test.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include <mrpt/gui/CDisplayWindow3D.h>
#include <mrpt/math/TPose3D.h>
#include <mrpt/opengl/CAxis.h>
#include <mrpt/opengl/CBox.h>
#include <mrpt/opengl/CGridPlaneXY.h>
#include <mrpt/opengl/CSphere.h>
#include <mrpt/system/os.h>
#include <iostream>

using namespace std;
using namespace mrpt;
using namespace mrpt::gui;
using namespace mrpt::opengl;

// ------------------------------------------------------
//              TestDisplay3D
// ------------------------------------------------------
void TestDisplay3D()
{
    CDisplayWindow3D win("Example of 3D Scene Visualization - MRPT", 640, 480);

    COpenGLScene::Ptr& theScene = win.get3DSceneAndLock();

    // Add a clone viewport:
    if (true)
    {
        COpenGLViewport::Ptr vi = theScene->createViewport("myClone");
        vi->setViewportPosition(0.7, 0.05, 0.28, 0.28);
        vi->setCloneView("main");
        vi->setTransparent(true);
        vi->getCamera().setAzimuthDegrees(45);
        vi->getCamera().setElevationDegrees(45);
        vi->getCamera().setZoomDistance(10);
    }

    // Modify the scene:
    // ------------------------------------------------------
    {
        opengl::CGridPlaneXY::Ptr obj =
            opengl::CGridPlaneXY::Create(-20, 20, -20, 20, 0, 1);
        obj->setColor(0.4, 0.4, 0.4);
        theScene->insert(obj);
    }

    {
        opengl::CAxis::Ptr obj = opengl::CAxis::Create();
        obj->setFrequency(5);
        obj->enableTickMarks();
        obj->setAxisLimits(-10, -10, -10, 10, 10, 10);
        theScene->insert(obj);
    }

    {
        opengl::CBox::Ptr obj = opengl::CBox::Create();
        obj->setWireframe(false);
        obj->setColor(1, 0, 0);
        obj->setLineWidth(3.0);
        obj->setPose(mrpt::math::TPose3D(10, 0, 0, 0.2, 0.3, 0.1));
        theScene->insert(obj);
    }

    {
        opengl::CSphere::Ptr obj = opengl::CSphere::Create();
        obj->setColor(0, 0, 1);
        obj->setRadius(0.3);
        obj->setLocation(0, 0, 1);
        obj->setName("ball_1");
        theScene->insert(obj);
    }
    {
        opengl::CSphere::Ptr obj = opengl::CSphere::Create();
        obj->setColor(1, 0, 0);
        obj->setRadius(0.3);
        obj->setLocation(-1, -1, 1);
        obj->setName("ball_2");
        theScene->insert(obj);
    }

    {
        opengl::CSphere::Ptr obj = opengl::CSphere::Create();
        obj->setColor(0, 1, 0);
        obj->setRadius(0.5);
        obj->setLocation(0, 0, 0);
        obj->setName("USER_MOUSE_PICK");
        theScene->insert(obj);
    }

    // IMPORTANT!!! IF NOT UNLOCKED, THE WINDOW WILL NOT BE UPDATED!
    win.unlockAccess3DScene();

    win.captureImagesStart();

    // Texts:
    win.addTextMessage(0.05, 0.05, "This is a 2D message");

    win.setCameraElevationDeg(25.0f);
    // win.setCameraProjective(false);

    cout << endl;
    cout << "Control with mouse or keyboard. Valid keys:" << endl;
    cout << "  ESC                        -> Exit" << endl;
    cout << "  Left/right cursor arrow    -> Camera azimuth" << endl;
    cout << endl;

    bool end = false;

    while (!end && win.isOpen())
    {
        // Move the scene:
        COpenGLScene::Ptr& theScene = win.get3DSceneAndLock();

        opengl::CRenderizable::Ptr obj1 = theScene->getByName("ball_1");
        obj1->setLocation(
            obj1->getPoseX() + cos(obj1->getPoseY() / 2) * 0.05,
            obj1->getPoseY() - sin(obj1->getPoseX() / 2) * 0.09,
            obj1->getPoseZ() - sin(obj1->getPoseX() / 2) * 0.08);

        obj1 = theScene->getByName("ball_2");
        obj1->setLocation(
            obj1->getPoseX() + cos(obj1->getPoseY() / 2) * 0.05,
            obj1->getPoseY() - sin(obj1->getPoseX() / 2) * 0.09,
            obj1->getPoseZ() - sin(obj1->getPoseX() / 2) * 0.08);

        win.addTextMessage(
            0.02, 0.98,
            format(
                "ball#1 pos: %.02f %.02f %.02f ", obj1->getPoseX(),
                obj1->getPoseY(), obj1->getPoseZ()),
            mrpt::img::TColorf(0, 0, 1),
            10,  // An arbitrary ID to always overwrite the same, previous 2D
            // text message
            MRPT_GLUT_BITMAP_HELVETICA_12);

        // IMPORTANT!!! IF NOT UNLOCKED, THE WINDOW WILL NOT BE UPDATED!
        win.unlockAccess3DScene();

        // Update window:
        win.forceRepaint();
        std::this_thread::sleep_for(10ms);

        // Grab frame:
        mrpt::img::CImage::Ptr img = win.getLastWindowImagePtr();
        if (img)
        {
            static int i = 0;
            const string s = format("GRAB_%06i.png", ++i);
            img->saveToFile(s);
            printf("Saved frame image to: %s \r", s.c_str());  // "\ r" is to
            // overwrite the
            // same line over
            // and over
            // again..
        }

        if (mrpt::system::os::kbhit()) end = true;
        if (win.keyHit())
        {
            mrptKeyModifier kmods;
            int key = win.getPushedKey(&kmods);
            printf(
                "Key pushed: %c (%i) - modifiers: 0x%04X\n", char(key), key,
                kmods);

            if (key == MRPTK_ESCAPE) end = true;

            if (key == MRPTK_RIGHT)
                win.setCameraAzimuthDeg(win.getCameraAzimuthDeg() + 5);
            if (key == MRPTK_LEFT)
                win.setCameraAzimuthDeg(win.getCameraAzimuthDeg() - 5);
        }
    };
}

// ------------------------------------------------------
//                      MAIN
// ------------------------------------------------------
int main()
{
    try
    {
        TestDisplay3D();

        return 0;
    }
    catch (const std::exception& e)
    {
        std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << std::endl;
        return -1;
    }
    catch (...)
    {
        printf("Untyped exception!!");
        return -1;
    }
}