Пример #1
0
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);
}
Пример #2
0
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();
}