[mrpt-viz]

Overview

3-D scene graph: visual objects, scenes, viewports, cameras, and stock objects.

Library mrpt-viz

This library is part of MRPT and can be installed in Debian-based systems with:

sudo apt install libmrpt-viz-dev

Read also how to import MRPT into your CMake scripts.

Overview

mrpt-viz contains the scene-graph API for building, manipulating, and serializing 3-D scenes. In MRPT 3.0 this API moved from the former mrpt::opengl namespace to mrpt::viz (see Porting code from MRPT 2.x to MRPT 3.0 for migration details).

Key entry points:

  • mrpt::viz::CVisualObject — base class for all 3-D visual objects (renamed from the former CRenderizable).

  • mrpt::viz::Scene — a complete 3-D scene (renamed from COpenGLScene).

  • mrpt::viz::Viewport — a sub-region of a scene with its own camera (renamed from COpenGLViewport).

  • mrpt::viz::CCamera — camera parameters for a viewport.

  • mrpt::viz::stock_objects — convenience factory functions for common objects (coordinate axes, robot models, etc.).

To actually render a scene on screen, use mrpt::gui::CDisplayWindow3D or mrpt::gui::CDisplayWindowGUI (library mrpt-gui). For off-screen rendering, use mrpt::opengl::CFBORender (library mrpt-opengl).

See the tutorial: Tutorial: 3D scenes

Rendering primitives

Below is a list of the available rendering primitive classes.

  • mrpt::viz::CArrow:

    _static/preview_CArrow.png

  • mrpt::viz::CAssimpModel:

    _static/preview_CAssimpModel.png

  • mrpt::viz::CAxis:

    _static/preview_CAxis.png

  • mrpt::viz::CBox:

    _static/preview_CBox.png

  • mrpt::viz::CFrustum:

    _static/preview_CFrustum.png

  • mrpt::viz::CCylinder:

    _static/preview_CCylinder.png

  • mrpt::viz::CDisk:

    _static/preview_CDisk.png

  • mrpt::viz::CEllipsoid3D:

    _static/preview_CEllipsoid.png

  • mrpt::viz::CGridPlaneXY:

    _static/preview_CGridPlaneXY.png

  • mrpt::viz::CGridPlaneXZ:

    _static/preview_CGridPlaneXZ.png

  • mrpt::viz::CMesh:

    _static/preview_CMesh.png

  • mrpt::viz::CMesh3D:

    _static/preview_CMesh3D.png

  • mrpt::viz::CMeshFast:

    _static/preview_CMeshFast.png

  • mrpt::viz::CPointCloud:

    _static/preview_CPointCloud.png

  • mrpt::viz::CPointCloudColoured:

    _static/preview_CPointCloudColoured.png

  • mrpt::viz::CPolyhedron:

    _static/preview_CPolyhedron.png

  • mrpt::viz::CSetOfLines:

    _static/preview_CSetOfLines.png

  • mrpt::viz::CSphere:

    _static/preview_CSphere.png

  • mrpt::viz::CText:

    _static/preview_CText.png

  • mrpt::viz::CText3D:

    _static/preview_CText3D.png

  • mrpt::viz::CEllipsoidRangeBearing2D:

    _static/preview_CEllipsoidRangeBearing2D.png

  • mrpt::viz::CEllipsoidInverseDepth2D:

    _static/preview_CEllipsoidInverseDepth2D.png

  • mrpt::viz::CEllipsoidInverseDepth3D:

    _static/preview_CEllipsoidInverseDepth3D.png

  • mrpt::viz::COctoMapVoxels:

    _static/preview_COctoMapVoxels.png

  • mrpt::viz::CVectorField2D:

    _static/preview_CVectorField2D.png

  • mrpt::viz::CVectorField3D:

    _static/preview_CVectorField3D.png

  • mrpt::viz::stock_objects::BumblebeeCamera():

    _static/preview_stock_objects_BumblebeeCamera.png

  • mrpt::viz::stock_objects::CornerXYSimple():

    _static/preview_stock_objects_CornerXYSimple.png

  • mrpt::viz::stock_objects::CornerXYZSimple():

    _static/preview_stock_objects_CornerXYSimple.png

  • mrpt::viz::stock_objects::CornerXYZ():

    _static/preview_stock_objects_CornerXYZ.png

  • mrpt::viz::stock_objects::RobotPioneer():

    _static/preview_stock_objects_RobotPioneer.png

  • mrpt::viz::stock_objects::RobotRhodon():

    _static/preview_stock_objects_RobotRhodon.png

  • mrpt::viz::stock_objects::Hokuyo_URG():

    _static/preview_stock_objects_Hokuyo_URG.png

  • mrpt::viz::stock_objects::Hokuyo_UTM():

    _static/preview_stock_objects_Hokuyo_UTM.png

  • mrpt::viz::stock_objects::Househam_Sprayer():

    _static/preview_stock_objects_Househam_Sprayer.png

Pose PDF classes can be converted into visual objects with mrpt::viz::CSetOfObjects::posePDF2opengl():

  • mrpt::viz::CSetOfObjects::posePDF2opengl() for mrpt::poses::CPosePDFParticles:

    _static/preview_CPosePDFParticles_as_opengl.png

Note: The following extra visual classes are provided by other libraries:

  • mrpt::viz::CAngularObservationMesh (in mrpt-maps):

    _static/preview_CAngularObservationMesh.png

  • mrpt::viz::CPlanarLaserScan (in mrpt-maps):

    _static/preview_CPlanarLaserScan.png

Multi-light API

MRPT 3.0 supports up to 8 simultaneous lights via mrpt::viz::TLightParameters. See Porting code from MRPT 2.x to MRPT 3.0 section 10 for details.

Library contents