Beispiel #1
0
/**
 * Generate 3 objects to work with - 1 sphere, 2 disks
 */
void generateObjects(CSetOfObjects::Ptr& world)
{
	CSphere::Ptr sph = mrpt::make_aligned_shared<CSphere>(0.5);
	sph->setLocation(0, 0, 0);
	sph->setColor(1, 0, 0);
	world->insert(sph);

	CDisk::Ptr pln = mrpt::make_aligned_shared<opengl::CDisk>();
	pln->setDiskRadius(2);
	pln->setPose(CPose3D(0, 0, 0, 0, DEG2RAD(5), DEG2RAD(5)));
	pln->setColor(0.8, 0, 0);
	world->insert(pln);

	{
		CDisk::Ptr pln = mrpt::make_aligned_shared<opengl::CDisk>();
		pln->setDiskRadius(2);
		pln->setPose(CPose3D(0, 0, 0, DEG2RAD(30), DEG2RAD(-20), DEG2RAD(-2)));
		pln->setColor(0.9, 0, 0);
		world->insert(pln);
	}
}
Beispiel #2
0
void display()
{
	CDisplayWindow3D window("Ray trace demo", 640, 480);
	window.setPos(10, 10);
	std::this_thread::sleep_for(20ms);
	COpenGLScene::Ptr scene1 = mrpt::make_aligned_shared<COpenGLScene>();
	// COpenGLScene::Ptr &scene1=window.get3DSceneAndLock();
	opengl::CGridPlaneXY::Ptr plane1 =
		mrpt::make_aligned_shared<CGridPlaneXY>(-20, 20, -20, 20, 0, 1);
	plane1->setColor(GRID_R, GRID_G, GRID_B);
	scene1->insert(plane1);
	scene1->insert(
		mrpt::make_aligned_shared<CAxis>(-5, -5, -5, 5, 5, 5, 2.5, 3, true));
	CSetOfObjects::Ptr world = mrpt::make_aligned_shared<CSetOfObjects>();
	generateObjects(world);
	scene1->insert(world);
	CPose3D basePose = randomPose();
	CAngularObservationMesh::Ptr aom =
		mrpt::make_aligned_shared<CAngularObservationMesh>();
	CTicTac t;
	t.Tic();
	CAngularObservationMesh::trace2DSetOfRays(
		scene1, basePose, aom,
		CAngularObservationMesh::TDoubleRange::CreateFromAmount(
			-M_PI / 2, 0, HOW_MANY_PITCHS),
		CAngularObservationMesh::TDoubleRange::CreateFromAperture(
			M_PI, HOW_MANY_YAWS));
	cout << "Elapsed time: " << t.Tac() << " seconds.\n";
	aom->setColor(0, 1, 0);
	aom->setWireframe(true);
	// Comment to stop showing traced rays and scan range guidelines.
	CSetOfLines::Ptr traced = mrpt::make_aligned_shared<CSetOfLines>();
	CSetOfLines::Ptr guides = mrpt::make_aligned_shared<CSetOfLines>();
	aom->getTracedRays(traced);
	traced->setLineWidth(1.5);
	traced->setColor(1, 0, 0);
	guideLines(basePose, guides, 10);
	scene1->insert(traced);
	scene1->insert(guides);

	// Uncomment to show also traced rays who got lost.
	/*
	CSetOfLines::Ptr untraced=mrpt::make_aligned_shared<CSetOfLines>();
	aom->getUntracedRays(untraced,20);
	untraced->setLineWidth(1);
	untraced->setColor(1,1,1,0.5);
	scene1->insert(untraced);
	*/
	CSphere::Ptr point = mrpt::make_aligned_shared<CSphere>(0.2);
	point->setColor(0, 1, 0);
	point->setPose(basePose);
	scene1->insert(point);
	CDisplayWindow3D window2("Observed mesh", 640, 480);
	window2.setPos(660, 10);
	std::this_thread::sleep_for(20ms);
	window.get3DSceneAndLock() = scene1;
	window.unlockAccess3DScene();
	window.setCameraElevationDeg(25.0f);
	COpenGLScene::Ptr& scene2 = window2.get3DSceneAndLock();
	scene2->insert(aom);
	opengl::CGridPlaneXY::Ptr plane2 =
		mrpt::make_aligned_shared<CGridPlaneXY>(-20, 20, -20, 20, 0, 1);
	plane2->setColor(GRID_R, GRID_G, GRID_B);
	scene2->insert(plane2);
	scene2->insert(
		mrpt::make_aligned_shared<CAxis>(-5, -5, -5, 5, 5, 5, 2.5, 3, true));
	window2.unlockAccess3DScene();
	window2.setCameraElevationDeg(25.0f);

	window.waitForKey();
}