Question

我是现代OpenGL的新手。我正在研究一个项目为我的机器人构建一个简单的2d映射系统，我正在使用OpenGL进行可视化。现在我可以从机器人那里获取数据，但我不知道如何用数据绘制地图。一个问题是数据是连续进入的，我应该如何指定缓冲区大小？另外，我如何告诉OpenGL我的数据正在发生变化？

这是我的代码段：

std::vector<geometry_msgs::Point32> pts;
int main(int argc, char **argv)
{
    GLuint vertex_buffer, vertex_shader, fragment_shader, program;
    GLint mvp_location, vpos_location, vcol_location;
    GLFWwindow* window = glfwCreateWindow(640, 480, "My Window", NULL, NULL);
    if(!window) {
        std::cout << "window creation failed\n";
        glfwTerminate();
        return -1;
    }
    glfwMakeContextCurrent(window);
    gladLoadGLLoader((GLADloadproc) glfwGetProcAddress);
    glfwSwapInterval(1);

    //mesh
    glGenBuffers(1, &vertex_buffer);
    glBindBuffer(GL_ARRAY_BUFFER, vertex_buffer);
    glBufferData(GL_ARRAY_BUFFER, sizeof(pts) * pts.size(), &pts, GL_STATIC_DRAW);

    //shader
    vertex_shader = glCreateShader(GL_VERTEX_SHADER);
    glShaderSource(vertex_shader, 1, &vertex_shader_text, NULL);
    glCompileShader(vertex_shader);

    fragment_shader = glCreateShader(GL_FRAGMENT_SHADER);
    glShaderSource(fragment_shader, 1, &fragment_shader_text, NULL);
    glCompileShader(fragment_shader);

    program = glCreateProgram();
    glAttachShader(program, vertex_shader);
    glAttachShader(program, fragment_shader);
    glLinkProgram(program);

    mvp_location = glGetUniformLocation(program, "MVP");
    vpos_location = glGetAttribLocation(program, "vPos");
    vcol_location = glGetAttribLocation(program, "vCol");

    glEnableVertexAttribArray(vpos_location);

    glVertexAttribPointer(vpos_location, 3, GL_FLOAT, GL_FALSE, sizeof(float) * 6, (void*) 0);
    glEnableVertexAttribArray(vcol_location);
    glVertexAttribPointer(vcol_location, 3, GL_FLOAT, GL_FALSE, sizeof(float) * 6, (void*) (sizeof(float) * 3));
    while(!glfwWindowShouldClose(window)) {
        glClear(GL_COLOR_BUFFER_BIT);

        glUseProgram(program);
        glUniformMatrix4fv(mvp_location, 1, GL_FALSE, (const GLfloat*) mvp);
        glDrawArrays(GL_POINTS, 0, pts.size());

        glfwSwapBuffers(window);
        glfwPollEvents();
    }
    glfwDestroyWindow(window);

    glfwTerminate();
    exit(EXIT_SUCCESS);
}

现在它没有任何吸引力。

编辑：我确实有来自机器人的数据并保存在pts

中

OpenGL＆amp; ROS - 映射可视化工具

0 个答案: