Example: gui_nanogui_demo
See: Tutorial: 3D scenes
C++ example source code:
/* +------------------------------------------------------------------------+ | 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/core/exceptions.h> #include <mrpt/core/lock_helper.h> #include <mrpt/gui/CDisplayWindowGUI.h> #include <mrpt/opengl/CGridPlaneXY.h> #include <mrpt/opengl/stock_objects.h> #include <iostream> #if MRPT_HAS_NANOGUI void TestGUI() { nanogui::init(); { // Create main window: mrpt::gui::CDisplayWindowGUI_Params cp; // cp.fullscreen = true; mrpt::gui::CDisplayWindowGUI win( "CDisplayWindowGUI demo", 800, 600, cp); #if 0 // Define a custom icon image: win.setIcon(mrpt::img::CImage::LoadFromFile("/path/to/icon.png")); #endif #if 0 // Define a custom icon from a GIMP header C source data block: win.setIconFromData(header_data, 32, 32, 0); #endif nanogui::FormHelper* fh = new nanogui::FormHelper(&win); // Add subwindow: nanogui::ref<nanogui::Window> subWin2 = fh->addWindow({300, 400}, "Test"); subWin2->setLayout(new nanogui::GroupLayout()); mrpt::gui::MRPT2NanoguiGLCanvas* glControl = subWin2->add<mrpt::gui::MRPT2NanoguiGLCanvas>(); subWin2->setPosition({10, 300}); { auto scene = mrpt::opengl::Scene::Create(); scene->insert(mrpt::opengl::stock_objects::CornerXYZSimple()); glControl->camera().setZoomDistance(5.0f); auto lck = mrpt::lockHelper(glControl->scene_mtx); glControl->scene = std::move(scene); } // Add subwindow: nanogui::ref<nanogui::Window> subWin = fh->addWindow({300, 400}, "Test"); bool show_corner = true; fh->addGroup("Visualization"); fh->addVariable("Show XYZ corner", show_corner) ->setCallback([&](const bool& c) { subWin2->setVisible(c); }); fh->addButton("Quit", [&]() { win.setVisible(false); }); subWin->setPosition({10, 10}); // add a background scene: { auto scene = mrpt::opengl::Scene::Create(); scene->insert(mrpt::opengl::CGridPlaneXY::Create()); std::lock_guard<std::mutex> lck(win.background_scene_mtx); win.background_scene = std::move(scene); } win.performLayout(); win.camera().setZoomDistance(10.0f); // Update view and process events: win.drawAll(); win.setVisible(true); nanogui::mainloop(); } nanogui::shutdown(); } #endif int main() { try { #if MRPT_HAS_NANOGUI TestGUI(); #else std::cerr << "This example requires MRPT built with NANOGUI.\n"; #endif return 0; } catch (const std::exception& e) { std::cerr << mrpt::exception_to_str(e) << std::endl; return -1; } }