test.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#include <mrpt/opengl/COpenGLScene.h>
#include <mrpt/opengl/CGridPlaneXY.h>
#include <mrpt/opengl/CAxis.h>
#include <mrpt/opengl/CSphere.h>
#include <mrpt/opengl/CFBORender.h>
#include <mrpt/gui/CDisplayWindow.h>
#include <mrpt/img/CImage.h>
 
#include <thread>
#include <chrono>
#include <iostream>
 
using namespace mrpt;
using namespace mrpt::gui;
using namespace mrpt::opengl;
using namespace mrpt::img;
 
using namespace std::literals;
 
// ------------------------------------------------------
//                              TestDisplay3D
// ------------------------------------------------------
void TestDisplay3D()
{
        COpenGLScene scene;
 
        // Modify the scene:
        // ------------------------------------------------------
        {
                opengl::CGridPlaneXY::Ptr obj =
                        mrpt::make_aligned_shared<opengl::CGridPlaneXY>(
                                -20, 20, -20, 20, 0, 1);
                obj->setColor(0.4, 0.4, 0.4);
                scene.insert(obj);
        }
        {
                opengl::CAxis::Ptr obj = mrpt::make_aligned_shared<opengl::CAxis>();
                obj->setFrequency(5);
                obj->enableTickMarks();
                obj->setAxisLimits(-10, -10, -10, 10, 10, 10);
                scene.insert(obj);
        }
        {
                opengl::CSphere::Ptr obj = mrpt::make_aligned_shared<opengl::CSphere>();
                obj->setColor(0, 0, 1);
                obj->setRadius(0.3);
                obj->setLocation(0, 0, 1);
                obj->setName("ball_1");
                scene.insert(obj);
        }
        {
                opengl::CSphere::Ptr obj = mrpt::make_aligned_shared<opengl::CSphere>();
                obj->setColor(1, 0, 0);
                obj->setRadius(0.3);
                obj->setLocation(-1, -1, 1);
                obj->setName("ball_2");
                scene.insert(obj);
        }
 
        CDisplayWindow win("output");
 
        int c = 0, width = 640, height = 480;
 
        CFBORender render(width, height);
        CImage frame(width, height, 3, false);
 
        {
                CCamera& camera = render.getCamera(scene);
                camera.setZoomDistance(50);
        }
 
        while (!mrpt::system::os::kbhit())
        {
                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);
 
                // change the size
                if (++c > 100)
                {
                        width = 800, height = 600;
                        frame.resize(width, height, 3, false);
                        render.resize(width, height);
                }
 
                // render the scene
                render.getFrame2(scene, frame);
 
                // show the redered image
                win.showImage(frame);
 
                std::this_thread::sleep_for(50ms);
        }
}
 
// ------------------------------------------------------
//                                              MAIN
// ------------------------------------------------------
int main(int argc, char* argv[])
{
        try
        {
                TestDisplay3D();
                return 0;
        }
        catch (std::exception& e)
        {
                std::cout << "MRPT exception caught: " << e.what() << std::endl;
                return -1;
        }
        catch (...)
        {
                printf("Untyped exception!!");
                return -1;
        }
}