WIP: new mrpt-viz library

MRPT · Jan 4, 2025 · 2d823b6 · 2d823b6
1 parent 2270811
commit 2d823b6
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Showing 111 changed files with 18,018 additions and 236 deletions.
diff --git a/libs/opengl/include/mrpt/opengl/CPointCloud.h b/libs/opengl/include/mrpt/opengl/CPointCloud.h
@@ -54,9 +54,6 @@ class CPointCloud :
    * to have an easy to use name. */
   std::vector<mrpt::math::TPoint3Df>& m_points = CRenderizableShaderPoints::m_vertex_buffer_data;
 
-  /** Default: false */
-  bool m_pointSmooth = false;
-
   mutable size_t m_last_rendered_count{0}, m_last_rendered_count_ongoing{0};
 
   /** Do needed internal work if all points are new (octree rebuilt,...) */
@@ -285,13 +282,6 @@ class CPointCloud :
     CRenderizable::notifyChange();
   }
 
-  void enablePointSmooth(bool enable = true)
-  {
-    m_pointSmooth = enable;
-    CRenderizable::notifyChange();
-  }
-  void disablePointSmooth() { m_pointSmooth = false; }
-  bool isPointSmoothEnabled() const { return m_pointSmooth; }
   /** Sets the colors used as extremes when colorFromDepth is enabled. */
   void setGradientColors(const mrpt::img::TColorf& colorMin, const mrpt::img::TColorf& colorMax);
 

diff --git a/libs/opengl/include/mrpt/opengl/CRenderizableShaderTriangles.h b/libs/opengl/include/mrpt/opengl/CRenderizableShaderTriangles.h
@@ -50,17 +50,6 @@ class CRenderizableShaderTriangles : public virtual CRenderizable
     m_vao.destroy();
   }
 
-  bool isLightEnabled() const { return m_enableLight; }
-  void enableLight(bool enable = true) { m_enableLight = enable; }
-
-  /** Control whether to render the FRONT, BACK, or BOTH (default) set of
-   * faces. Refer to docs for glCullFace().
-   * Example: If set to `cullFaces(TCullFace::BACK);`, back faces will not be
-   * drawn ("culled")
-   */
-  void cullFaces(const TCullFace& cf) { m_cullface = cf; }
-  TCullFace cullFaces() const { return m_cullface; }
-
   /** @name Raw access to triangle shader buffer data
    * @{ */
   const auto& shaderTrianglesBuffer() const { return m_triangles; }
@@ -75,15 +64,9 @@ class CRenderizableShaderTriangles : public virtual CRenderizable
   /** Returns the bounding box of m_triangles, or (0,0,0)-(0,0,0) if empty. */
   const mrpt::math::TBoundingBoxf trianglesBoundingBox() const;
 
-  void params_serialize(mrpt::serialization::CArchive& out) const;
-  void params_deserialize(mrpt::serialization::CArchive& in);
-
  private:
   mutable Buffer m_trianglesBuffer;
   mutable VertexArrayObject m_vao;
-
-  bool m_enableLight = true;
-  TCullFace m_cullface = TCullFace::NONE;
 };
 
 }  // namespace mrpt::opengl
diff --git a/libs/opengl/include/mrpt/opengl/CRenderizableShaderWireFrame.h b/libs/opengl/include/mrpt/opengl/CRenderizableShaderWireFrame.h
@@ -39,19 +39,6 @@ class CRenderizableShaderWireFrame : public virtual CRenderizable
    * to be drawn in "m_*_buffer" fields. */
   virtual void onUpdateBuffers_Wireframe() = 0;
 
-  void setLineWidth(float w)
-  {
-    m_lineWidth = w;
-    CRenderizable::notifyChange();
-  }
-  float getLineWidth() const { return m_lineWidth; }
-  void enableAntiAliasing(bool enable = true)
-  {
-    m_antiAliasing = enable;
-    CRenderizable::notifyChange();
-  }
-  bool isAntiAliasingEnabled() const { return m_antiAliasing; }
-
   // See base docs
   void freeOpenGLResources() override
   {
@@ -73,9 +60,6 @@ class CRenderizableShaderWireFrame : public virtual CRenderizable
   mutable std::vector<mrpt::img::TColor> m_color_buffer_data;
   mutable mrpt::containers::NonCopiableData<std::shared_mutex> m_wireframeMtx;
 
-  float m_lineWidth = 1.0f;
-  bool m_antiAliasing = false;
-
   /** Returns the bounding box of m_vertex_buffer_data, or (0,0,0)-(0,0,0) if
    * empty. */
   const mrpt::math::TBoundingBox wireframeVerticesBoundingBox() const;

diff --git a/libs/opengl/src/CPointCloud.cpp b/libs/opengl/src/CPointCloud.cpp
@@ -202,7 +202,6 @@ void CPointCloud::serializeTo(mrpt::serialization::CSchemeArchiveBase& out) cons
   out["colorFromDepth_max"]["R"] = m_colorFromDepth_max.R;
   out["colorFromDepth_max"]["G"] = m_colorFromDepth_max.G;
   out["colorFromDepth_max"]["B"] = m_colorFromDepth_max.B;
-  out["pointSmooth"] = m_pointSmooth;
 }
 void CPointCloud::serializeFrom(mrpt::serialization::CSchemeArchiveBase& in)
 {
@@ -232,7 +231,6 @@ void CPointCloud::serializeFrom(mrpt::serialization::CSchemeArchiveBase& in)
       m_colorFromDepth_max.R = static_cast<float>(in["colorFromDepth_max"]["R"]);
       m_colorFromDepth_max.G = static_cast<float>(in["colorFromDepth_max"]["G"]);
       m_colorFromDepth_max.B = static_cast<float>(in["colorFromDepth_max"]["B"]);
-      m_pointSmooth = static_cast<bool>(in["pointSmooth"]);
     }
     break;
     default:

diff --git a/libs/opengl/src/CRenderizableShaderPoints.cpp b/libs/opengl/src/CRenderizableShaderPoints.cpp
@@ -132,18 +132,3 @@ void CRenderizableShaderPoints::params_deserialize(mrpt::serialization::CArchive
       MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
   };
 }
-
-const mrpt::math::TBoundingBoxf CRenderizableShaderPoints::verticesBoundingBox() const
-{
-  std::shared_lock<std::shared_mutex> wfReadLock(CRenderizableShaderPoints::m_pointsMtx.data);
-
-  mrpt::math::TBoundingBoxf bb;
-
-  if (m_vertex_buffer_data.empty()) return bb;
-
-  bb = mrpt::math::TBoundingBoxf::PlusMinusInfinity();
-
-  for (const auto& p : m_vertex_buffer_data) bb.updateWithPoint(p);
-
-  return bb;
-}
diff --git a/libs/opengl/src/CRenderizableShaderTexturedTriangles.cpp b/libs/opengl/src/CRenderizableShaderTexturedTriangles.cpp
@@ -185,74 +185,6 @@ void CRenderizableShaderTexturedTriangles::render(const RenderContext& rc) const
 #endif
 }
 
-void CRenderizableShaderTexturedTriangles::assignImage(const CImage& img, const CImage& imgAlpha)
-{
-  MRPT_START
-
-  CRenderizable::notifyChange();
-
-  m_glTexture.unloadTexture();
-
-  // Make a copy:
-  m_textureImage = img;
-  m_textureImageAlpha = imgAlpha;
-  m_textureImageAssigned = true;
-
-  m_enableTransparency = true;
-
-  MRPT_END
-}
-
-void CRenderizableShaderTexturedTriangles::assignImage(const CImage& img)
-{
-  MRPT_START
-
-  CRenderizable::notifyChange();
-
-  m_glTexture.unloadTexture();
-
-  // Make a shallow copy:
-  m_textureImage = img;
-  m_textureImageAssigned = true;
-
-  m_enableTransparency = false;
-
-  MRPT_END
-}
-
-void CRenderizableShaderTexturedTriangles::assignImage(CImage&& img, CImage&& imgAlpha)
-{
-  MRPT_START
-
-  CRenderizable::notifyChange();
-
-  m_glTexture.unloadTexture();
-
-  m_textureImage = std::move(img);
-  m_textureImageAlpha = std::move(imgAlpha);
-  m_textureImageAssigned = true;
-
-  m_enableTransparency = true;
-
-  MRPT_END
-}
-
-void CRenderizableShaderTexturedTriangles::assignImage(CImage&& img)
-{
-  MRPT_START
-
-  CRenderizable::notifyChange();
-
-  m_glTexture.unloadTexture();
-
-  m_textureImage = std::move(img);
-  m_textureImageAssigned = true;
-
-  m_enableTransparency = false;
-
-  MRPT_END
-}
-
 void CRenderizableShaderTexturedTriangles::initializeTextures() const
 {
 #if MRPT_HAS_OPENGL_GLUT || MRPT_HAS_EGL
@@ -298,83 +230,3 @@ CRenderizableShaderTexturedTriangles::~CRenderizableShaderTexturedTriangles()
               << mrpt::exception_to_str(e);
   }
 }
-
-void CRenderizableShaderTexturedTriangles::writeToStreamTexturedObject(
-    mrpt::serialization::CArchive& out) const
-{
-  uint8_t ver = 3;
-
-  out << ver;
-  out << m_enableTransparency << m_textureInterpolate << m_textureUseMipMaps;
-  out << m_textureImage;
-  if (m_enableTransparency) out << m_textureImageAlpha;
-  out << m_textureImageAssigned;
-  out << m_enableLight << static_cast<uint8_t>(m_cullface);  // v2
-}
-
-void CRenderizableShaderTexturedTriangles::readFromStreamTexturedObject(
-    mrpt::serialization::CArchive& in)
-{
-  uint8_t version;
-  in >> version;
-
-  switch (version)
-  {
-    case 0:
-    case 1:
-    case 2:
-    case 3:
-    {
-      in >> m_enableTransparency >> m_textureInterpolate;
-      if (version >= 3)
-      {
-        in >> m_textureUseMipMaps;
-      }
-      else
-      {
-        m_textureUseMipMaps = true;
-      }
-      in >> m_textureImage;
-      if (m_enableTransparency)
-      {
-        in >> m_textureImageAlpha;
-        assignImage(m_textureImage, m_textureImageAlpha);
-      }
-      else
-      {
-        assignImage(m_textureImage);
-      }
-      if (version >= 1)
-        in >> m_textureImageAssigned;
-      else
-        m_textureImageAssigned = true;
-
-      if (version >= 2)
-      {
-        in >> m_enableLight;
-        m_cullface = static_cast<TCullFace>(in.ReadAs<uint8_t>());
-      }
-    }
-    break;
-    default:
-      MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
-  };
-
-  CRenderizable::notifyChange();
-}
-
-const mrpt::math::TBoundingBoxf CRenderizableShaderTexturedTriangles::trianglesBoundingBox() const
-{
-  mrpt::math::TBoundingBoxf bb;
-
-  std::shared_lock<std::shared_mutex> readLock(m_trianglesMtx.data);
-
-  if (m_triangles.empty()) return bb;
-
-  bb = mrpt::math::TBoundingBoxf::PlusMinusInfinity();
-
-  for (const auto& t : m_triangles)
-    for (int i = 0; i < 3; i++) bb.updateWithPoint(t.vertices[i].xyzrgba.pt);
-
-  return bb;
-}
diff --git a/libs/opengl/src/CRenderizableShaderTriangles.cpp b/libs/opengl/src/CRenderizableShaderTriangles.cpp
@@ -185,23 +185,3 @@ const math::TBoundingBoxf CRenderizableShaderTriangles::trianglesBoundingBox() c
 
   return bb;
 }
-
-void CRenderizableShaderTriangles::params_serialize(mrpt::serialization::CArchive& out) const
-{
-  out.WriteAs<uint8_t>(0);  // serialization version
-  out << m_enableLight << static_cast<uint8_t>(m_cullface);
-}
-void CRenderizableShaderTriangles::params_deserialize(mrpt::serialization::CArchive& in)
-{
-  const auto version = in.ReadAs<uint8_t>();
-
-  switch (version)
-  {
-    case 0:
-      in >> m_enableLight;
-      m_cullface = static_cast<TCullFace>(in.ReadAs<uint8_t>());
-      break;
-    default:
-      MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
-  };
-}
diff --git a/libs/viz/CMakeLists.txt b/libs/viz/CMakeLists.txt
@@ -0,0 +1,19 @@
+# Lists of directories with source files:
+#  See "DeclareMRPTLib.cmake" for explanations
+# -------------------------------------------------
+
+#---------------------------------------------
+# Macro declared in "DeclareMRPTLib.cmake":
+#---------------------------------------------
+define_mrpt_lib(
+	# Lib name
+	viz
+	# Dependencies:
+	mrpt-poses
+	mrpt-img
+	)
+
+if(NOT BUILD_mrpt-viz)
+  return()
+endif()
+