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/* +------------------------------------------------------------------------+
| Mobile Robot Programming Toolkit (MRPT) |
| https://www.mrpt.org/ |
| |
| Copyright (c) 2005-2023, Individual contributors, see AUTHORS file |
| See: https://www.mrpt.org/Authors - All rights reserved. |
| Released under BSD License. See: https://www.mrpt.org/License |
+------------------------------------------------------------------------+ */
#include <mrpt/gui/CDisplayWindow3D.h>
#include <mrpt/img/TColor.h>
#include <mrpt/math/geometry.h>
#include <mrpt/opengl/CPointCloud.h>
#include <mrpt/random.h>
#include <chrono>
#include <iostream>
#include <thread>
using namespace std;
using namespace mrpt;
using namespace mrpt::gui;
using namespace mrpt::opengl;
using namespace mrpt::math;
using namespace mrpt::img;
void insertRandomPoints_uniform(
const size_t N, opengl::CPointCloud::Ptr& gl, const TPoint3D& p_min,
const TPoint3D& p_max)
{
auto& rnd = random::getRandomGenerator();
for (size_t i = 0; i < N; i++)
gl->insertPoint(
rnd.drawUniform<float>(p_min.x, p_max.x),
rnd.drawUniform<float>(p_min.y, p_max.y),
rnd.drawUniform<float>(p_min.z, p_max.z));
}
void insertRandomPoints_screw(
const size_t N, opengl::CPointCloud::Ptr& gl, const TPoint3D& p_start,
const TPoint3D& p_end)
{
TPoint3D d = p_end - p_start;
d *= 1.0 / N;
TPoint3D up(0, 0, 1);
TPoint3D lat;
mrpt::math::crossProduct3D(d, up, lat);
lat *= 1.0 / lat.norm();
TPoint3D p = p_start;
for (size_t i = 0; i < N; i++)
{
const double ang = i * 0.01;
TPoint3D pp = p + up * 30 * cos(ang) + lat * 30 * sin(ang);
const auto ppf = TPoint3Df(pp);
gl->insertPoint(ppf.x, ppf.y, ppf.z);
p += d;
}
}
void insertRandomPoints_gauss(
const size_t N, opengl::CPointCloud::Ptr& gl, const TPoint3D& p_mean,
const TPoint3D& p_stddevs)
{
auto& rnd = random::getRandomGenerator();
for (size_t i = 0; i < N; i++)
gl->insertPoint(
rnd.drawGaussian1D<float>(p_mean.x, p_stddevs.x),
rnd.drawGaussian1D<float>(p_mean.y, p_stddevs.y),
rnd.drawGaussian1D<float>(p_mean.z, p_stddevs.z));
}
// ------------------------------------------------------
// TestOctreeRenderHugePointCloud
// ------------------------------------------------------
void TestOctreeRenderHugePointCloud()
{
// Change this in your program as needed:
// mrpt::global_settings::OCTREE_RENDER_MAX_DENSITY_POINTS_PER_SQPIXEL(0.1f);
CDisplayWindow3D win("Demo of MRPT's octree pointclouds", 640, 480);
COpenGLScene::Ptr& theScene = win.get3DSceneAndLock();
// CPointCloud
opengl::CPointCloud::Ptr gl_pointcloud = opengl::CPointCloud::Create();
theScene->insert(gl_pointcloud);
gl_pointcloud->setPointSize(3.0);
gl_pointcloud->enableColorFromZ();
// Set the list of all points:
const double L = 1e3;
cout << "Building point cloud...";
cout.flush();
for (int XX = -10; XX <= 10; XX++)
{
const double off_x = XX * 2 * L;
for (int YY = -10; YY <= 10; YY++)
{
const double off_y = YY * 2 * L;
insertRandomPoints_screw(
1e4, gl_pointcloud, TPoint3D(off_x + 0, off_y + 0, 0),
TPoint3D(off_x + L, off_y + 0, 500));
insertRandomPoints_screw(
1e4, gl_pointcloud, TPoint3D(off_x + L, off_y + 0, 500),
TPoint3D(off_x + L, off_y + L, -500));
insertRandomPoints_screw(
1e4, gl_pointcloud, TPoint3D(off_x + L, off_y + L, -500),
TPoint3D(off_x + 0, off_y + L, 500));
insertRandomPoints_screw(
1e4, gl_pointcloud, TPoint3D(off_x + 0, off_y + L, 500),
TPoint3D(off_x + 0, off_y + 0, 0));
}
}
cout << "Done.\n";
cout.flush();
printf("Point count: %e\n", (double)gl_pointcloud->size());
// Draw the octree bounding boxes:
mrpt::opengl::CSetOfObjects::Ptr gl_bb =
mrpt::opengl::CSetOfObjects::Create();
gl_pointcloud->octree_get_graphics_boundingboxes(*gl_bb);
theScene->insert(gl_bb);
// gl_pointcloud->octree_debug_dump_tree(std::cout);
win.setCameraZoom(600);
{
mrpt::opengl::COpenGLViewport::Ptr view = theScene->getViewport("main");
view->setViewportClipDistances(0.1f, 1e6f);
}
// IMPORTANT!!! IF NOT UNLOCKED, THE WINDOW WILL NOT BE UPDATED!
win.unlockAccess3DScene();
win.repaint();
cout << "Close the window or press any key to end.\n";
bool end = false;
while (win.isOpen() && !end)
{
std::this_thread::sleep_for(5ms);
if (win.keyHit())
{
switch (win.getPushedKey())
{
case 'q': end = true; break;
case 'b': gl_bb->setVisibility(!gl_bb->isVisible()); break;
};
}
// Update the texts on the gl display:
string s = mrpt::format(
"FPS=%5.02f | Rendered points=%.02e/%.02e (%.02f%%) | "
"Visib.oct.nodes: %u/%u",
win.getRenderingFPS(), (double)gl_pointcloud->getActuallyRendered(),
(double)gl_pointcloud->size(),
100 * double(gl_pointcloud->getActuallyRendered()) /
double(gl_pointcloud->size()),
(unsigned int)gl_pointcloud->octree_get_visible_nodes(),
(unsigned int)gl_pointcloud->octree_get_node_count());
win.get3DSceneAndLock();
win.addTextMessage(5, 5, s, 0);
win.addTextMessage(
5, 35, "'b': switch bounding-boxes visible, 'q': quit", 1);
win.unlockAccess3DScene();
win.repaint();
}
}
// ------------------------------------------------------
// MAIN
// ------------------------------------------------------
int main()
{
try
{
TestOctreeRenderHugePointCloud();
std::this_thread::sleep_for(500ms);
return 0;
}
catch (const std::exception& e)
{
std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << std::endl;
return -1;
}
}
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