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：

mrpt::gui::CDisplayWindow : Displays 2D bitmap images, and optionally sets of points over them, etc.
mrpt::gui::CDisplayWindow3D : A powerful 3D rendering window capable of displaying a mrpt::opengl::COpenGLScene. It features mouse navigation, Alt+Enter fullscreen switching, multiple viewports, etc. See this tutorial.
mrpt::gui::CDisplayWindowPlots : Displays one or more 2D vectorial graphs, in a manner very similar to MATLAB "plot" commands.

　　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",,); //width:500, height:400

    // Generate data for a 2D plot:

    CVectorDouble  X,Y;

    for (double x=;x<;x+=0.01f)

    {

        //Evaluates the multivariate normal (Gaussian) distribution at a given point "x".

        double y = normalPDF(x, ,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 width:

    '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(,);

    cout << "Press any key to exit..." << endl;

    win.waitForKey();

    //while (!mrpt::system::os::kbhit() &&win.isOpen())

        //mrpt::system::sleep(50);

    return ;

}

　　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...

    )

MRPT图形界面-LMLPHP

　　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