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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -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() | ||
|
|
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| Original file line number | Diff line number | Diff line change |
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| /* +------------------------------------------------------------------------+ | ||
| | Mobile Robot Programming Toolkit (MRPT) | | ||
| | https://www.mrpt.org/ | | ||
| | | | ||
| | Copyright (c) 2005-2024, Individual contributors, see AUTHORS file | | ||
| | See: https://www.mrpt.org/Authors - All rights reserved. | | ||
| | Released under BSD License. See: https://www.mrpt.org/License | | ||
| +------------------------------------------------------------------------+ */ | ||
| #pragma once | ||
|
|
||
| #include <mrpt/viz/CVisualObject.h> | ||
|
|
||
| namespace mrpt::viz | ||
| { | ||
| /** A 3D arrow | ||
| * | ||
| *  | ||
| * | ||
| * \sa opengl::Scene | ||
| * \ingroup mrpt_viz_grp | ||
| */ | ||
| class CArrow : virtual public CVisualObject, public VisualObjectParams_Triangles | ||
| { | ||
| DEFINE_SERIALIZABLE(CArrow, mrpt::viz) | ||
| DEFINE_SCHEMA_SERIALIZABLE() | ||
|
|
||
| public: | ||
| void setArrowEnds(float x0, float y0, float z0, float x1, float y1, float z1) | ||
| { | ||
| m_x0 = x0; | ||
| m_y0 = y0; | ||
| m_z0 = z0; | ||
| m_x1 = x1; | ||
| m_y1 = y1; | ||
| m_z1 = z1; | ||
| CVisualObject::notifyChange(); | ||
| } | ||
| template <typename Vector3Like> | ||
| void setArrowEnds(const Vector3Like& start, const Vector3Like& end) | ||
| { | ||
| m_x0 = start[0]; | ||
| m_y0 = start[1]; | ||
| m_z0 = start[2]; | ||
| m_x1 = end[0]; | ||
| m_y1 = end[1]; | ||
| m_z1 = end[2]; | ||
| CVisualObject::notifyChange(); | ||
| } | ||
| void setHeadRatio(float rat) | ||
| { | ||
| m_headRatio = rat; | ||
| CVisualObject::notifyChange(); | ||
| } | ||
| void setSmallRadius(float rat) | ||
| { | ||
| m_smallRadius = rat; | ||
| CVisualObject::notifyChange(); | ||
| } | ||
| void setLargeRadius(float rat) | ||
| { | ||
| m_largeRadius = rat; | ||
| CVisualObject::notifyChange(); | ||
| } | ||
| /** Number of radial divisions */ | ||
| void setSlicesCount(uint32_t slices) | ||
| { | ||
| m_slices = slices; | ||
| CVisualObject::notifyChange(); | ||
| } | ||
|
|
||
| /** Number of radial divisions */ | ||
| uint32_t getSlicesCount() const { return m_slices; } | ||
|
|
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| mrpt::math::TBoundingBoxf internalBoundingBoxLocal() const override; | ||
|
|
||
| /** Constructor */ | ||
| CArrow( | ||
| float x0 = 0, | ||
| float y0 = 0, | ||
| float z0 = 0, | ||
| float x1 = 1, | ||
| float y1 = 1, | ||
| float z1 = 1, | ||
| float headRatio = 0.2f, | ||
| float smallRadius = 0.05f, | ||
| float largeRadius = 0.2f) : | ||
| m_x0(x0), | ||
| m_y0(y0), | ||
| m_z0(z0), | ||
| m_x1(x1), | ||
| m_y1(y1), | ||
| m_z1(z1), | ||
| m_headRatio(headRatio), | ||
| m_smallRadius(smallRadius), | ||
| m_largeRadius(largeRadius) | ||
| { | ||
| } | ||
|
|
||
| CArrow( | ||
| const mrpt::math::TPoint3Df& from, | ||
| const mrpt::math::TPoint3Df& to, | ||
| float headRatio = 0.2f, | ||
| float smallRadius = 0.05f, | ||
| float largeRadius = 0.2f) : | ||
| m_x0(from.x), | ||
| m_y0(from.y), | ||
| m_z0(from.z), | ||
| m_x1(to.x), | ||
| m_y1(to.y), | ||
| m_z1(to.z), | ||
| m_headRatio(headRatio), | ||
| m_smallRadius(smallRadius), | ||
| m_largeRadius(largeRadius) | ||
| { | ||
| } | ||
| ~CArrow() override = default; | ||
|
|
||
| protected: | ||
| mutable float m_x0, m_y0, m_z0; | ||
| mutable float m_x1, m_y1, m_z1; | ||
| float m_headRatio; | ||
| float m_smallRadius, m_largeRadius; | ||
| /** Number of radial divisions. */ | ||
| uint32_t m_slices = 10; | ||
| }; | ||
|
|
||
| } // namespace mrpt::viz |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,106 @@ | ||
| /* +------------------------------------------------------------------------+ | ||
| | Mobile Robot Programming Toolkit (MRPT) | | ||
| | https://www.mrpt.org/ | | ||
| | | | ||
| | Copyright (c) 2005-2024, Individual contributors, see AUTHORS file | | ||
| | See: https://www.mrpt.org/Authors - All rights reserved. | | ||
| | Released under BSD License. See: https://www.mrpt.org/License | | ||
| +------------------------------------------------------------------------+ */ | ||
| #pragma once | ||
|
|
||
| #include <mrpt/img/CImage.h> | ||
| #include <mrpt/viz/CVisualObject.h> | ||
|
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| #include <map> | ||
| #include <optional> | ||
|
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| namespace mrpt::viz | ||
| { | ||
| /** This class can load & render 3D models in a number of different formats | ||
| * (requires the library assimp). | ||
| * - All supported formats: | ||
| * http://assimp.sourceforge.net/main_features_formats.html | ||
| * - Most common ones: AutoCAD DXF ( .dxf ), Collada ( .dae ), Blender 3D ( | ||
| * .blend ), 3ds Max 3DS ( .3ds ), 3ds Max ASE ( .ase ), Quake I ( .mdl ), Quake | ||
| * II ( .md2 ), Quake III Mesh ( .md3 ), etc. | ||
| * | ||
| * Models are loaded via CAssimpModel::loadScene() | ||
| * | ||
| *  | ||
| * | ||
| * \sa opengl::Scene | ||
| * \ingroup mrpt_viz_grp | ||
| */ | ||
| class CAssimpModel : public CVisualObject | ||
| { | ||
| DEFINE_SERIALIZABLE(CAssimpModel, mrpt::viz) | ||
|
|
||
| public: | ||
| CAssimpModel(); | ||
| virtual ~CAssimpModel() override; | ||
|
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| /** Import flags for loadScene | ||
| * \note Not defined as ``enum class`` to allow C++-valid or-wise combinations | ||
| */ | ||
| struct LoadFlags | ||
| { | ||
| enum flags_t : uint32_t | ||
| { | ||
| /** See: aiProcessPreset_TargetRealtime_Fast */ | ||
| RealTimeFast = 0x0001, | ||
|
|
||
| /** See: aiProcessPreset_TargetRealtime_Quality */ | ||
| RealTimeQuality = 0x0002, | ||
|
|
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| /** See: aiProcessPreset_TargetRealtime_MaxQuality */ | ||
| RealTimeMaxQuality = 0x0004, | ||
|
|
||
| /** See: aiProcess_FlipUVs */ | ||
| FlipUVs = 0x0010, | ||
|
|
||
| /** MRPT-specific: ignore materials and replace by the base class | ||
| CRenderizable uniform color that was defined before calling | ||
| loadScene(). \note (New in MRPT 2.5.0) */ | ||
| IgnoreMaterialColor = 0x0100, | ||
|
|
||
| /** Displays messages on loaded textures, etc. */ | ||
| Verbose = 0x1000 | ||
| }; | ||
| }; | ||
|
|
||
| using filepath_t = std::string; | ||
|
|
||
| /** Loads a scene from a file in any supported file. | ||
| * \exception std::runtime_error On any error during loading or importing | ||
| * the file. | ||
| */ | ||
| void loadScene( | ||
| const std::string& file_name, | ||
| const int flags = LoadFlags::RealTimeMaxQuality | LoadFlags::FlipUVs | LoadFlags::Verbose); | ||
|
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| /** Empty the object */ | ||
| void clear(); | ||
|
|
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| /* Simulation of ray-trace. */ | ||
| bool traceRay(const mrpt::poses::CPose3D& o, double& dist) const override; | ||
|
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| mrpt::math::TBoundingBoxf internalBoundingBoxLocal() const override; | ||
|
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| /** Enable (or disable if set to .0f) a feature in which textured triangles | ||
| * are split into different renderizable smaller objects. | ||
| * This is required only for semitransparent objects with overlaping regions. | ||
| */ | ||
| void split_triangles_rendering_bbox(const float bbox_size); | ||
|
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| [[nodiscard]] float split_triangles_rendering_bbox() const | ||
| { | ||
| return m_split_triangles_rendering_bbox; | ||
| } | ||
|
|
||
| private: | ||
| filepath_t m_modelPath; | ||
| uint32_t m_modelLoadFlags = 0; | ||
| float m_split_triangles_rendering_bbox = .0f; | ||
| }; | ||
|
|
||
| } // namespace mrpt::viz |
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