setLocation(off_x, 5, 0);
obj->setColor(0.8f, 0, 0);
theScene->insert(obj);
}
auto gl_txt = opengl::CText::Create("CDisk");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// CEllipsoid3D
{
const double cov3d_dat[] = {0.9, 0.7, -0.4, 0.7, 1.6,
-0.6, -0.4, -0.6, 1.5};
const double cov2d_dat[] = {0.9, 0.7, 0.7, 1.6};
mrpt::math::CMatrixDouble22 cov2d(cov2d_dat);
mrpt::math::CMatrixDouble33 cov3d(cov3d_dat);
{
auto obj = opengl::CEllipsoid2D::Create();
obj->setCovMatrix(cov2d);
obj->setLocation(off_x, 6, 0);
obj->setQuantiles(2.0);
theScene->insert(obj);
}
{
auto obj = opengl::CEllipsoid2D::Create();
obj->setCovMatrix(cov2d);
obj->setLocation(off_x, 12, 0);
obj->enableDrawSolid3D(true);
obj->setQuantiles(2.0);
theScene->insert(obj);
}
{
auto obj = opengl::CEllipsoid3D::Create();
obj->setCovMatrix(cov3d);
obj->setQuantiles(2.0);
obj->enableDrawSolid3D(false);
obj->setLocation(off_x, 0, 0);
theScene->insert(obj);
}
{
auto obj = opengl::CEllipsoid3D::Create();
obj->setCovMatrix(cov3d);
obj->setQuantiles(2.0);
obj->enableDrawSolid3D(true);
obj->setLocation(off_x, -6, 0);
theScene->insert(obj);
}
auto gl_txt = opengl::CText::Create("CEllipsoid3D");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// CEllipsoidRangeBearing2D
{ // (range,bearing) -> (x,y)
const double cov_params_dat[] = {0.2, 0, 0, 0.1};
const double mean_params_dat[] = {3.0, 0.5};
mrpt::math::CMatrixFixed<double, 2, 2> cov_params(cov_params_dat);
mrpt::math::CMatrixFixed<double, 2, 1> mean_params(mean_params_dat);
{
auto obj = opengl::CEllipsoidRangeBearing2D::Create();
obj->setCovMatrixAndMean(cov_params, mean_params);
obj->setLocation(off_x, 6, 0);
obj->setQuantiles(2.0f);
// obj->setNumberOfSegments(50);
theScene->insert(obj);
auto obj_corner = opengl::stock_objects::CornerXYSimple(1, 3);
obj_corner->setLocation(off_x, 6, 0);
theScene->insert(obj_corner);
}
}
{ // (range,bearing) -> (x,y)
const double cov_params_dat[] = {0.2, 0.09, 0.09, 0.1};
const double mean_params_dat[] = {5.0, -0.5};
mrpt::math::CMatrixFixed<double, 2, 2> cov_params(cov_params_dat);
mrpt::math::CMatrixFixed<double, 2, 1> mean_params(mean_params_dat);
{
auto obj = opengl::CEllipsoidRangeBearing2D::Create();
obj->setCovMatrixAndMean(cov_params, mean_params);
obj->setLocation(off_x, 0, 0);
obj->setQuantiles(2.0f);
// obj->setNumberOfSegments(50);
theScene->insert(obj);
auto obj_corner = opengl::stock_objects::CornerXYSimple(1, 3);
obj_corner->setLocation(off_x, 0, 0);
theScene->insert(obj_corner);
}
auto gl_txt = opengl::CText::Create("CEllipsoidRangeBearing2D");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// CEllipsoidInverseDepth2D
{ // (inv_range,yaw) -> (x,y)
// Formula from our book (ch8) for confidence intervals of 3sigmas:
const double max_dist = 1e4;
const double min_dist = 1;
const double rho_mean = 0.5 * (1. / min_dist + 1. / max_dist);
const double rho_std = (1. / 6.) * (1. / min_dist - 1. / max_dist);
const double cov_params_dat[] = {
square(rho_std), 0, 0, square(2.0_deg)};
const double mean_params_dat[] = {rho_mean, 70.0_deg};
mrpt::math::CMatrixFixed<double, 2, 2> cov_params(cov_params_dat);
mrpt::math::CMatrixFixed<double, 2, 1> mean_params(mean_params_dat);
{
auto obj = opengl::CEllipsoidInverseDepth2D::Create();
obj->setCovMatrixAndMean(cov_params, mean_params);
obj->setLocation(off_x, 6, 0);
obj->setQuantiles(3.f);
obj->setNumberOfSegments(100);
theScene->insert(obj);
auto obj_corner = opengl::stock_objects::CornerXYSimple(1, 3);
obj_corner->setLocation(off_x, 6, 0);
theScene->insert(obj_corner);
}
auto gl_txt = opengl::CText::Create("CEllipsoidInverseDepth2D");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// CEllipsoidInverseDepth3D
{ // (inv_range,yaw,pitch) -> (x,y,z)
// Formula from our book (ch8) for confidence intervals of 3sigmas:
const double max_dist = 1e2;
const double min_dist = 1;
const double rho_mean = 0.5 * (1. / min_dist + 1. / max_dist);
const double rho_std = (1. / 6.) * (1. / min_dist - 1. / max_dist);
const double cov_params_dat[] = {square(rho_std), 0, 0, 0,
square(2.0_deg), 0, 0, 0,
square(2.0_deg)};
const double mean_params_dat[] = {rho_mean, 30.0_deg, -45.0_deg};
mrpt::math::CMatrixFixed<double, 3, 3> cov_params(cov_params_dat);
mrpt::math::CMatrixFixed<double, 3, 1> mean_params(mean_params_dat);
{
auto obj = opengl::CEllipsoidInverseDepth3D::Create();
obj->setCovMatrixAndMean(cov_params, mean_params);
obj->setLocation(off_x, 0, 0);
obj->setQuantiles(3.f);
// obj->setNumberOfSegments(50);
theScene->insert(obj);
auto obj_corner = opengl::stock_objects::CornerXYZSimple(1, 3);
obj_corner->setLocation(off_x, 0, 0);
theScene->insert(obj_corner);
}
auto gl_txt = opengl::CText::Create("CEllipsoidInverseDepth3D");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// CMesh3D
{
auto obj = opengl::CMesh3D::Create();
obj->enableShowEdges(false);
obj->enableShowFaces(true);
obj->enableShowVertices(false);
obj->setLocation(off_x, 0, 0);
const unsigned int rows = 200, cols = 200;
const unsigned int num_verts = (rows + 1) * (cols + 1);
const unsigned int num_faces = rows * cols;
int* vert_per_face = new int[num_faces];
int* face_verts = new int[4 * num_faces];
float* vert_coords = new float[3 * num_verts];
// Assign vertices to faces and set them to be Quads
unsigned int first_ind = 0;
for (unsigned int u = 0; u < cols; u++)
{
for (unsigned int v = 0; v < rows; v++)
{
const unsigned int face_ind = v + u * rows;
vert_per_face[face_ind] = 4;
face_verts[4 * face_ind] = first_ind;
face_verts[4 * face_ind + 1] = first_ind + 1;
face_verts[4 * face_ind + 2] = first_ind + rows + 2;
face_verts[4 * face_ind + 3] = first_ind + rows + 1;
first_ind++;
}
first_ind++;
}
// Create vert coords
for (unsigned int u = 0; u <= cols; u++)
for (unsigned int v = 0; v <= rows; v++)
{
const unsigned int vert_ind = v + u * (rows + 1);
vert_coords[3 * vert_ind] = (2.f - 0.01f * u) *
(2.f + cos(0.01f * M_PI * v)) * cos(0.01f * M_PI * u);
vert_coords[3 * vert_ind + 1] = (2.f - 0.01f * u) *
(2.f + cos(0.01f * M_PI * v)) * sin(0.01f * M_PI * u);
vert_coords[3 * vert_ind + 2] =
3.f * 0.01f * u + (2.f - 0.01f * u) * sin(0.01f * M_PI * v);
}
obj->loadMesh(
num_verts, num_faces, vert_per_face, face_verts, vert_coords);
theScene->insert(obj);
auto gl_txt = opengl::CText::Create("CMesh3D");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// CMeshFast, CMesh:
{
opengl::CMeshFast::Ptr obj1 = opengl::CMeshFast::Create();
opengl::CMeshFast::Ptr obj2 = opengl::CMeshFast::Create();
opengl::CMesh::Ptr obj3 = opengl::CMesh::Create();
opengl::CMesh::Ptr obj4 = opengl::CMesh::Create();
obj1->setXBounds(-1, 1);
obj1->setYBounds(-1, 1);
const int W = 128, H = 128;
mrpt::math::CMatrixDynamic<float> Z(H, W);
for (int r = 0; r < H; r++)
for (int c = 0; c < W; c++)
Z(r, c) = sin(0.05 * (c + r) - 0.5) * cos(0.9 - 0.03 * r);
const std::string texture_file = mrpt::system::getShareMRPTDir() +
"datasets/sample-texture-terrain.jpg"s;
mrpt::img::CImage im;
// obj1:
obj1->setZ(Z);
obj1->enableColorFromZ(true);
obj1->setPointSize(2.0);
obj1->setLocation(off_x, 0, 0);
theScene->insert(obj1);
// obj 2:
if (im.loadFromFile(texture_file))
{
obj2->assignImageAndZ(im, Z);
obj2->setPointSize(2.0);
obj2->setLocation(off_x, 3, 0);
theScene->insert(obj2);
}
{
auto gl_txt = opengl::CText::Create("CMeshFast");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// obj 3:
obj3->setZ(Z);
obj3->enableColorFromZ(true, mrpt::img::cmJET);
obj3->enableWireFrame(true);
obj3->setLocation(off_x, 0, 0);
obj3->cullFaces(mrpt::opengl::TCullFace::BACK);
theScene->insert(obj3);
// obj 4:
if (im.getWidth() > 1)
{
obj4->assignImageAndZ(im, Z);
obj4->setLocation(off_x, 3, 0);
obj4->cullFaces(mrpt::opengl::TCullFace::BACK);
theScene->insert(obj4);
}
{
auto gl_txt = opengl::CText::Create("CMesh");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
}
off_x += STEP_X;
// CPointCloud
{
auto obj = opengl::CPointCloud::Create();
obj->setLocation(off_x, 0, 0);
theScene->insert(obj);
obj->setPointSize(1.0);
obj->enableColorFromY();
for (int i = 0; i < 100000; i++)
obj->insertPoint(
rng.drawUniform<float>(-5, 5), rng.drawUniform<float>(-5, 5),
rng.drawUniform<float>(-5, 5));
auto gl_txt = opengl::CText::Create("CPointCloud");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// CPointCloudColoured
{
auto obj = opengl::CPointCloudColoured::Create();
obj->setLocation(off_x, 0, 0);
theScene->insert(obj);
obj->setPointSize(1.0);
for (int i = 0; i < 200; i++)
obj->push_back(
rng.drawUniform<float>(-5, 5), rng.drawUniform<float>(-5, 5),
rng.drawUniform<float>(-5, 5), rng.drawUniform<float>(0, 1),
rng.drawUniform<float>(0, 1), rng.drawUniform<float>(0, 1));
auto gl_txt = opengl::CText::Create("CPointCloudColoured");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// CPolyhedron
{
{
auto obj = opengl::CPolyhedron::CreateCuboctahedron(1.0);
obj->setLocation(off_x, 0, 0);
obj->setWireframe(true);
theScene->insert(obj);
}
{
auto obj = opengl::CPolyhedron::CreateDodecahedron(1.0);
obj->setLocation(off_x, -5, 0);
theScene->insert(obj);
}
{
auto obj = opengl::CPolyhedron::CreateIcosahedron(1.0);
obj->setLocation(off_x, 5, 0);
theScene->insert(obj);
}
auto gl_txt = opengl::CText::Create("CPolyhedron");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// CSphere
{
{
auto obj = opengl::CSphere::Create(3.0);
obj->setLocation(off_x, 0, 0);
theScene->insert(obj);
}
auto gl_txt = opengl::CText::Create("CSphere");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// CText
{
{
auto obj = opengl::CText::Create(
"This is a CText example! My size is invariant to "
"eye-distance");
obj->setLocation(off_x, 0, 0);
theScene->insert(obj);
}
auto gl_txt = opengl::CText::Create("CText");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// CText3D
{
{
auto obj = opengl::CText3D::Create("I'm a cool CText3D!");
obj->setLocation(off_x, 0, 0);
theScene->insert(obj);
}
{
auto obj = opengl::CText3D::Create("A rotated CText3D");
obj->setPose(
mrpt::poses::CPose3D(off_x, 0, 0, 0, 0, 0) +
mrpt::poses::CPose3D::FromString("[0 5 0 180 0 90]"));
theScene->insert(obj);
}
auto gl_txt = opengl::CText::Create("CText3D");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// CColorMap
{
{
auto obj = opengl::CColorBar::Create(
mrpt::img::cmHOT, 0.2, 1.0, 0.0, 1.0, -50.0, 100.0,
"%7.02f m/s");
obj->setLocation(off_x, 0, 0);
theScene->insert(obj);
}
auto gl_txt = opengl::CText::Create("CColorBar");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// CSetOfLines
{
for (int rep = 0; rep < 2; rep++)
{
auto obj = opengl::CSetOfLines::Create();
obj->setLocation(off_x, rep * 20, 0);
for (int i = 0; i < 15; i++)
obj->appendLine(
rng.drawUniform(-5, 5), rng.drawUniform(-5, 5),
rng.drawUniform(-5, 5), rng.drawUniform(-5, 5),
rng.drawUniform(-5, 5), rng.drawUniform(-5, 5));
if (rep == 1) obj->setVerticesPointSize(5.0f);
theScene->insert(obj);
}
auto gl_txt = opengl::CText::Create("CSetOfLines");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// CSimpleLine
{
{
auto obj = opengl::CSimpleLine::Create();
obj->setLocation(off_x, 0, 0);
obj->setLineCoords(
rng.drawUniform<float>(-5, 5), rng.drawUniform<float>(-5, 5),
rng.drawUniform<float>(-5, 5), rng.drawUniform<float>(-5, 5),
rng.drawUniform<float>(-5, 5), rng.drawUniform<float>(-5, 5));
theScene->insert(obj);
}
auto gl_txt = opengl::CText::Create("CSimpleLine");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// CVectorField2D
{
{
auto obj = opengl::CVectorField2D::Create();
obj->setLocation(off_x, 0, 0);
CMatrixFloat x(16, 16), y(16, 16);
for (int i = 0; i < x.rows(); i++)
for (int j = 0; j < x.cols(); j++)
{
x(i, j) = sin(0.3 * i);
y(i, j) = cos(0.3 * i);
}
obj->setVectorField(x, y);
obj->setPointColor(1, 0.3f, 0);
obj->setVectorFieldColor(0, 0, 1);
obj->setPointSize(3.0);
obj->setLineWidth(2.0);
obj->setGridCenterAndCellSize(0, 0, 1.2f, 1.2f);
obj->adjustVectorFieldToGrid();
theScene->insert(obj);
}
auto gl_txt = opengl::CText::Create("CVectorField2D");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// CVectorField3D
{
{
const unsigned int num = 20;
const float scale = 0.8 * STEP_X / num;
auto obj = opengl::CVectorField3D::Create();
obj->setLocation(off_x, -0.5 * scale * num, 0); //
CMatrixFloat x(num, num), y(num, num), z(num, num);
CMatrixFloat vx(num, num), vy(num, num), vz(num, num);
for (int i = 0; i < x.rows(); i++)
for (int j = 0; j < x.cols(); j++)
{
x(i, j) = (i - 0.5 * num) * scale;
y(i, j) = j * scale;
z(i, j) = 3 * sin(0.3 * i) * cos(0.3 * j);
vx(i, j) = 0.4 * sin(0.3 * i);
vy(i, j) = 0.8 * cos(0.3 * i);
vz(i, j) = 0.01 * i * j;
}
obj->setPointCoordinates(x, y, z);
obj->setVectorField(vx, vy, vz);
obj->setPointColor(1, 0.3f, 0);
obj->setVectorFieldColor(0, 0, 1);
obj->setPointSize(3.0);
obj->setLineWidth(2.0);
obj->enableColorFromModule();
obj->setMaxSpeedForColor(3.0);
obj->setMotionFieldColormap(0, 0, 1, 1, 0, 0);
theScene->insert(obj);
}
auto gl_txt = opengl::CText::Create("CVectorField3D");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// stock_objects::BumblebeeCamera
{
{
auto obj = opengl::stock_objects::BumblebeeCamera();
obj->setLocation(off_x, 0, 0);
theScene->insert(obj);
}
auto gl_txt = opengl::CText::Create("stock_objects::BumblebeeCamera()");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// stock_objects::CornerXYSimple
{
{
auto obj = opengl::stock_objects::CornerXYSimple(1, 3);
obj->setLocation(off_x, 0, 0);
theScene->insert(obj);
}
auto gl_txt = opengl::CText::Create("stock_objects::CornerXYSimple()");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// stock_objects::CornerXYZSimple
{
{
auto obj = opengl::stock_objects::CornerXYZSimple(1, 3);
obj->setLocation(off_x, 0, 0);
theScene->insert(obj);
}
auto gl_txt = opengl::CText::Create("stock_objects::CornerXYZSimple()");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// stock_objects::CornerXYZ
{
{
auto obj = opengl::stock_objects::CornerXYZ();
obj->setLocation(off_x, 0, 0);
theScene->insert(obj);
}
auto gl_txt = opengl::CText::Create("stock_objects::CornerXYZ()");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// CSetOfTriangles: tested via stock_objects:
// stock_objects::RobotPioneer
{
{
auto obj = opengl::stock_objects::RobotPioneer();
obj->setLocation(off_x, 0, 0);
theScene->insert(obj);
}
auto gl_txt = opengl::CText::Create("stock_objects::RobotPioneer()");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// stock_objects::Hokuyo_URG
{
{
auto obj = opengl::stock_objects::Hokuyo_URG();
obj->setLocation(off_x, 0, 0);
theScene->insert(obj);
}
auto gl_txt = opengl::CText::Create("stock_objects::Hokuyo_URG()");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// stock_objects::Hokuyo_UTM
{
{
auto obj = opengl::stock_objects::Hokuyo_UTM();
obj->setLocation(off_x, 0, 0);
theScene->insert(obj);
}
auto gl_txt = opengl::CText::Create("stock_objects::Hokuyo_UTM()");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// stock_objects::Househam_Sprayer
{
{
auto obj = opengl::stock_objects::Househam_Sprayer();
obj->setLocation(off_x, 0, 0);
theScene->insert(obj);
}
auto gl_txt =
opengl::CText::Create("stock_objects::Househam_Sprayer()");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// stock_objects::RobotRhodon
{
{
auto obj = opengl::stock_objects::RobotRhodon();
obj->setLocation(off_x, 0, 0);
theScene->insert(obj);
}
auto gl_txt = opengl::CText::Create("stock_objects::RobotRhodon()");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// CPlanarLaserScan
{
auto obj = mrpt::opengl::CPlanarLaserScan::Create();
obj->setPose(mrpt::poses::CPose3D(off_x, 0, 0, 90.0_deg, 0, 0));
mrpt::obs::CObservation2DRangeScan scan;
mrpt::obs::stock_observations::example2DRangeScan(scan);
obj->setScan(scan);
theScene->insert(obj);
auto gl_txt = opengl::CText::Create("CPlanarLaserScan");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// CTexturedPlane
{
mrpt::img::CImage pic, picAlpha;
const size_t W = 256, H = 256;
pic.resize(W, H, mrpt::img::CH_RGB);
picAlpha.resize(W, H, mrpt::img::CH_GRAY);
pic.filledRectangle(0, 0, W - 1, H - 1, mrpt::img::TColor::black());
pic.filledRectangle(0, 0, W / 4, H / 2, mrpt::img::TColor::white());
picAlpha.filledRectangle(
0, 0, W - 1, H - 1, mrpt::img::TColor(0x55, 0x55, 0x55));
picAlpha.filledRectangle(
0, 0, W / 4, H / 2, mrpt::img::TColor(0xa0, 0xa0, 0xa0));
{
opengl::CTexturedPlane::Ptr obj = opengl::CTexturedPlane::Create();
obj->setPose(mrpt::poses::CPose3D(off_x, 0, 0, 0, 90.0_deg, 0));
obj->assignImage(pic);
theScene->insert(obj);
}
{
opengl::CTexturedPlane::Ptr obj = opengl::CTexturedPlane::Create();
obj->setPose(mrpt::poses::CPose3D(off_x, 4.0, 0, 0, 90.0_deg, 0));
obj->assignImage(pic, picAlpha);
theScene->insert(obj);
}
// a plane w/o a texture is a plain color plane:
{
opengl::CTexturedPlane::Ptr obj = opengl::CTexturedPlane::Create();
obj->setPose(mrpt::poses::CPose3D(off_x, 8.0, 0, 0, 90.0_deg, 0));
obj->setColor_u8(0xff, 0x00, 0x00, 0xff);
theScene->insert(obj);
}
{
opengl::CTexturedPlane::Ptr obj = opengl::CTexturedPlane::Create();
obj->setPose(mrpt::poses::CPose3D(off_x, 12.0, 0, 0, 90.0_deg, 0));
obj->setColor_u8(0xff, 0x00, 0x00, 0x40);
theScene->insert(obj);
}
auto gl_txt = opengl::CText::Create("CTexturedPlane");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// COctoMapVoxels
{
mrpt::maps::COctoMap map(0.2);
// Insert 2D scan:
mrpt::obs::CObservation2DRangeScan scan1;
mrpt::obs::stock_observations::example2DRangeScan(scan1);
map.insertObservation(scan1);
auto gl_map1 = mrpt::opengl::COctoMapVoxels::Create();
auto gl_map2 = mrpt::opengl::COctoMapVoxels::Create();
auto gl_map3 = mrpt::opengl::COctoMapVoxels::Create();
map.getAsOctoMapVoxels(*gl_map1);
map.getAsOctoMapVoxels(*gl_map2);
// map.renderingOptions.generateGridLines = true;
map.getAsOctoMapVoxels(*gl_map3);
gl_map1->showGridLines(false);
gl_map1->showVoxelsAsPoints(true);
gl_map1->setPointSize(3.0);
gl_map1->setLocation(off_x, 0, 0);
theScene->insert(gl_map1);
gl_map2->showVoxelsAsPoints(false);
gl_map2->showVoxels(VOXEL_SET_OCCUPIED, true);
gl_map2->showVoxels(VOXEL_SET_FREESPACE, true);
gl_map2->setLocation(off_x, 4, 0);
theScene->insert(gl_map2);
gl_map3->showVoxelsAsPoints(true);
gl_map3->showGridLines(true);
gl_map3->setLocation(off_x, 8, 0);
theScene->insert(gl_map3);
auto gl_txt = opengl::CText::Create("COctoMapVoxels");
gl_txt->setLocation(off_x, off_y_label, 0);
theScene->insert(gl_txt);
}
off_x += STEP_X;
// Arrow to show the light direction:
auto glLightArrow = opengl::CArrow::Create(
mrpt::math::TPoint3Df(0, 0, 0), mrpt::math::TPoint3Df(1, 0, 0));
glLightArrow->setLocation(off_x / 2, 0, 10.0);
glLightArrow->setColor(0, 1, 0);
glLightArrow->setName("Light");
glLightArrow->enableShowName();
theScene->insert(glLightArrow);
// Add image-mode viewport:
{
const std::string img_file = mrpt::system::getShareMRPTDir() +
"datasets/stereo-calib/0_left.jpg"s;
mrpt::img::CImage im;
if (im.loadFromFile(img_file))
{
auto glView = theScene->createViewport("image1");
glView->setViewportPosition(0.7, 0, 0.3, 0.3);
glView->setImageView(im);
glView->setBorderSize(1);
}
}
// Zoom out:
win.setCameraZoom(250);
// IMPORTANT!!! IF NOT UNLOCKED, THE WINDOW WILL NOT BE UPDATED!
win.unlockAccess3DScene();
win.repaint();
cout << "Close the window to end.\n";
mrpt::opengl::TFontParams fp;
fp.vfont_scale = 14; // pixels
fp.draw_shadow = true;
win.addTextMessage(5, 5, "", 0 /*id*/, fp);
mrpt::opengl::TLightParameters& lights =
theScene->getViewport()->lightParameters();
lights.ambient = {0.2, 0.2, 0.2, 1};
while (win.isOpen())
{
// Lights:
const double t = mrpt::Clock::nowDouble();
const auto lightDir = mrpt::poses::CPose3D::FromXYZYawPitchRoll(
glLightArrow->getPoseX(), glLightArrow->getPoseY(),
glLightArrow->getPoseZ(), t * 10.0_deg, 45.0_deg, 0.0_deg);
glLightArrow->setPose(lightDir);
lights.direction =
lightDir.getRotationMatrix().extractColumn<mrpt::math::TVector3Df>(
0);
win.updateTextMessage(
0 /*id*/,
format("Render time=%.03fms", 1e3 / win.getRenderingFPS()));
std::this_thread::sleep_for(2ms);
win.repaint();
}
}
// ------------------------------------------------------
// MAIN
// ------------------------------------------------------
int main()
{
try
{
TestOpenGLObjects();
return 0;
}
catch (const std::exception& e)
{
std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << std::endl;
return -1;
}
catch (...)
{
printf("Untyped exception!!");
return -1;
}
}
CMakeLists.txt
cmake_minimum_required(VERSION 3.1)
project(mrpt_tutorial)
# Find all MRPT libraries:
find_package(MRPT 2.0 COMPONENTS poses gui maps opengl obs system math OPTIONAL_COMPONENTS vision)
message(STATUS "MRPT_VERSION: ${MRPT_VERSION}")
message(STATUS "MRPT_LIBRARIES: ${MRPT_LIBRARIES}")
# Define your own targets:
add_executable(myapp main.cpp)
# Link against MRPT: this will also add all required flags,
# include directories, etc.
target_link_libraries(myapp ${MRPT_LIBRARIES})
効果
