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|
/* +------------------------------------------------------------------------+
| Mobile Robot Programming Toolkit (MRPT) |
| https://www.mrpt.org/ |
| |
| Copyright (c) 2005-2023, Individual contributors, see AUTHORS file |
| See: https://www.mrpt.org/Authors - All rights reserved. |
| Released under BSD License. See: https://www.mrpt.org/License |
+------------------------------------------------------------------------+ */
#include <mrpt/gui/CDisplayWindow3D.h>
#include <mrpt/math/TPose3D.h>
#include <mrpt/opengl/CAxis.h>
#include <mrpt/opengl/CBox.h>
#include <mrpt/opengl/CGridPlaneXY.h>
#include <mrpt/opengl/CSphere.h>
#include <mrpt/system/os.h>
#include <chrono>
#include <iostream>
#include <thread>
using namespace std;
using namespace mrpt;
using namespace mrpt::gui;
using namespace mrpt::opengl;
// ------------------------------------------------------
// TestDisplay3D
// ------------------------------------------------------
void TestDisplay3D()
{
CDisplayWindow3D win("Example of 3D Scene Visualization - MRPT", 640, 480);
COpenGLScene::Ptr& theScene = win.get3DSceneAndLock();
// Add a clone viewport:
if (true)
{
COpenGLViewport::Ptr vi = theScene->createViewport("myClone");
vi->setViewportPosition(0.7, 0.05, 0.28, 0.28);
vi->setCloneView("main");
vi->setTransparent(true);
vi->getCamera().setAzimuthDegrees(45);
vi->getCamera().setElevationDegrees(45);
vi->getCamera().setZoomDistance(10);
}
// Modify the scene:
// ------------------------------------------------------
{
opengl::CGridPlaneXY::Ptr obj =
opengl::CGridPlaneXY::Create(-20, 20, -20, 20, 0, 1);
obj->setColor(0.4f, 0.4f, 0.4f);
theScene->insert(obj);
}
{
opengl::CAxis::Ptr obj = opengl::CAxis::Create();
obj->setFrequency(5);
obj->enableTickMarks();
obj->setAxisLimits(-10, -10, -10, 10, 10, 10);
theScene->insert(obj);
}
{
opengl::CBox::Ptr obj = opengl::CBox::Create();
obj->setWireframe(false);
obj->setColor(1, 0, 0);
obj->setLineWidth(3.0);
obj->setPose(mrpt::math::TPose3D(10, 0, 0, 0.2, 0.3, 0.1));
theScene->insert(obj);
}
{
opengl::CSphere::Ptr obj = opengl::CSphere::Create();
obj->setColor(0, 0, 1);
obj->setRadius(0.3f);
obj->setLocation(0, 0, 1);
obj->setName("ball_1");
theScene->insert(obj);
}
{
opengl::CSphere::Ptr obj = opengl::CSphere::Create();
obj->setColor(1, 0, 0);
obj->setRadius(0.3f);
obj->setLocation(-1, -1, 1);
obj->setName("ball_2");
theScene->insert(obj);
}
{
opengl::CSphere::Ptr obj = opengl::CSphere::Create();
obj->setColor(0, 1, 0);
obj->setRadius(0.5);
obj->setLocation(0, 0, 0);
obj->setName("USER_MOUSE_PICK");
theScene->insert(obj);
}
// IMPORTANT!!! IF NOT UNLOCKED, THE WINDOW WILL NOT BE UPDATED!
win.unlockAccess3DScene();
win.captureImagesStart();
// Texts:
win.addTextMessage(0.05, 0.05, "This is a 2D message");
win.setCameraElevationDeg(25.0f);
// win.setCameraProjective(false);
cout << endl;
cout << "Control with mouse or keyboard. Valid keys:" << endl;
cout << " ESC -> Exit" << endl;
cout << " Left/right cursor arrow -> Camera azimuth" << endl;
cout << endl;
bool end = false;
mrpt::opengl::TFontParams fp;
fp.color = mrpt::img::TColorf(0, 0, 1);
while (!end && win.isOpen())
{
// Move the scene:
COpenGLScene::Ptr& theScene = win.get3DSceneAndLock();
opengl::CRenderizable::Ptr obj1 = theScene->getByName("ball_1");
obj1->setLocation(
obj1->getPoseX() + cos(obj1->getPoseY() / 2) * 0.05,
obj1->getPoseY() - sin(obj1->getPoseX() / 2) * 0.09,
obj1->getPoseZ() - sin(obj1->getPoseX() / 2) * 0.08);
obj1 = theScene->getByName("ball_2");
obj1->setLocation(
obj1->getPoseX() + cos(obj1->getPoseY() / 2) * 0.05,
obj1->getPoseY() - sin(obj1->getPoseX() / 2) * 0.09,
obj1->getPoseZ() - sin(obj1->getPoseX() / 2) * 0.08);
win.addTextMessage(
0.02, 0.98,
mrpt::format(
"ball#1 pos: %.02f %.02f %.02f ", obj1->getPoseX(),
obj1->getPoseY(), obj1->getPoseZ()),
10, // An arbitrary ID
fp);
// IMPORTANT!!! IF NOT UNLOCKED, THE WINDOW WILL NOT BE UPDATED!
win.unlockAccess3DScene();
// Update window:
win.forceRepaint();
std::this_thread::sleep_for(10ms);
// Grab frame:
mrpt::img::CImage::Ptr img = win.getLastWindowImagePtr();
if (img)
{
static int i = 0;
const string s = format("GRAB_%06i.png", ++i);
img->saveToFile(s);
printf("Saved frame image to: %s \r", s.c_str()); // "\ r" is to
// overwrite the
// same line over
// and over
// again..
}
if (mrpt::system::os::kbhit()) end = true;
if (win.keyHit())
{
mrptKeyModifier kmods;
int key = win.getPushedKey(&kmods);
printf(
"Key pushed: %c (%i) - modifiers: 0x%04X\n", char(key), key,
kmods);
if (key == MRPTK_ESCAPE) end = true;
if (key == MRPTK_RIGHT)
win.setCameraAzimuthDeg(win.getCameraAzimuthDeg() + 5);
if (key == MRPTK_LEFT)
win.setCameraAzimuthDeg(win.getCameraAzimuthDeg() - 5);
}
};
}
// ------------------------------------------------------
// MAIN
// ------------------------------------------------------
int main()
{
try
{
TestDisplay3D();
return 0;
}
catch (const std::exception& e)
{
std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << std::endl;
return -1;
}
}
|
