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/CFBORender.h>
#include <mrpt/io/CFileGZInputStream.h>
#include <mrpt/img/CImage.h>
#include <mrpt/serialization/CArchive.h>
#include <iostream>
 
using namespace std;
using namespace mrpt;
using namespace mrpt::opengl;
using namespace mrpt::io;
using namespace mrpt::serialization;
using namespace mrpt::img;
// ------------------------------------------------------
//                              TestOffscreenRender
// ------------------------------------------------------
int TestOffscreenRender(int argc, char* argv[])
{
        if (argc != 5)
        {
                cerr
                        << "Usage: " << argv[0]
                        << " <FILE.3Dscene> <WIDTH> <HEIGHT> <OUTPUT_IMAGE>\n"
                           " Output image can be in many formats: .png, .jpg, .tif, etc.\n";
                return 1;
        }
 
        const string sFil = argv[1];
        const int width = atoi(argv[2]);
        const int height = atoi(argv[3]);
        const string sOut = argv[4];
 
        ASSERT_ABOVE_(width, 0);
        ASSERT_ABOVE_(height, 0);
 
        COpenGLScene scene;
        CFileGZInputStream f(sFil);
        archiveFrom(f) >> scene;
 
        CFBORender render(width, height);
        CImage frame(width, height, 3, false);
 
        // here you can put your preferred camera rendering position
        {
                CCamera& camera = render.getCamera(scene);
                camera.setOrthogonal(true);
                camera.setZoomDistance(70);
                camera.setAzimuthDegrees(-90);
                camera.setElevationDegrees(90);
        }
 
        // render the scene
        render.getFrame2(scene, frame);
        frame.saveToFile(sOut);
 
        return 0;
}
 
// ------------------------------------------------------
//                                              MAIN
// ------------------------------------------------------
int main(int argc, char* argv[])
{
        try
        {
                return TestOffscreenRender(argc, argv);
        }
        catch (std::exception& e)
        {
                std::cout << "MRPT exception caught: " << e.what() << std::endl;
                return -1;
        }
        catch (...)
        {
                printf("Untyped exception!!");
                return -1;
        }
}