A viewer to demonstrate the basic functionalities of the rmagine library. Currently, only the Embree backend of rmagine is supported. Make sure Embree is installed properly.
- Embree (>= v4.0.0)
- jsoncpp
- cmake >= 3.11
git clone https://github.com/amock/rmagine_viewer.git
cd rmagine_viewer
mkdir build
cd build
cmake ..
cmake --build .Output on my machine:
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 9.4.0
-- The CXX compiler identification is GNU 9.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Populating rmagine
-- Configuring done
-- Generating done
-- Build files have been written to: /home/amock/rmagine_viewer/build/_deps/rmagine-subbuild
Scanning dependencies of target rmagine-populate
[ 11%] Creating directories for 'rmagine-populate'
[ 22%] Performing download step (git clone) for 'rmagine-populate'
Cloning into 'rmagine-src'...
remote: Enumerating objects: 7004, done.
remote: Counting objects: 100% (1119/1119), done.
remote: Compressing objects: 100% (416/416), done.
remote: Total 7004 (delta 640), reused 1075 (delta 615), pack-reused 5885 (from 1)
Receiving objects: 100% (7004/7004), 2.93 MiB | 6.68 MiB/s, done.
Resolving deltas: 100% (4659/4659), done.
Switched to a new branch 'develop'
Branch 'develop' set up to track remote branch 'develop' from 'origin'.
[ 33%] No patch step for 'rmagine-populate'
[ 44%] Performing update step for 'rmagine-populate'
Current branch develop is up to date.
[ 55%] No configure step for 'rmagine-populate'
[ 66%] No build step for 'rmagine-populate'
[ 77%] No install step for 'rmagine-populate'
[ 88%] No test step for 'rmagine-populate'
[100%] Completed 'rmagine-populate'
[100%] Built target rmagine-populate
-- CMake Version: 3.16.3
-- >= 3.9 - Enabling Link Time Optimization
-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found version "1.71.0")
CMake Warning (dev) at /usr/lib/x86_64-linux-gnu/cmake/assimp-5.0/assimpTargets.cmake:54 (if):
if given arguments:
"ON"
An argument named "ON" appears in a conditional statement. Policy CMP0012
is not set: if() recognizes numbers and boolean constants. Run "cmake
--help-policy CMP0012" for policy details. Use the cmake_policy command to
set the policy and suppress this warning.
Call Stack (most recent call first):
/usr/lib/x86_64-linux-gnu/cmake/assimp-5.0/assimp-config.cmake:1 (include)
build/_deps/rmagine-src/CMakeLists.txt:102 (find_package)
This warning is for project developers. Use -Wno-dev to suppress it.
-- Found OpenMP_C: -fopenmp (found version "4.5")
-- Found OpenMP_CXX: -fopenmp (found version "4.5")
-- Found OpenMP: TRUE (found version "4.5")
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- Found CUDA: /usr/local/cuda (found version "11.4")
-- The CUDA compiler identification is NVIDIA 11.4.152
-- Check for working CUDA compiler: /usr/local/cuda/bin/nvcc
-- Check for working CUDA compiler: /usr/local/cuda/bin/nvcc -- works
-- Detecting CUDA compiler ABI info
-- Detecting CUDA compiler ABI info - done
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1")
-- FindOptiX: Found path to optix headers in environment variable 'OPTIX_INCLUDE_DIR'.
-- Include: /home/amock/software/libraries/optix/NVIDIA-OptiX-SDK-7.3.0-linux64-x86_64/include
-- Building Core. Library: rmagine
-- Building Core. Library: rmagine
-- Building Embree (4.3.1) backend. Library: rmagine-embree
-- Building Cuda dependend code. Library: rmagine-cuda
-- Building OptiX (7.3.0) backend. Library: rmagine_optix
-- Components build:
-- - rmagine-core
-- - rmagine-ouster
-- - rmagine-embree
-- - rmagine-cuda
-- - rmagine-optix
-- Building tests for Rmagine core
-- Building tests for Embree backend
-- Building tests for OptiX backend
-- Populating polyscope
-- Configuring done
-- Generating done
-- Build files have been written to: /home/amock/rmagine_viewer/build/_deps/polyscope-subbuild
Scanning dependencies of target polyscope-populate
[ 11%] Creating directories for 'polyscope-populate'
[ 22%] Performing download step (git clone) for 'polyscope-populate'
Cloning into 'polyscope-src'...
remote: Enumerating objects: 10461, done.
remote: Counting objects: 100% (3082/3082), done.
remote: Compressing objects: 100% (686/686), done.
remote: Total 10461 (delta 2589), reused 2610 (delta 2324), pack-reused 7379 (from 1)
Receiving objects: 100% (10461/10461), 23.57 MiB | 6.97 MiB/s, done.
Resolving deltas: 100% (7466/7466), done.
Already on 'master'
Your branch is up to date with 'origin/master'.
Submodule 'deps/glfw' (https://github.com/glfw/glfw.git) registered for path 'deps/glfw'
Submodule 'deps/glm' (https://github.com/g-truc/glm.git) registered for path 'deps/glm'
Submodule 'deps/happly' (https://github.com/nmwsharp/happly.git) registered for path 'deps/happly'
Submodule 'deps/imgui/imgui' (https://github.com/ocornut/imgui.git) registered for path 'deps/imgui/imgui'
Cloning into '/home/amock/rmagine_viewer/build/_deps/polyscope-src/deps/glfw'...
Cloning into '/home/amock/rmagine_viewer/build/_deps/polyscope-src/deps/glm'...
Cloning into '/home/amock/rmagine_viewer/build/_deps/polyscope-src/deps/happly'...
Cloning into '/home/amock/rmagine_viewer/build/_deps/polyscope-src/deps/imgui/imgui'...
Submodule path 'deps/glfw': checked out 'e2c92645460f680fd272fd2eed591efb2be7dc31'
Submodule path 'deps/glm': checked out '0af55ccecd98d4e5a8d1fad7de25ba429d60e863'
Submodule path 'deps/happly': checked out '88f79725d32d78e0e637ebf42d8432d519e1c7d0'
Submodule path 'deps/imgui/imgui': checked out '277ae93c41314ba5f4c7444f37c4319cdf07e8cf'
[ 33%] No patch step for 'polyscope-populate'
[ 44%] Performing update step for 'polyscope-populate'
Current branch master is up to date.
[ 55%] No configure step for 'polyscope-populate'
[ 66%] No build step for 'polyscope-populate'
[ 77%] No install step for 'polyscope-populate'
[ 88%] No test step for 'polyscope-populate'
[100%] Completed 'polyscope-populate'
[100%] Built target polyscope-populate
-- 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
Polyscope backend openGL3_egl enabled
Polyscope backend openGL_mock enabled
-- Populating portable_file_dialogs
-- Configuring done
-- Generating done
-- Build files have been written to: /home/amock/rmagine_viewer/build/_deps/portable_file_dialogs-subbuild
Scanning dependencies of target portable_file_dialogs-populate
[ 11%] Creating directories for 'portable_file_dialogs-populate'
[ 22%] Performing download step (git clone) for 'portable_file_dialogs-populate'
Cloning into 'portable_file_dialogs-src'...
remote: Enumerating objects: 655, done.
remote: Counting objects: 100% (274/274), done.
remote: Compressing objects: 100% (106/106), done.
remote: Total 655 (delta 171), reused 264 (delta 168), pack-reused 381 (from 1)
Receiving objects: 100% (655/655), 172.86 KiB | 3.53 MiB/s, done.
Resolving deltas: 100% (407/407), done.
Already on 'main'
Your branch is up to date with 'origin/main'.
[ 33%] No patch step for 'portable_file_dialogs-populate'
[ 44%] Performing update step for 'portable_file_dialogs-populate'
Current branch main is up to date.
[ 55%] No configure step for 'portable_file_dialogs-populate'
[ 66%] No build step for 'portable_file_dialogs-populate'
[ 77%] No install step for 'portable_file_dialogs-populate'
[ 88%] No test step for 'portable_file_dialogs-populate'
[100%] Completed 'portable_file_dialogs-populate'
[100%] Built target portable_file_dialogs-populate
-- Configuring done
-- Generating done
-- Build files have been written to: /home/amock/rmagine_viewer/build
amock@amockhome:~/rmagine_viewer/build$ cmake --build .
Scanning dependencies of target stb
[ 0%] Building CXX object _deps/polyscope-build/deps/stb/CMakeFiles/stb.dir/stb_impl.cpp.o
[ 1%] Linking CXX static library libstb.a
[ 1%] Built target stb
Scanning dependencies of target glad
[ 1%] Building C object _deps/polyscope-build/deps/glad/src/CMakeFiles/glad.dir/glad.c.o
cc1: warning: command line option ‘-std=c++17’ is valid for C++/ObjC++ but not for C
[ 1%] Linking C static library libglad.a
[ 1%] Built target glad
Scanning dependencies of target glfw
[ 2%] Building C object _deps/polyscope-build/deps/glfw/src/CMakeFiles/glfw.dir/context.c.o
cc1: warning: command line option ‘-std=c++17’ is valid for C++/ObjC++ but not for C
[ 2%] Building C object _deps/polyscope-build/deps/glfw/src/CMakeFiles/glfw.dir/init.c.o
cc1: warning: command line option ‘-std=c++17’ is valid for C++/ObjC++ but not for C
[ 2%] Building C object _deps/polyscope-build/deps/glfw/src/CMakeFiles/glfw.dir/input.c.o
cc1: warning: command line option ‘-std=c++17’ is valid for C++/ObjC++ but not for C
[ 3%] Building C object _deps/polyscope-build/deps/glfw/src/CMakeFiles/glfw.dir/monitor.c.o
cc1: warning: command line option ‘-std=c++17’ is valid for C++/ObjC++ but not for C
[ 3%] Building C object _deps/polyscope-build/deps/glfw/src/CMakeFiles/glfw.dir/vulkan.c.o
cc1: warning: command line option ‘-std=c++17’ is valid for C++/ObjC++ but not for C
[ 4%] Building C object _deps/polyscope-build/deps/glfw/src/CMakeFiles/glfw.dir/window.c.o
cc1: warning: command line option ‘-std=c++17’ is valid for C++/ObjC++ but not for C
[ 4%] Building C object _deps/polyscope-build/deps/glfw/src/CMakeFiles/glfw.dir/x11_init.c.o
cc1: warning: command line option ‘-std=c++17’ is valid for C++/ObjC++ but not for C
[ 4%] Building C object _deps/polyscope-build/deps/glfw/src/CMakeFiles/glfw.dir/x11_monitor.c.o
cc1: warning: command line option ‘-std=c++17’ is valid for C++/ObjC++ but not for C
[ 5%] Building C object _deps/polyscope-build/deps/glfw/src/CMakeFiles/glfw.dir/x11_window.c.o
cc1: warning: command line option ‘-std=c++17’ is valid for C++/ObjC++ but not for C
[ 5%] Building C object _deps/polyscope-build/deps/glfw/src/CMakeFiles/glfw.dir/xkb_unicode.c.o
cc1: warning: command line option ‘-std=c++17’ is valid for C++/ObjC++ but not for C
[ 6%] Building C object _deps/polyscope-build/deps/glfw/src/CMakeFiles/glfw.dir/posix_time.c.o
cc1: warning: command line option ‘-std=c++17’ is valid for C++/ObjC++ but not for C
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cc1: warning: command line option ‘-std=c++17’ is valid for C++/ObjC++ but not for C
[ 6%] Building C object _deps/polyscope-build/deps/glfw/src/CMakeFiles/glfw.dir/glx_context.c.o
cc1: warning: command line option ‘-std=c++17’ is valid for C++/ObjC++ but not for C
[ 7%] Building C object _deps/polyscope-build/deps/glfw/src/CMakeFiles/glfw.dir/egl_context.c.o
cc1: warning: command line option ‘-std=c++17’ is valid for C++/ObjC++ but not for C
[ 7%] Building C object _deps/polyscope-build/deps/glfw/src/CMakeFiles/glfw.dir/osmesa_context.c.o
cc1: warning: command line option ‘-std=c++17’ is valid for C++/ObjC++ but not for C
[ 8%] Building C object _deps/polyscope-build/deps/glfw/src/CMakeFiles/glfw.dir/linux_joystick.c.o
cc1: warning: command line option ‘-std=c++17’ is valid for C++/ObjC++ but not for C
[ 8%] Linking C static library libglfw3.a
[ 8%] Built target glfw
Scanning dependencies of target glm
[ 8%] Building CXX object _deps/polyscope-build/deps/glm/glm/CMakeFiles/glm.dir/detail/glm.cpp.o
[ 9%] Linking CXX static library libglm.a
[ 9%] Built target glm
Scanning dependencies of target imgui
[ 9%] Building CXX object _deps/polyscope-build/deps/imgui/CMakeFiles/imgui.dir/imgui/imgui.cpp.o
[ 9%] Building CXX object _deps/polyscope-build/deps/imgui/CMakeFiles/imgui.dir/imgui/imgui_draw.cpp.o
[ 10%] Building CXX object _deps/polyscope-build/deps/imgui/CMakeFiles/imgui.dir/imgui/imgui_tables.cpp.o
[ 10%] Building CXX object _deps/polyscope-build/deps/imgui/CMakeFiles/imgui.dir/imgui/imgui_widgets.cpp.o
[ 11%] Building CXX object _deps/polyscope-build/deps/imgui/CMakeFiles/imgui.dir/imgui/imgui_demo.cpp.o
[ 11%] Building CXX object _deps/polyscope-build/deps/imgui/CMakeFiles/imgui.dir/imgui/backends/imgui_impl_glfw.cpp.o
[ 11%] Building CXX object _deps/polyscope-build/deps/imgui/CMakeFiles/imgui.dir/imgui/backends/imgui_impl_opengl3.cpp.o
[ 12%] Linking CXX static library libimgui.a
[ 12%] Built target imgui
Scanning dependencies of target polyscope
[ 12%] Building CXX object _deps/polyscope-build/src/CMakeFiles/polyscope.dir/polyscope.cpp.o
[ 13%] Building CXX object _deps/polyscope-build/src/CMakeFiles/polyscope.dir/options.cpp.o
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Scanning dependencies of target rmagine_synthetic
[ 97%] Building CXX object _deps/rmagine-build/apps/rmagine_synthetic/CMakeFiles/rmagine_synthetic.dir/Main.cpp.o
[ 97%] Linking CXX executable ../../../../bin/rmagine_synthetic
[ 97%] Built target rmagine_synthetic
Scanning dependencies of target rmagine_map_info
[ 98%] Building CXX object _deps/rmagine-build/apps/rmagine_map_info/CMakeFiles/rmagine_map_info.dir/Main.cpp.o
[ 98%] Linking CXX executable ../../../../bin/rmagine_map_info
[ 98%] Built target rmagine_map_info
Scanning dependencies of target rmagine_version
[100%] Building CXX object _deps/rmagine-build/apps/rmagine_version/CMakeFiles/rmagine_version.dir/Main.cpp.o
[100%] Linking CXX executable ../../../../bin/rmagine_version
[100%] Built target rmagine_versionAfter building, run the rmagine_viewer by entering
./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.
This repository also shows a very easy way to integrate rmagine into your projects utilizing CMake's FetchContent functionality. Read the CMakeLists.txt for more information.
This viewer is based on the amazing project Polyscope by Nicholas Sharp.