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/img/CImage.h>
#include <mrpt/opengl/CAxis.h>
#include <mrpt/opengl/CGridPlaneXY.h>
#include <mrpt/opengl/CSetOfTexturedTriangles.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;
using namespace mrpt::img;

#include <mrpt/examples_config.h>

string myDataDir(
    MRPT_EXAMPLES_BASE_DIRECTORY +
    string("opengl_textured_triangles_example/"));

// ------------------------------------------------------
//              TestDisplay3D
// ------------------------------------------------------
void TestDisplay3D()
{
    CDisplayWindow3D win("Test of CSetOfTexturedTriangles");
    COpenGLScene::Ptr& scene = win.get3DSceneAndLock();

    // Modify the scene:
    // ------------------------------------------------------
    {
        opengl::CGridPlaneXY::Ptr obj =
            opengl::CGridPlaneXY::Create(-20, 20, -20, 20, 0, 1);
        obj->setColor(0.4, 0.4, 0.4);
        scene->insert(obj);
    }
    {
        opengl::CAxis::Ptr obj = opengl::CAxis::Create();
        obj->setFrequency(5);
        obj->enableTickMarks();
        obj->setAxisLimits(-10, -10, -10, 10, 10, 10);
        scene->insert(obj);
    }
    {
        opengl::CSphere::Ptr obj = opengl::CSphere::Create();
        obj->setColor(0, 0, 1);
        obj->setRadius(0.3f);
        obj->setLocation(0, 0, 1);
        obj->setName("ball_1");
        scene->insert(obj);
    }
    {
        opengl::CSphere::Ptr obj = opengl::CSphere::Create();
        obj->setColor(1, 0, 0);
        obj->setRadius(0.3f);
        obj->setLocation(-1, -1, 1);
        obj->setName("ball_2");
        scene->insert(obj);
    }
    {
        CImage image, alpha;

        //      image.loadFromFile(myDataDir + string("texture.png"), 0); //
        // grayscale
        image.loadFromFile(myDataDir + string("texture.png"), 1);  // color
        alpha.loadFromFile(myDataDir + string("mask.png"), 0);  // transparency

        opengl::CSetOfTexturedTriangles::Ptr obj =
            opengl::CSetOfTexturedTriangles::Create();
        opengl::CSetOfTexturedTriangles::TTriangle tri;

        tri = opengl::CSetOfTexturedTriangles::TTriangle(
            opengl::CSetOfTexturedTriangles::TVertex(
                -2.0, -2.0, 0, 0, 256),  // 3D coord (x,y,z) Pixel coord (u,v)
            opengl::CSetOfTexturedTriangles::TVertex(2.0, -2.0, 0, 256, 256),
            opengl::CSetOfTexturedTriangles::TVertex(2.0, 2.0, 0, 256, 0));
        obj->insertTriangle(tri);

        tri = opengl::CSetOfTexturedTriangles::TTriangle(
            opengl::CSetOfTexturedTriangles::TVertex(-2.0, 2.0, 1, 0, 0),
            opengl::CSetOfTexturedTriangles::TVertex(2.0, 2.0, 0, 256, 0),
            opengl::CSetOfTexturedTriangles::TVertex(-2.0, -2.0, 0, 0, 256));
        obj->insertTriangle(tri);

        obj->setName("set");
        //      obj->assignImage(image);
        obj->assignImage(image, alpha);  // transparency
        scene->insert(obj);
    }

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

    win.setCameraElevationDeg(25.0f);

    while (!mrpt::system::os::kbhit() && win.isOpen())
    {
        // Move the scene:
        COpenGLScene::Ptr& scene = win.get3DSceneAndLock();

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

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

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

        // Update window:
        win.forceRepaint();

        std::this_thread::sleep_for(20ms);
    }
}

// ------------------------------------------------------
//                      MAIN
// ------------------------------------------------------
int main(int argc, char* argv[])
{
    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;
    }
}