• MRPT图形界面


      mrpt-gui模块中提供了三个类以实现显示GUI窗口,每个都有特定的用途:

      All these window classes inherits from mrpt::gui::CBaseGUIWindow, which provides a set of methods and variables common to all the classes. It allow moving/resizing the windows, polling for key strokes, etc. All the classes in this library are in the namespace mrpt::gui

      在Ubuntu中使用如下命令安装mrpt的APP和lib:

    sudo apt-get install mrpt-apps libmrpt-dev

      下面的代码绘制一幅正态分布概率密度函数图,自变量范围为0~5。

    #include <mrpt/gui/CDisplayWindowPlots.h>
    #include <mrpt/math/CVectorTemplate.h>
    #include <mrpt/math/distributions.h>
    #include <mrpt/system/os.h>
    #include <mrpt/system/threads.h>
    
    using namespace std;
    using namespace mrpt;
    using namespace mrpt::math;
    using namespace mrpt::gui;
    
    // ------------------------------------------------------
    //                TestDisplayPlots
    // ------------------------------------------------------
    int main()
    {
        CDisplayWindowPlots     win("Example of function plot",500,400); //500, height:400 
    
        // Generate data for a 2D plot:
        CVectorDouble  X,Y;
        for (double x=0;x<5;x+=0.01f)
        {
            //Evaluates the multivariate normal (Gaussian) distribution at a given point "x".
            double y = normalPDF(x, 2,0.3);
    
            X.push_back(x);
            Y.push_back(y);
        }
    
        //Adds a new layer with a 2D plot based on two vectors of X and Y points, using a MATLAB-like syntax.
        /*********************************************************************
        The lineFormat string is a combination of the following characters:
    
        Line styles:
        '.': One point for each data point
        '-': A continuous line
        ':': A dashed line
    
        Colors:
        k: black
        r: red
        g: green
        b: blue
        m: magenta
        c: cyan
    
        Line 
        '1' to '9': The line width (default=1)
    
        Examples:
        'r.' -> red points.
        'k3' or 'k-3' -> A black line with a line width of 3 pixels.
        ********************************************************************/
        win.plot(X,Y,"b-2");
    
        //Enable/disable the feature of pan/zoom with the mouse (default=enabled)
        win.enableMousePanZoom(true); 
        //Enable/disable the fixed X/Y aspect ratio fix feature 
        win.axis_equal(false);
        //Fix automatically the view area according to existing graphs
        win.axis_fit();
        //Changes the position of the window on the screen.
        win.setPos(10,10);
    
    
        cout << "Press any key to exit..." << endl;
        win.waitForKey();
    
        //while (!mrpt::system::os::kbhit() &&win.isOpen())
            //mrpt::system::sleep(50);
    
        return 0;
    }

      使用CMake来生成makefile:

    SET(sampleName displayPlots)
    SET(PRJ_NAME "EXAMPLE_${sampleName}")
    
    # ---------------------------------------
    # Declare a new CMake Project:
    # ---------------------------------------
    PROJECT(${PRJ_NAME})
    
    # These commands are needed by modern versions of CMake:
    CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
    
    FIND_PACKAGE(MRPT REQUIRED base;gui)
    
    # ---------------------------------------------
    # TARGET:
    # ---------------------------------------------
    # Define the executable target:
    ADD_EXECUTABLE(${sampleName} test.cpp  ) 
    
    
    # Add the required libraries for linking:
    TARGET_LINK_LIBRARIES(${sampleName} 
        ${MRPT_LIBS}  # This is filled by FIND_PACKAGE(MRPT ...)
        ""  # Optional extra libs...
        )

      其中,enableMousePanZoom函数参数为true时可以进行如下操作:滚动鼠标中键,可以上下平移函数图象;按住鼠标右键可以对图像进行拖动;鼠标左键可以进行框选将函数图象放大。当设为false时这些操作被禁用。axis_equal函数参数为true时,X、Y坐标轴的单位长度将相等,即以相同的比例显示函数图象。axis_fit()函数可以用来自动调整函数图象以适应窗口。

    参考:

    http://www.mrpt.org/MRPT_in_GNU/Linux_repositories

    https://github.com/MRPT/mrpt/tree/master/samples/displayPlots

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  • 原文地址:https://www.cnblogs.com/21207-iHome/p/6150478.html
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