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("#1: Demo of image mode viewport", 320, 240);
        CDisplayWindow3D win2("#2: Demo of image mode viewport", 500, 400);
 
        // Win #1:
        //  Get the smart pointer to the main viewport object in this window:
        COpenGLViewport::Ptr gl_view_main;
        {
                COpenGLScene::Ptr& theScene = win.get3DSceneAndLock();
                gl_view_main = theScene->getViewport("main");
                ASSERT_(gl_view_main);
                // IMPORTANT!!! IF NOT UNLOCKED, THE WINDOW WILL NOT BE UPDATED!
                win.unlockAccess3DScene();
        }
 
        // Win #2:
        //  Get the smart pointer to the main viewport object in this window:
        COpenGLViewport::Ptr gl_view_aux;
        {
                COpenGLScene::Ptr& theScene = win2.get3DSceneAndLock();
                theScene->insert(
                        mrpt::make_aligned_shared<mrpt::opengl::CGridPlaneXY>());
 
                // Create small auxiliary viewport
                gl_view_aux = theScene->createViewport("aux");
 
                gl_view_aux->setViewportPosition(10, 10, 300, 200);
                gl_view_aux->setTransparent(true);
 
                // IMPORTANT!!! IF NOT UNLOCKED, THE WINDOW WILL NOT BE UPDATED!
                win2.unlockAccess3DScene();
        }
 
        win.setPos(10, 10);
        win2.setPos(400, 100);
 
        cout << "Close any window to end.\n";
        while (win.isOpen() && win2.isOpen())
        {
                win.addTextMessage(5, 5, format("%.02fFPS", win.getRenderingFPS()));
                win2.addTextMessage(5, 5, format("%.02fFPS", win2.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_view_main->setImageView(o->image);
                                win.unlockAccess3DScene();
                                win.repaint();
 
                                win2.get3DSceneAndLock();
                                gl_view_aux->setImageView_fast(o->image);
                                win2.unlockAccess3DScene();
                                win2.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;
        }
}