WIP: new mrpt-viz library

MRPT · Jan 4, 2025 · 137c837 · 137c837
1 parent 2270811
commit 137c837
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Showing 247 changed files with 18,665 additions and 901 deletions.
diff --git a/libs/apps/src/CGridMapAlignerApp.cpp b/libs/apps/src/CGridMapAlignerApp.cpp
@@ -23,9 +23,6 @@
 #include <mrpt/math/ops_containers.h>
 #include <mrpt/math/wrap2pi.h>
 #include <mrpt/obs/CSensoryFrame.h>
-#include <mrpt/opengl/CGridPlaneXY.h>
-#include <mrpt/opengl/CSetOfLines.h>
-#include <mrpt/opengl/Scene.h>
 #include <mrpt/poses/CPoint2D.h>
 #include <mrpt/poses/CPose3DPDFGaussian.h>
 #include <mrpt/poses/CPosePDFParticles.h>
@@ -34,6 +31,9 @@
 #include <mrpt/system/datetime.h>
 #include <mrpt/system/filesystem.h>
 #include <mrpt/system/os.h>
+#include <mrpt/viz/CGridPlaneXY.h>
+#include <mrpt/viz/CSetOfLines.h>
+#include <mrpt/viz/Scene.h>
 
 using namespace mrpt::apps;
 
@@ -188,7 +188,7 @@ void CGridMapAlignerApp::run()
   using namespace mrpt::slam;
   using namespace mrpt::maps;
   using namespace mrpt::obs;
-  using namespace mrpt::opengl;
+  using namespace mrpt::viz;
   using namespace mrpt::tfest;
   using namespace mrpt::math;
   using namespace mrpt::serialization;

diff --git a/libs/apps/src/ICP_SLAM_App.cpp b/libs/apps/src/ICP_SLAM_App.cpp
@@ -16,17 +16,17 @@
 #include <mrpt/io/vector_loadsave.h>
 #include <mrpt/maps/COccupancyGridMap2D.h>
 #include <mrpt/obs/CObservationOdometry.h>
-#include <mrpt/opengl/CGridPlaneXY.h>
-#include <mrpt/opengl/CPlanarLaserScan.h>  // from lib [mrpt-maps]
-#include <mrpt/opengl/Scene.h>
-#include <mrpt/opengl/stock_objects.h>
 #include <mrpt/serialization/CArchive.h>
 #include <mrpt/slam/CMetricMapBuilderICP.h>
 #include <mrpt/system/CRateTimer.h>
 #include <mrpt/system/filesystem.h>
 #include <mrpt/system/memory.h>
 #include <mrpt/system/os.h>
 #include <mrpt/system/thread_name.h>
+#include <mrpt/viz/CGridPlaneXY.h>
+#include <mrpt/viz/CPlanarLaserScan.h>  // from lib [mrpt-maps]
+#include <mrpt/viz/Scene.h>
+#include <mrpt/viz/stock_objects.h>
 
 using namespace mrpt::apps;
 
@@ -75,7 +75,7 @@ void ICP_SLAM_App_Base::run()
   using namespace mrpt::slam;
   using namespace mrpt::obs;
   using namespace mrpt::maps;
-  using namespace mrpt::opengl;
+  using namespace mrpt::viz;
   using namespace mrpt::gui;
   using namespace mrpt::io;
   using namespace mrpt::gui;
@@ -279,7 +279,7 @@ void ICP_SLAM_App_Base::run()
     // Save a 3D scene view of the mapping process:
     if ((LOG_FREQUENCY > 0 && 0 == (step % LOG_FREQUENCY)) || (SAVE_3D_SCENE || win3D))
     {
-      auto scene = mrpt::opengl::Scene::Create();
+      auto scene = mrpt::viz::Scene::Create();
 
       Viewport::Ptr view = scene->getViewport("main");
       ASSERT_(view);
@@ -290,7 +290,7 @@ void ICP_SLAM_App_Base::run()
       view_map->setTransparent(false);
 
       {
-        mrpt::opengl::CCamera& cam = view_map->getCamera();
+        mrpt::viz::CCamera& cam = view_map->getCamera();
         cam.setAzimuthDegrees(-90);
         cam.setElevationDegrees(90);
         cam.setPointingAt(robotPose);
@@ -299,8 +299,8 @@ void ICP_SLAM_App_Base::run()
       }
 
       // The ground:
-      mrpt::opengl::CGridPlaneXY::Ptr groundPlane =
-          mrpt::opengl::CGridPlaneXY::Create(-200, 200, -200, 200, 0, 5);
+      mrpt::viz::CGridPlaneXY::Ptr groundPlane =
+          mrpt::viz::CGridPlaneXY::Create(-200, 200, -200, 200, 0, 5);
       groundPlane->setColor(0.4f, 0.4f, 0.4f);
       view->insert(groundPlane);
       view_map->insert(CRenderizable::Ptr(groundPlane));  // A copy
@@ -310,7 +310,7 @@ void ICP_SLAM_App_Base::run()
       {
         scene->enableFollowCamera(true);
 
-        mrpt::opengl::CCamera& cam = view_map->getCamera();
+        mrpt::viz::CCamera& cam = view_map->getCamera();
         cam.setAzimuthDegrees(-45);
         cam.setElevationDegrees(45);
         cam.setPointingAt(robotPose);

diff --git a/libs/apps/src/KFSLAMApp.cpp b/libs/apps/src/KFSLAMApp.cpp
@@ -17,14 +17,14 @@
 #include <mrpt/io/vector_loadsave.h>
 #include <mrpt/math/ops_containers.h>
 #include <mrpt/obs/CRawlog.h>
-#include <mrpt/opengl/CGridPlaneXY.h>
-#include <mrpt/opengl/CSetOfLines.h>
-#include <mrpt/opengl/stock_objects.h>
 #include <mrpt/slam/CRangeBearingKFSLAM.h>
 #include <mrpt/slam/CRangeBearingKFSLAM2D.h>
 #include <mrpt/system/filesystem.h>
 #include <mrpt/system/os.h>
 #include <mrpt/system/string_utils.h>
+#include <mrpt/viz/CGridPlaneXY.h>
+#include <mrpt/viz/CSetOfLines.h>
+#include <mrpt/viz/stock_objects.h>
 
 #include <fstream>
 
@@ -84,7 +84,7 @@ void KFSLAMApp::run()
 using namespace mrpt;
 using namespace mrpt::slam;
 using namespace mrpt::maps;
-using namespace mrpt::opengl;
+using namespace mrpt::viz;
 using namespace mrpt::system;
 using namespace mrpt::math;
 using namespace mrpt::poses;
@@ -587,8 +587,8 @@ void KFSLAMApp::Run_KF_SLAM()
             if (++path_decim > 10)
             {
               path_decim = 0;
-              mrpt::opengl::CSetOfObjects::Ptr xyz =
-                  mrpt::opengl::stock_objects::CornerXYZSimple(0.3f, 2.0f);
+              mrpt::viz::CSetOfObjects::Ptr xyz =
+                  mrpt::viz::stock_objects::CornerXYZSimple(0.3f, 2.0f);
               xyz->setPose(CPose3D(it));
               scene3D->insert(xyz);
             }
@@ -597,8 +597,7 @@ void KFSLAMApp::Run_KF_SLAM()
 
           // finally a big corner for the latest robot pose:
           {
-            mrpt::opengl::CSetOfObjects::Ptr xyz =
-                mrpt::opengl::stock_objects::CornerXYZSimple(1.0, 2.5);
+            mrpt::viz::CSetOfObjects::Ptr xyz = mrpt::viz::stock_objects::CornerXYZSimple(1.0, 2.5);
             xyz->setPose(robotPoseMean3D);
             scene3D->insert(xyz);
           }
@@ -652,7 +651,7 @@ void KFSLAMApp::Run_KF_SLAM()
         {
           const typename ekfslam_t::TDataAssocInfo& da = mapping.getLastDataAssociation();
 
-          mrpt::opengl::CSetOfLines::Ptr lins = mrpt::opengl::CSetOfLines::Create();
+          mrpt::viz::CSetOfLines::Ptr lins = mrpt::viz::CSetOfLines::Create();
           lins->setLineWidth(1.2f);
           lins->setColor(1, 1, 1);
           for (auto it = da.results.associations.begin(); it != da.results.associations.end(); ++it)
@@ -683,7 +682,7 @@ void KFSLAMApp::Run_KF_SLAM()
 
         if (win3d)
         {
-          mrpt::opengl::Scene::Ptr& scn = win3d->get3DSceneAndLock();
+          mrpt::viz::Scene::Ptr& scn = win3d->get3DSceneAndLock();
           scn = scene3D;
 
           // Update text messages:

diff --git a/libs/apps/src/MonteCarloLocalization_App.cpp b/libs/apps/src/MonteCarloLocalization_App.cpp
@@ -31,12 +31,6 @@
 #include <mrpt/obs/CActionRobotMovement3D.h>
 #include <mrpt/obs/CObservationOdometry.h>
 #include <mrpt/obs/CRawlog.h>
-#include <mrpt/opengl/CDisk.h>
-#include <mrpt/opengl/CEllipsoid2D.h>
-#include <mrpt/opengl/CEllipsoid3D.h>
-#include <mrpt/opengl/CGridPlaneXY.h>
-#include <mrpt/opengl/CPointCloud.h>
-#include <mrpt/opengl/stock_objects.h>
 #include <mrpt/poses/CPose2D.h>
 #include <mrpt/poses/CPose2DInterpolator.h>
 #include <mrpt/random.h>
@@ -46,6 +40,12 @@
 #include <mrpt/system/CTicTac.h>
 #include <mrpt/system/filesystem.h>
 #include <mrpt/system/os.h>
+#include <mrpt/viz/CDisk.h>
+#include <mrpt/viz/CEllipsoid2D.h>
+#include <mrpt/viz/CEllipsoid3D.h>
+#include <mrpt/viz/CGridPlaneXY.h>
+#include <mrpt/viz/CPointCloud.h>
+#include <mrpt/viz/stock_objects.h>
 
 #include <Eigen/Dense>
 
@@ -90,7 +90,7 @@ void MonteCarloLocalization_Base::initialize(int argc, const char** argv)
 using namespace mrpt;
 using namespace mrpt::slam;
 using namespace mrpt::maps;
-using namespace mrpt::opengl;
+using namespace mrpt::viz;
 using namespace mrpt::gui;
 using namespace mrpt::math;
 using namespace mrpt::system;
@@ -409,8 +409,8 @@ void MonteCarloLocalization_Base::do_pf_localization()
         mrpt::math::TBoundingBoxf bbox({-50, -50, 0}, {50, 50, 0});
         if (auto pts = metricMap->getAsSimplePointsMap(); pts) bbox = pts->boundingBox();
 
-        scene.insert(mrpt::opengl::CGridPlaneXY::Create(
-            bbox.min.x, bbox.max.x, bbox.min.y, bbox.max.y, 0, 5));
+        scene.insert(
+            mrpt::viz::CGridPlaneXY::Create(bbox.min.x, bbox.max.x, bbox.min.y, bbox.max.y, 0, 5));
 
         if (win3D)
           win3D->setCameraZoom(2 * std::max(bbox.max.x - bbox.min.x, bbox.max.y - bbox.min.y));

diff --git a/libs/apps/src/RBPF_SLAM_App.cpp b/libs/apps/src/RBPF_SLAM_App.cpp
@@ -19,15 +19,15 @@
 #include <mrpt/obs/CActionRobotMovement3D.h>
 #include <mrpt/obs/CObservationGasSensors.h>
 #include <mrpt/obs/CRawlog.h>
-#include <mrpt/opengl/CEllipsoid2D.h>
-#include <mrpt/opengl/CEllipsoid3D.h>
-#include <mrpt/opengl/CGridPlaneXY.h>
-#include <mrpt/opengl/CSetOfLines.h>
-#include <mrpt/opengl/stock_objects.h>
 #include <mrpt/poses/CPosePDFGaussian.h>
 #include <mrpt/random.h>
 #include <mrpt/system/filesystem.h>  // ASSERT_FILE_EXISTS_()
 #include <mrpt/system/memory.h>      // getMemoryUsage()
+#include <mrpt/viz/CEllipsoid2D.h>
+#include <mrpt/viz/CEllipsoid3D.h>
+#include <mrpt/viz/CGridPlaneXY.h>
+#include <mrpt/viz/CSetOfLines.h>
+#include <mrpt/viz/stock_objects.h>
 
 using namespace mrpt::apps;
 
@@ -76,7 +76,7 @@ void RBPF_SLAM_App_Base::run()
   using namespace mrpt::slam;
   using namespace mrpt::obs;
   using namespace mrpt::maps;
-  using namespace mrpt::opengl;
+  using namespace mrpt::viz;
   using namespace mrpt::gui;
   using namespace mrpt::io;
   using namespace mrpt::gui;
@@ -396,15 +396,15 @@ void RBPF_SLAM_App_Base::run()
         scene = std::make_shared<Scene>();
 
         // The ground:
-        mrpt::opengl::CGridPlaneXY::Ptr groundPlane =
-            mrpt::opengl::CGridPlaneXY::Create(-200, 200, -200, 200, 0, 5);
+        mrpt::viz::CGridPlaneXY::Ptr groundPlane =
+            mrpt::viz::CGridPlaneXY::Create(-200, 200, -200, 200, 0, 5);
         groundPlane->setColor(0.4f, 0.4f, 0.4f);
         scene->insert(groundPlane);
 
         // The camera pointing to the current robot pose:
         if (CAMERA_3DSCENE_FOLLOWS_ROBOT)
         {
-          mrpt::opengl::CCamera::Ptr objCam = mrpt::opengl::CCamera::Create();
+          mrpt::viz::CCamera::Ptr objCam = mrpt::viz::CCamera::Create();
           CPose3D robotPose;
           curPDF.getMean(robotPose);
 
@@ -419,7 +419,7 @@ void RBPF_SLAM_App_Base::run()
 
         // Draw the robot particles:
         size_t M = mapBuilder->mapPDF.particlesCount();
-        mrpt::opengl::CSetOfLines::Ptr objLines = mrpt::opengl::CSetOfLines::Create();
+        mrpt::viz::CSetOfLines::Ptr objLines = mrpt::viz::CSetOfLines::Create();
         objLines->setColor(0, 1, 1);
         for (size_t i = 0; i < M; i++)
         {

diff --git a/libs/graphs/CMakeLists.txt b/libs/graphs/CMakeLists.txt
@@ -5,7 +5,7 @@ define_mrpt_lib(
 	# Lib name
 	graphs
 	# Dependencies
-	mrpt-opengl
+	mrpt-viz
 	)
 
 

diff --git a/libs/graphs/include/mrpt/graphs/CMRVisualizer.h b/libs/graphs/include/mrpt/graphs/CMRVisualizer.h
@@ -42,10 +42,10 @@ class CMRVisualizer :
 
   ~CMRVisualizer() override;
   void drawNodePoints(
-      mrpt::opengl::CSetOfObjects::Ptr& object,
+      mrpt::viz::CSetOfObjects::Ptr& object,
       const mrpt::containers::yaml* viz_params = nullptr) const override;
   void drawEdges(
-      mrpt::opengl::CSetOfObjects::Ptr& object,
+      mrpt::viz::CSetOfObjects::Ptr& object,
       const mrpt::containers::yaml* viz_params = nullptr) const override;
 
  private:
@@ -70,10 +70,10 @@ class CMRVisualizer<CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANN
 
   ~CMRVisualizer();
   void drawNodePoints(
-      mrpt::opengl::CSetOfObjects::Ptr& object,
+      mrpt::viz::CSetOfObjects::Ptr& object,
       const mrpt::containers::yaml* viz_params = nullptr) const;
   void drawEdges(
-      mrpt::opengl::CSetOfObjects::Ptr& object,
+      mrpt::viz::CSetOfObjects::Ptr& object,
       const mrpt::containers::yaml* viz_params = nullptr) const;
 
  private:

diff --git a/libs/graphs/include/mrpt/graphs/CMRVisualizer_impl.h b/libs/graphs/include/mrpt/graphs/CMRVisualizer_impl.h
@@ -35,15 +35,13 @@ CMRVisualizer<CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS>::~
 
 template <class CPOSE, class MAPS_IMPLEMENTATION, class NODE_ANNOTATIONS, class EDGE_ANNOTATIONS>
 void CMRVisualizer<CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS>::drawNodePoints(
-    mrpt::opengl::CSetOfObjects::Ptr& object,
-    const mrpt::containers::yaml* viz_params /*=NULL*/) const
+    mrpt::viz::CSetOfObjects::Ptr& object, const mrpt::containers::yaml* viz_params /*=NULL*/) const
 {
 }
 
 template <class CPOSE, class MAPS_IMPLEMENTATION, class NODE_ANNOTATIONS, class EDGE_ANNOTATIONS>
 void CMRVisualizer<CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS>::drawEdges(
-    mrpt::opengl::CSetOfObjects::Ptr& object,
-    const mrpt::containers::yaml* viz_params /*=NULL*/) const
+    mrpt::viz::CSetOfObjects::Ptr& object, const mrpt::containers::yaml* viz_params /*=NULL*/) const
 {
 }
 
@@ -68,10 +66,10 @@ CMRVisualizer<CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIO
 template <class CPOSE, class MAPS_IMPLEMENTATION, class EDGE_ANNOTATIONS>
 void CMRVisualizer<CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS>::
     drawNodePoints(
-        mrpt::opengl::CSetOfObjects::Ptr& object,
+        mrpt::viz::CSetOfObjects::Ptr& object,
         const mrpt::containers::yaml* viz_params /*=NULL*/) const
 {
-  using namespace mrpt::opengl;
+  using namespace mrpt::viz;
   using namespace mrpt::graphs;
   using namespace mrpt::img;
   using namespace std;
@@ -143,10 +141,9 @@ void CMRVisualizer<CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNO
 
 template <class CPOSE, class MAPS_IMPLEMENTATION, class EDGE_ANNOTATIONS>
 void CMRVisualizer<CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS>::drawEdges(
-    mrpt::opengl::CSetOfObjects::Ptr& object,
-    const mrpt::containers::yaml* viz_params /*=NULL*/) const
+    mrpt::viz::CSetOfObjects::Ptr& object, const mrpt::containers::yaml* viz_params /*=NULL*/) const
 {
-  using namespace mrpt::opengl;
+  using namespace mrpt::viz;
   using namespace mrpt::img;
 
   ASSERTMSG_(viz_params, "Pointer to viz_params was not provided.");

diff --git a/libs/graphs/include/mrpt/graphs/CNetworkOfPoses.h b/libs/graphs/include/mrpt/graphs/CNetworkOfPoses.h
@@ -23,11 +23,11 @@
 #include <mrpt/io/CFileGZInputStream.h>
 #include <mrpt/io/CFileGZOutputStream.h>
 #include <mrpt/math/utils.h>
-#include <mrpt/opengl/CSetOfObjects.h>
 #include <mrpt/poses/poses_frwds.h>
 #include <mrpt/serialization/CSerializable.h>
 #include <mrpt/serialization/stl_serialization.h>
 #include <mrpt/system/os.h>
+#include <mrpt/viz/CSetOfObjects.h>
 
 #include <iostream>
 #include <iterator>
@@ -294,7 +294,7 @@ class CNetworkOfPoses : public mrpt::graphs::CDirectedGraph<CPOSE, EDGE_ANNOTATI
    * class instance.
    */
   inline void getAs3DObject(
-      mrpt::opengl::CSetOfObjects::Ptr object, const mrpt::containers::yaml& viz_params) const
+      mrpt::viz::CSetOfObjects::Ptr object, const mrpt::containers::yaml& viz_params) const
   {
     using visualizer_t = mrpt::graphs::detail::CVisualizer<
         CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS>;