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/gui.h>
#include <mrpt/opengl.h>
#include <mrpt/hwdrivers/CCameraSensor.h>
#include <iostream>
 
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 =
                mrpt::make_aligned_shared<opengl::CGridPlaneXY>(-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 =
                mrpt::make_aligned_shared<opengl::CTexturedPlane>(
                        0, 1, 0, 0.75);  // 4/3 aspect ratio
        opengl::CTexturedPlane::Ptr gl_plane2 =
                mrpt::make_aligned_shared<opengl::CTexturedPlane>(0, 1, 0, 0.75);
        opengl::CTexturedPlane::Ptr gl_plane3 =
                mrpt::make_aligned_shared<opengl::CTexturedPlane>(0, 1, 0, 0.75);
 
        gl_plane1->setPose(
                mrpt::poses::CPose3D(0, 0, 1, DEG2RAD(0), DEG2RAD(0), DEG2RAD(-90)));
        gl_plane2->setPose(
                mrpt::poses::CPose3D(1, 0, 1, DEG2RAD(120), DEG2RAD(0), DEG2RAD(-90)));
        gl_plane3->setPose(
                mrpt::poses::CPose3D(0, 0, 1, DEG2RAD(60), DEG2RAD(0), DEG2RAD(-90)));
 
        win.setCameraZoom(5);
 
        // Insert objects in scene:
        {
                COpenGLScene::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 (std::exception& e)
        {
                std::cout << "MRPT exception caught: " << e.what() << std::endl;
                return -1;
        }
        catch (...)
        {
                printf("Untyped exception!!");
                return -1;
        }
}