Example: gui_display3D_example
See: Tutorial: 3D scenes
C++ example source code:
/* _ | | Mobile Robot Programming Toolkit (MRPT) _ __ ___ _ __ _ __ | |_ | '_ ` _ \| '__| '_ \| __| https://www.mrpt.org/ | | | | | | | | |_) | |_ |_| |_| |_|_| | .__/ \__| https://github.com/MRPT/mrpt/ | | |_| Copyright (c) 2005-2026, Individual contributors, see AUTHORS file See: https://www.mrpt.org/Authors - All rights reserved. SPDX-License-Identifier: BSD-3-Clause */ #include <mrpt/gui/CDisplayWindow3D.h> #include <mrpt/img/TColor.h> #include <mrpt/math/TLine3D.h> #include <mrpt/math/TObject3D.h> #include <mrpt/math/geometry.h> #include <mrpt/system/CTicTac.h> #include <mrpt/system/os.h> #include <mrpt/viz/CAxis.h> #include <mrpt/viz/CBox.h> #include <mrpt/viz/CGridPlaneXY.h> #include <mrpt/viz/CSphere.h> #include <mrpt/viz/CText.h> #include <iostream> #include <thread> namespace { // ------------------------------------------------------ // TestDisplay3D // ------------------------------------------------------ void TestDisplay3D() { using namespace std; using namespace mrpt; using namespace mrpt::gui; using namespace mrpt::math; using namespace mrpt::viz; using namespace mrpt::img; using namespace mrpt::system; CDisplayWindow3D win("Example of 3D Scene Visualization - MRPT", 640, 480); Scene::Ptr& theScene = win.get3DSceneAndLock(); // Add a clone viewport, using [0,1] factor X,Y,Width,Height coordinates: { Viewport::Ptr vi = theScene->createViewport("myClone"); vi->setViewportPosition(0.7, 0.05, 0.28, 0.28); vi->setCloneView("main"); vi->setTransparent(true); vi->getCamera().setAzimuthDegrees(45); vi->getCamera().setElevationDegrees(45); vi->getCamera().setZoomDistance(10); } // Another clone viewport, using absolute coordinates { Viewport::Ptr vi = theScene->createViewport("myClone2"); vi->setViewportPosition( /*x px*/ -250, /*y px*/ -250, /*width px*/ 250, /*height px*/ 200); // x,y negative means pixels from the // top/right, instead of from the bottom/left. vi->setCloneView("main"); vi->setTransparent(false); vi->getCamera().setAzimuthDegrees(-95); vi->getCamera().setElevationDegrees(30); vi->getCamera().setZoomDistance(8); } // And another transparent viewport just to show 3D text: { mrpt::viz::CText::Ptr txt1 = mrpt::viz::CText::Create(); auto vi = theScene->createViewport("flat_viewport"); vi->setViewportPosition(0, 0, 0.3, 0.3); vi->setTransparent(true); vi->setBorderSize(0); vi->getCamera().setAzimuthDegrees(0); vi->getCamera().setElevationDegrees(90); vi->getCamera().setZoomDistance(5); vi->getCamera().setOrthogonal(true); vi->insert(txt1); } // Modify the scene: // ------------------------------------------------------ { auto obj = mrpt::viz::CGridPlaneXY::Create(-20, 20, -20, 20, 0, 1); obj->setColor(0.8f, 0.8f, 0.8f); theScene->insert(obj); } { auto obj = mrpt::viz::CAxis::Create(); obj->setFrequency(5); obj->enableTickMarks(); obj->setAxisLimits(-10, -10, -10, 10, 10, 10); theScene->insert(obj); } { auto obj = mrpt::viz::CBox::Create(); obj->setWireframe(false); obj->setColor(1, 0, 0); obj->setLineWidth(3.0); obj->setPose(TPose3D(4, 2, 0, 0.2, 0.3, 0.1)); theScene->insert(obj); } { auto obj = mrpt::viz::CSphere::Create(); obj->setColor(0, 0, 1); obj->setRadius(0.3f); obj->setLocation(0, 0, 1); obj->setName("ball_1"); theScene->insert(obj); } { auto obj = mrpt::viz::CSphere::Create(); obj->setColor(1, 0, 0); obj->setRadius(0.3f); obj->setLocation(-1, -1, 1); obj->setName("ball_2"); theScene->insert(obj); } { auto obj = mrpt::viz::CSphere::Create(); obj->setColor_u8(0, 180, 0); // slightly darker green for visible highlights obj->setRadius(0.5); obj->setLocation(0, 0, 0); obj->setName("USER_MOUSE_PICK"); obj->materialShininess(0.5f); // specular reflection intensity obj->materialSpecularExponent(128.0f); // tight highlight → metallic look theScene->insert(obj); } // Emissive material example: a glowing yellow sphere that emits light // regardless of scene lighting (like an indicator light or display). // Associated with a point light so it actually illuminates nearby objects. { auto obj = mrpt::viz::CSphere::Create(); obj->setColor(1, 1, 0); obj->setRadius(0.15f); obj->setLocation(3, 0, 1.5); obj->materialEmissive(mrpt::img::TColorf(1.0f, 0.9f, 0.0f)); obj->castShadows(false); // don't block directional light shadows obj->setName("emissive_sphere"); theScene->insert(obj); } // Configure hemisphere ambient lighting (blueish sky, brownish ground) { auto& lp = theScene->getViewport("main")->lightParameters(); lp.ambientSkyColor = mrpt::img::TColorf(0.7f, 0.8f, 1.0f); lp.ambientGroundColor = mrpt::img::TColorf(0.4f, 0.35f, 0.3f); const mrpt::img::TColorf fogCol(0.5f, 0.5f, 0.5f); if (0) { // Distance fog (linear mode) lp.fog_enabled = true; lp.fog_color = fogCol; lp.fog_near = 15.0f; lp.fog_far = 50.0f; } // Match background to fog color for seamless blending at distance theScene->getViewport("main")->setCustomBackgroundColor(fogCol); } // Add a point light co-located with the emissive sphere { auto& lp = theScene->getViewport("main")->lightParameters(); lp.lights.push_back(mrpt::viz::TLight::PointLight( {3.0f, 0.0f, 1.5f}, // position (same as sphere) mrpt::img::TColorf(1.0f, 0.9f, 0.0f), // warm yellow color 0.8f, // diffuse 0.5f, // specular 1.0f, // attenuation constant 0.09f, // attenuation linear 0.032f // attenuation quadratic )); } // IMPORTANT!!! IF NOT UNLOCKED, THE WINDOW WILL NOT BE UPDATED! win.unlockAccess3DScene(); // Texts: mrpt::viz::TFontParams fp; fp.color = TColorf(1, 1, 1); win.addTextMessage(0.01, 0.85, "This is a 2D message", 0 /*id*/, fp); win.setCameraElevationDeg(25.0f); // win.setProjectiveModel(false); std::cout << "\n"; std::cout << "Control with mouse or keyboard. Valid keys:" << "\n"; std::cout << " ESC -> Exit" << "\n"; std::cout << " Left/right cursor arrow -> Camera azimuth" << "\n"; std::cout << " P -> Enable / disable 'place object' " "mode" << "\n"; std::cout << "\n"; bool end = false; bool placeMode = false; CTicTac timer; timer.Tic(); while (!end && win.isOpen()) { const double t = timer.Tac(); // Move the scene: auto& scene = win.get3DSceneAndLock(); const double R1 = 8; const double W1 = 5.0; const double Q1 = 3.3; auto obj1 = scene->getByName("ball_1"); obj1->setLocation( R1 * cos(W1 * t) * sin(Q1 * t), R1 * sin(W1 * t), R1 * cos(W1 * t) * cos(Q1 * t)); const double R2 = 6; const double W2 = 1.3; const double Q2 = 7.2; auto obj2 = scene->getByName("ball_2"); obj2->setLocation( R2 * cos(W2 * t) * sin(Q2 * t), R2 * sin(W2 * t), R2 * cos(W2 * t) * cos(Q2 * t)); // Move emissive sphere slowly in a circle and update its point light { const double Re = 3.0, We = 0.3; const float ex = static_cast<float>(Re * cos(We * t)); const float ey = static_cast<float>(Re * sin(We * t)); const float ez = 1.5f; auto emSphere = scene->getByName("emissive_sphere"); emSphere->setLocation(ex, ey, ez); // Update the point light position (light index 1, after the default directional) auto& lp = scene->getViewport("main")->lightParameters(); if (lp.lights.size() > 1) { lp.lights[1].position = {ex, ey, ez}; } } mrpt::viz::TFontParams fp2; fp2.color = TColorf(.8f, .8f, .8f); fp2.vfont_name = "sans"; fp2.vfont_scale = 14; win.addTextMessage( 0.02, 0.02, // X,Y<=1 means coordinates are factors over the entire // viewport area. format("ball#1 pos: %s ", obj1->getPose().translation().asString().c_str()), 10 /*id*/, fp2); win.addTextMessage( 5, -15, // |X|,|Y|>1 means absolute coordinates, negative means // from the top instead of the bottom. format("Time: %s", mrpt::system::dateTimeLocalToString(mrpt::Clock::now()).c_str()), 20 /* id */, fp2); // Show management of (x,y) mouse coordinates and 3D rays: // Get the ray in 3D for the latest mouse (X,Y): // ------------------------------------------------------------ if (const auto ray = win.getLastMousePositionRay(); placeMode && ray) { // Create a 3D plane, e.g. Z=0 const mrpt::math::TPlane ground_plane( TPoint3D(0, 0, 0), TPoint3D(1, 0, 0), TPoint3D(0, 1, 0)); // Intersection of the line with the plane: mrpt::math::TObject3D inters; mrpt::math::intersect(*ray, ground_plane, inters); // Interpret the intersection as a point, if there is an // intersection: mrpt::math::TPoint3D inters_pt; if (inters.getPoint(inters_pt)) { // Move an object to the position picked by the user: // printf("PT: %f %f %f\n",); scene->getByName("USER_MOUSE_PICK")->setLocation(inters_pt.x, inters_pt.y, inters_pt.z); } } // IMPORTANT!!! IF NOT UNLOCKED, THE WINDOW WILL NOT BE UPDATED! win.unlockAccess3DScene(); // Update window: win.forceRepaint(); std::this_thread::sleep_for(20ms); if (mrpt::system::os::kbhit()) { end = true; } if (win.keyHit()) { mrptKeyModifier kmods = {}; int key = win.getPushedKey(&kmods); printf("Key pushed: %c (%i) - modifiers: 0x%04X\n", char(key), key, kmods); if (key == MRPTK_ESCAPE) { end = true; } if (key == MRPTK_RIGHT) { win.setCameraAzimuthDeg(win.getCameraAzimuthDeg() + 5); } if (key == MRPTK_LEFT) { win.setCameraAzimuthDeg(win.getCameraAzimuthDeg() - 5); } if (key == 'p' || key == 'P') { placeMode = !placeMode; win.setCursorCross(placeMode); } }; } } } // namespace // ------------------------------------------------------ // MAIN // ------------------------------------------------------ int main() { try { TestDisplay3D(); return 0; } catch (const std::exception& e) { std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << "\n"; return -1; } }