Example: opengl_video_demo
C++ example source code:
/* +------------------------------------------------------------------------+ | Mobile Robot Programming Toolkit (MRPT) | | https://www.mrpt.org/ | | | | Copyright (c) 2005-2024, 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/hwdrivers/CCameraSensor.h> #include <mrpt/opengl.h> #include <chrono> #include <iostream> #include <thread> using namespace std; using namespace mrpt; using namespace mrpt::gui; using namespace mrpt::opengl; using namespace mrpt::math; using namespace mrpt::obs; // ------------------------------------------------------ // TestOpenGLVideo // ------------------------------------------------------ void TestOpenGLVideo() { // Show to the user a list of possible camera drivers and creates and open // the selected camera. cout << "Please, select the input video file or camera...\n"; mrpt::hwdrivers::CCameraSensor::Ptr cam = mrpt::hwdrivers::prepareVideoSourceFromUserSelection(); if (!cam) return; cout << "Video stream open OK\n"; // Create 3D window: CDisplayWindow3D win( "Demo of video textures with MRPT's OpenGL objects", 640, 480); // XY Grid opengl::CGridPlaneXY::Ptr gl_ground = opengl::CGridPlaneXY::Create(-7, 7, -7, 7, 0, 1); gl_ground->setColor(0.7, 0.7, 0.7); // An opengl plane with the video texture opengl::CTexturedPlane::Ptr gl_plane1 = opengl::CTexturedPlane::Create(0, 1, 0, 0.75); // 4/3 aspect ratio opengl::CTexturedPlane::Ptr gl_plane2 = opengl::CTexturedPlane::Create(0, 1, 0, 0.75); opengl::CTexturedPlane::Ptr gl_plane3 = opengl::CTexturedPlane::Create(0, 1, 0, 0.75); gl_plane1->setPose( mrpt::poses::CPose3D(0, 0, 1, 0.0_deg, 0.0_deg, -90.0_deg)); gl_plane2->setPose( mrpt::poses::CPose3D(1, 0, 1, 120.0_deg, 0.0_deg, -90.0_deg)); gl_plane3->setPose( mrpt::poses::CPose3D(0, 0, 1, 60.0_deg, 0.0_deg, -90.0_deg)); win.setCameraZoom(5); // Insert objects in scene: { Scene::Ptr& theScene = win.get3DSceneAndLock(); theScene->insert(gl_ground); theScene->insert(gl_plane1); theScene->insert(gl_plane2); theScene->insert(gl_plane3); // IMPORTANT!!! IF NOT UNLOCKED, THE WINDOW WILL NOT BE UPDATED! win.unlockAccess3DScene(); } win.repaint(); cout << "Close the window to end.\n"; while (win.isOpen()) { win.addTextMessage(5, 5, format("%.02fFPS", win.getRenderingFPS())); std::this_thread::sleep_for(1ms); // Grab new video frame: CObservation::Ptr obs = cam->getNextFrame(); if (obs) { if (IS_CLASS(*obs, CObservationImage)) { CObservationImage::Ptr o = std::dynamic_pointer_cast<CObservationImage>(obs); win.get3DSceneAndLock(); gl_plane1->assignImage(o->image); gl_plane2->assignImage(o->image); gl_plane3->assignImage(o->image); win.unlockAccess3DScene(); win.repaint(); } } } } // ------------------------------------------------------ // MAIN // ------------------------------------------------------ int main() { try { TestOpenGLVideo(); return 0; } catch (const std::exception& e) { std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << std::endl; return -1; } }