void CGlWidget::updateMinimapPos()
{
if (!m_is2D) return;
GLint win_dims[4];
glGetIntegerv(GL_VIEWPORT, win_dims);
COpenGLViewport::Ptr miniMap = getOpenGLSceneRef()->getViewport("miniMap");
float w = m_miniMapSize / win_dims[2];
float h = m_miniMapSize / win_dims[3];
miniMap->setViewportPosition(0.01, 0.01, w, h);
}
void CDifodoDatasets::initializeScene()
{
CPose3D rel_lenspose(0, -0.022, 0, 0, 0, 0);
global_settings::OCTREE_RENDER_MAX_POINTS_PER_NODE(1000000);
window.resize(1000, 900);
window.setPos(900, 0);
window.setCameraZoom(16);
window.setCameraAzimuthDeg(0);
window.setCameraElevationDeg(90);
window.setCameraPointingToPoint(0, 0, 0);
window.setCameraPointingToPoint(0, 0, 1);
scene = window.get3DSceneAndLock();
// Lights:
scene->getViewport()->setNumberOfLights(1);
CLight& light0 = scene->getViewport()->getLight(0);
light0.light_ID = 0;
light0.setPosition(0, 0, 1, 1);
// Grid (ground)
CGridPlaneXY::Ptr ground = mrpt::make_aligned_shared<CGridPlaneXY>();
scene->insert(ground);
// Reference
// CSetOfObjects::Ptr reference = stock_objects::CornerXYZ();
// scene->insert( reference );
// Cameras and points
//------------------------------------------------------
// DifOdo camera
CBox::Ptr camera_odo = mrpt::make_aligned_shared<CBox>(
math::TPoint3D(-0.02, -0.1, -0.01), math::TPoint3D(0.02, 0.1, 0.01));
camera_odo->setPose(cam_pose + rel_lenspose);
camera_odo->setColor(0, 1, 0);
scene->insert(camera_odo);
// Groundtruth camera
CBox::Ptr camera_gt = mrpt::make_aligned_shared<CBox>(
math::TPoint3D(-0.02, -0.1, -0.01), math::TPoint3D(0.02, 0.1, 0.01));
camera_gt->setPose(gt_pose + rel_lenspose);
camera_gt->setColor(1, 0, 0);
scene->insert(camera_gt);
// Frustum
opengl::CFrustum::Ptr FOV = mrpt::make_aligned_shared<opengl::CFrustum>(
0.3f, 2, 57.3f * fovh, 57.3f * fovv, 1.f, true, false);
FOV->setColor(0.7, 0.7, 0.7);
FOV->setPose(gt_pose);
scene->insert(FOV);
// Reference gt
CSetOfObjects::Ptr reference_gt = stock_objects::CornerXYZ();
reference_gt->setScale(0.2f);
reference_gt->setPose(gt_pose);
scene->insert(reference_gt);
// Camera points
CPointCloudColoured::Ptr cam_points =
mrpt::make_aligned_shared<CPointCloudColoured>();
cam_points->setColor(1, 0, 0);
cam_points->setPointSize(2);
cam_points->enablePointSmooth(1);
cam_points->setPose(cam_pose);
scene->insert(cam_points);
// Trajectories and covariance
//-------------------------------------------------------------
// Dif Odometry
CSetOfLines::Ptr traj_lines_odo = mrpt::make_aligned_shared<CSetOfLines>();
traj_lines_odo->setLocation(0, 0, 0);
traj_lines_odo->setColor(0, 0.6, 0);
traj_lines_odo->setLineWidth(6);
scene->insert(traj_lines_odo);
CPointCloud::Ptr traj_points_odo = mrpt::make_aligned_shared<CPointCloud>();
traj_points_odo->setColor(0, 0.6, 0);
traj_points_odo->setPointSize(4);
traj_points_odo->enablePointSmooth(1);
scene->insert(traj_points_odo);
// Groundtruth
CSetOfLines::Ptr traj_lines_gt = mrpt::make_aligned_shared<CSetOfLines>();
traj_lines_gt->setLocation(0, 0, 0);
traj_lines_gt->setColor(0.6, 0, 0);
traj_lines_gt->setLineWidth(6);
scene->insert(traj_lines_gt);
CPointCloud::Ptr traj_points_gt = mrpt::make_aligned_shared<CPointCloud>();
traj_points_gt->setColor(0.6, 0, 0);
traj_points_gt->setPointSize(4);
traj_points_gt->enablePointSmooth(1);
scene->insert(traj_points_gt);
// Ellipsoid showing covariance
math::CMatrixFloat33 cov3d = 20.f * est_cov.topLeftCorner(3, 3);
CEllipsoid::Ptr ellip = mrpt::make_aligned_shared<CEllipsoid>();
ellip->setCovMatrix(cov3d);
ellip->setQuantiles(2.0);
ellip->setColor(1.0, 1.0, 1.0, 0.5);
ellip->enableDrawSolid3D(true);
ellip->setPose(cam_pose + rel_lenspose);
scene->insert(ellip);
// User-interface information
utils::CImage img_legend;
img_legend.loadFromXPM(legend_xpm);
COpenGLViewport::Ptr legend = scene->createViewport("legend");
legend->setViewportPosition(20, 20, 332, 164);
legend->setImageView(img_legend);
window.unlockAccess3DScene();
window.repaint();
}
