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/img/CImage.h>
#include <mrpt/opengl/CGridPlaneXY.h>
#include <mrpt/opengl/CAxis.h>
#include <mrpt/opengl/CSetOfTexturedTriangles.h>
#include <mrpt/opengl/CSphere.h>
#include <mrpt/system/os.h>
#include <mrpt/gui/CDisplayWindow3D.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 =
                        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(0.3f);
                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(0.3f);
                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 =
                        mrpt::make_aligned_shared<opengl::CSetOfTexturedTriangles>();
                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 (std::exception& e)
        {
                std::cout << "MRPT exception caught: " << e.what() << std::endl;
                return -1;
        }
        catch (...)
        {
                printf("Untyped exception!!");
                return -1;
        }
}