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https://github.com/amock/rmagine_viewer

Simple viewer for demonstrating the sensor models of the rmagine simulation library
https://github.com/amock/rmagine_viewer

Last synced: 11 months ago
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Simple viewer for demonstrating the sensor models of the rmagine simulation library

Awesome Lists containing this project

README 

          
# rmagine_viewer



A viewer to demonstrate the basic functionalities of the [rmagine](https://github.com/uos/rmagine) library. Currently, only the Embree backend of rmagine is supported. Make sure Embree is installed properly. 



## Requirements



- Embree (>= v4.0.0)

- jsoncpp

- cmake >= 3.11



## Building



```bash

git clone https://github.com/amock/rmagine_viewer.git

cd rmagine_viewer

mkdir build

cd build

cmake ..

cmake --build .

```



Output on my machine (Dell Latitude Laptop, no GPU):



```bash

amock@amockhome:~$ git clone https://github.com/amock/rmagine_viewer.git

Cloning into 'rmagine_viewer'...

remote: Enumerating objects: 12, done.

remote: Counting objects: 100% (12/12), done.

remote: Compressing objects: 100% (9/9), done.

remote: Total 12 (delta 1), reused 0 (delta 0), pack-reused 0 (from 0)

Receiving objects: 100% (12/12), 8.20 KiB | 8.20 MiB/s, done.

Resolving deltas: 100% (1/1), done.

amock@amockhome:~$ cd rmagine_viewer/

amock@amockhome:~/rmagine_viewer$ mkdir build

amock@amockhome:~/rmagine_viewer$ cd build/

amock@amockhome:~/rmagine_viewer/build$ cmake ..

-- The C compiler identification is GNU 11.4.0

-- The CXX compiler identification is GNU 11.4.0

-- Detecting C compiler ABI info

-- Detecting C compiler ABI info - done

-- Check for working C compiler: /usr/bin/cc - skipped

-- Detecting C compile features

-- Detecting C compile features - done

-- Detecting CXX compiler ABI info

-- Detecting CXX compiler ABI info - done

-- Check for working CXX compiler: /usr/bin/c++ - skipped

-- Detecting CXX compile features

-- Detecting CXX compile features - done

-- CPM: Adding package rmagine@2.3.0 (v2.3.0)

-- Found OpenMP_C: -fopenmp (found version "4.5") 

-- Found OpenMP_CXX: -fopenmp (found version "4.5") 

-- Found OpenMP: TRUE (found version "4.5")  

-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.2") 

-- Checking for module 'jsoncpp'

--   Found jsoncpp, version 1.9.5

-- Looking for a CUDA compiler

-- Looking for a CUDA compiler - NOTFOUND

-- OptiX library not found

-- OptiX headers not found

-- Could not find OptiX

-- Include: OptiX_INCLUDE_DIR-NOTFOUND

-- Building Core. Library: rmagine

-- Building Ouster Component. Library: rmagine-ouster

-- Building Embree (4.3.0) backend. Library: rmagine-embree

-- Components being built:

-- - rmagine-core

-- - rmagine-ouster

-- - rmagine-embree

-- CPM: Adding package polyscope@2.4.0 (v2.4.0)

-- Looking for pthread.h

-- Looking for pthread.h - found

-- Performing Test CMAKE_HAVE_LIBC_PTHREAD

-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success

-- Found Threads: TRUE  

-- Using X11 for window creation

-- Found X11: /usr/include   

-- Looking for XOpenDisplay in /usr/lib/x86_64-linux-gnu/libX11.so;/usr/lib/x86_64-linux-gnu/libXext.so

-- Looking for XOpenDisplay in /usr/lib/x86_64-linux-gnu/libX11.so;/usr/lib/x86_64-linux-gnu/libXext.so - found

-- Looking for gethostbyname

-- Looking for gethostbyname - found

-- Looking for connect

-- Looking for connect - found

-- Looking for remove

-- Looking for remove - found

-- Looking for shmat

-- Looking for shmat - found

-- Looking for IceConnectionNumber in ICE

-- Looking for IceConnectionNumber in ICE - found

-- GLM: Version 1.0.1

-- GLM: Build with C++ features auto detection

Polyscope backend openGL3_glfw enabled

-- Looking for C++ include EGL/egl.h

-- Looking for C++ include EGL/egl.h - found

-- CPM: Adding package portable-file-dialogs@0.1.0 (0.1.0)

-- Configuring done

-- Generating done

-- Build files have been written to: /home/amock/workspaces/rmagine_viewer/build

amock@amockhome:~/rmagine_viewer/build$ cmake --build .

[  1%] Building CXX object _deps/polyscope-build/deps/stb/CMakeFiles/stb.dir/stb_impl.cpp.o

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cc1: warning: command-line option ‘-std=c++17’ is valid for C++/ObjC++ but not for C

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[ 84%] Building CXX object _deps/rmagine-build/src/rmagine_core/CMakeFiles/rmagine-core.dir/src/util/assimp/helper.cpp.o

[ 85%] Building CXX object _deps/rmagine-build/src/rmagine_core/CMakeFiles/rmagine-core.dir/src/util/IDGen.cpp.o

[ 85%] Building CXX object _deps/rmagine-build/src/rmagine_core/CMakeFiles/rmagine-core.dir/src/util/exceptions.cpp.o

[ 86%] Building CXX object _deps/rmagine-build/src/rmagine_core/CMakeFiles/rmagine-core.dir/src/noise/Noise.cpp.o

[ 87%] Building CXX object _deps/rmagine-build/src/rmagine_core/CMakeFiles/rmagine-core.dir/src/noise/GaussianNoise.cpp.o

[ 87%] Building CXX object _deps/rmagine-build/src/rmagine_core/CMakeFiles/rmagine-core.dir/src/noise/RelGaussianNoise.cpp.o

[ 88%] Building CXX object _deps/rmagine-build/src/rmagine_core/CMakeFiles/rmagine-core.dir/src/noise/UniformDustNoise.cpp.o

[ 88%] Linking CXX shared library ../../../../lib/librmagine-core.so

[ 88%] Built target rmagine-core

[ 88%] Building CXX object _deps/rmagine-build/src/rmagine_ouster/CMakeFiles/rmagine-ouster.dir/src/types/ouster_sensors.cpp.o

[ 89%] Linking CXX shared library ../../../../lib/librmagine-ouster.so

[ 89%] Built target rmagine-ouster

[ 90%] Building CXX object _deps/rmagine-build/src/rmagine_embree/CMakeFiles/rmagine-embree.dir/src/map/embree/EmbreeDevice.cpp.o

[ 91%] Building CXX object _deps/rmagine-build/src/rmagine_embree/CMakeFiles/rmagine-embree.dir/src/map/embree/EmbreeGeometry.cpp.o

[ 91%] Building CXX object _deps/rmagine-build/src/rmagine_embree/CMakeFiles/rmagine-embree.dir/src/map/embree/EmbreeMesh.cpp.o

[ 92%] Building CXX object _deps/rmagine-build/src/rmagine_embree/CMakeFiles/rmagine-embree.dir/src/map/embree/EmbreeScene.cpp.o

[ 92%] Building CXX object _deps/rmagine-build/src/rmagine_embree/CMakeFiles/rmagine-embree.dir/src/map/embree/EmbreeInstance.cpp.o

[ 93%] Building CXX object _deps/rmagine-build/src/rmagine_embree/CMakeFiles/rmagine-embree.dir/src/map/embree/EmbreePoints.cpp.o

[ 94%] Building CXX object _deps/rmagine-build/src/rmagine_embree/CMakeFiles/rmagine-embree.dir/src/map/embree/embree_shapes.cpp.o

[ 94%] Building CXX object _deps/rmagine-build/src/rmagine_embree/CMakeFiles/rmagine-embree.dir/src/map/EmbreeMap.cpp.o

[ 95%] Building CXX object _deps/rmagine-build/src/rmagine_embree/CMakeFiles/rmagine-embree.dir/src/simulation/SimulatorEmbree.cpp.o

[ 95%] Building CXX object _deps/rmagine-build/src/rmagine_embree/CMakeFiles/rmagine-embree.dir/src/simulation/SphereSimulatorEmbree.cpp.o

[ 96%] Building CXX object _deps/rmagine-build/src/rmagine_embree/CMakeFiles/rmagine-embree.dir/src/simulation/PinholeSimulatorEmbree.cpp.o

[ 97%] Building CXX object _deps/rmagine-build/src/rmagine_embree/CMakeFiles/rmagine-embree.dir/src/simulation/O1DnSimulatorEmbree.cpp.o

[ 97%] Building CXX object _deps/rmagine-build/src/rmagine_embree/CMakeFiles/rmagine-embree.dir/src/simulation/OnDnSimulatorEmbree.cpp.o

[ 98%] Linking CXX shared library ../../../../lib/librmagine-embree.so

[ 98%] Built target rmagine-embree

[100%] Building CXX object CMakeFiles/rmagine_viewer.dir/src/rmagine_viewer.cpp.o

[100%] Linking CXX executable rmagine_viewer

[100%] Built target rmagine_viewer

```



## Running



After building, run the rmagine_viewer by entering 



```console

./rmagine_viewer

```



![image loading...](./dat/rmagine_viewer_small.png "Rmagine Viewer")



You can navigate around and switch the type of the sensor to Spherical, Pinhole, O1Dn or OnDn and change the parameters. O1Dn supports loading an Ouster's meta yaml file.



## Rmagine and FetchContent_Declare



This repository also shows a very easy way to integrate rmagine into your projects utilizing [CPM](https://github.com/cpm-cmake/CPM.cmake), a package manager for cmake. Read the [CMakeLists.txt](./CMakeLists.txt) for more information. 



## Acknowledgements



This viewer is based on the amazing project [Polyscope](https://github.com/nmwsharp/polyscope) by [Nicholas Sharp](https://github.com/nmwsharp).