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3D OpenGL Rendering Engine

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danielgehrig18 edited this page Oct 30, 2018 · 4 revisions

Rendering engine based on pure OpenGL code, that can simulate simple 3D scenes, including the possibility to simulate dynamic objects moving in the scene.

Run

First set the absolute paths in opengl.conf:

roscd esim_ros
gedit cfg/opengl.conf

Run the simulator as follows:

roslaunch esim_ros esim.launch config:=cfg/opengl.conf

At this point, the simulator should be running, however by default it does not show any visualization.

To visualize the output of the simulator, you can open rviz (from a new terminal) as follows:

roscd esim_visualization
rviz -d cfg/esim.rviz

You can also open rqt for more visualizations, as follows:

roscd esim_visualization
rqt --perspective-file cfg/esim.perspective

Scenes

Assimp is used to read a 3D object used as scene, for example an .obj file. Use --render_scene to specify the path to some object.

Blender

Theoretically, Blender-files are supported by Assimp, but are loaded somehow incorrectly. Better export your scene as a .obj file. Make sure of the following things:

  • Materials must have UV maps defined for textures (In Textures: Mapping: Coordinates select 'UV').
  • Choose 'Z Up' and 'Y forward' when exporting as .obj
  • Make sure 'include UVs' and 'write materials' are enabled when exporting.
  • Make sure 'Path Mode' is set to 'Copy' (this will export and copy the texture files to the same folder as the .obj file)
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