/* +---------------------------------------------------------------------------+
| The Mobile Robot Programming Toolkit (MRPT) C++ library |
| |
| http://www.mrpt.org/ |
| |
| Copyright (C) 2005-2011 University of Malaga |
| |
| This software was written by the Machine Perception and Intelligent |
| Robotics Lab, University of Malaga (Spain). |
| Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |
| |
| This file is part of the MRPT project. |
| |
| MRPT is free software: you can redistribute it and/or modify |
| it under the terms of the GNU General Public License as published by |
| the Free Software Foundation, either version 3 of the License, or |
| (at your option) any later version. |
| |
| MRPT is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| |
| You should have received a copy of the GNU General Public License |
| along with MRPT. If not, see <http://www.gnu.org/licenses/>. |
| |
+---------------------------------------------------------------------------+ */
#include <mrpt/base.h>
#include <mrpt/gui.h>
#include <mrpt/opengl.h>
using namespace mrpt;
using namespace mrpt::gui;
using namespace mrpt::opengl;
using namespace mrpt::math;
// ------------------------------------------------------
// TestOpenGLObjects
// ------------------------------------------------------
void TestOpenGLObjects()
{
mrpt::global_settings::OCTREE_RENDER_MAX_POINTS_PER_NODE = 10000;
CDisplayWindow3D win("Demo of MRPT's OpenGL objects",640,480);
COpenGLScenePtr &theScene = win.get3DSceneAndLock();
double off_x = 0;
const double off_y_label = 20;
const double STEP_X = 25;
// XY Grid
{
opengl::CGridPlaneXYPtr obj = opengl::CGridPlaneXY::Create(-7,7,-7,7,0,1);
obj->setColor(0.7,0.7,0.7);
obj->setLocation(off_x,0,0);
theScene->insert( obj );
opengl::CTextPtr gl_txt = opengl::CText::Create("CGridPlaneXY");
gl_txt->setLocation(off_x,off_y_label,0);
theScene->insert(gl_txt);
}
off_x+=STEP_X;
// XZ Grid
{
opengl::CGridPlaneXZPtr obj = opengl::CGridPlaneXZ::Create(-7,7,-7,7,0,1);
obj->setColor(0.7,0.7,0.7);
obj->setLocation(off_x,0,0);
theScene->insert( obj );
opengl::CTextPtr gl_txt = opengl::CText::Create("CGridPlaneXZ");
gl_txt->setLocation(off_x,off_y_label,0);
theScene->insert(gl_txt);
}
off_x+=STEP_X;
// Arrow
{
opengl::CArrowPtr obj = opengl::CArrow::Create(0,0,0, 3,0,0, 0.2, 0.1,0.2, 0,0,0 );
obj->setLocation(off_x,0,0);
theScene->insert( obj );
opengl::CTextPtr gl_txt = opengl::CText::Create("CArrow");
gl_txt->setLocation(off_x,off_y_label,0);
theScene->insert(gl_txt);
}
off_x+=STEP_X;
// Axis
{
opengl::CAxisPtr obj = opengl::CAxis::Create(-6,-6,-6, 6,6,6, 2,2, true);
obj->setLocation(off_x,0,0);
theScene->insert( obj );
opengl::CTextPtr gl_txt = opengl::CText::Create("CAxis");
gl_txt->setLocation(off_x,off_y_label,0);
theScene->insert(gl_txt);
}
off_x+=STEP_X;
// Box
{
opengl::CBoxPtr obj = opengl::CBox::Create(TPoint3D(0,0,0),TPoint3D(1,1,1), true, 3.0);
obj->setLocation(off_x,0,0);
theScene->insert( obj );
opengl::CBoxPtr obj2 = opengl::CBox::Create(TPoint3D(0,0,0),TPoint3D(1,1,1), false);
obj2->setLocation(off_x,4,0);
theScene->insert( obj2 );
opengl::CTextPtr gl_txt = opengl::CText::Create("CBox");
gl_txt->setLocation(off_x,off_y_label,0);
theScene->insert(gl_txt);
}
off_x+=STEP_X;
// Cylinder
{
opengl::CCylinderPtr obj = opengl::CCylinder::Create(2,2, 4, 20,10);
obj->setLocation(off_x,0,0);
obj->setColor(0,0,0.8);
theScene->insert( obj );
opengl::CCylinderPtr obj2 = opengl::CCylinder::Create(2,1, 4, 20,10);
obj2->setLocation(off_x,6,0);
obj2->setColor(0,0,0.8);
theScene->insert( obj2 );
opengl::CCylinderPtr obj3 = opengl::CCylinder::Create(2,0, 4, 20,10);
obj3->setLocation(off_x,-6,0);
obj3->setColor(0,0,0.8);
theScene->insert( obj3 );
opengl::CTextPtr gl_txt = opengl::CText::Create("CCylinder");
gl_txt->setLocation(off_x,off_y_label,0);
theScene->insert(gl_txt);
}
off_x+=STEP_X;
// CDisk
{
{
opengl::CDiskPtr obj = opengl::CDisk::Create(2.0,1.8, 50);
obj->setLocation(off_x,0,0);
obj->setColor(0.8,0,0);
theScene->insert( obj );
}
{
opengl::CDiskPtr obj = opengl::CDisk::Create(2.0,0, 50);
obj->setLocation(off_x,5,0);
obj->setColor(0.8,0,0);
theScene->insert( obj );
}
opengl::CTextPtr gl_txt = opengl::CText::Create("CDisk");
gl_txt->setLocation(off_x,off_y_label,0);
theScene->insert(gl_txt);
}
off_x+=STEP_X;
// CEllipsoid
{
const double cov3d_dat[] = {
0.9, 0.7, -0.4,
0.7, 1.6, -0.6,
-0.4,-0.6, 1.5 };
const double cov2d_dat[] = {
0.9, 0.7,
0.7, 1.6 };
mrpt::math::CMatrixDouble22 cov2d(cov2d_dat);
mrpt::math::CMatrixDouble33 cov3d(cov3d_dat);
{
opengl::CEllipsoidPtr obj = opengl::CEllipsoid::Create();
obj->setCovMatrix(cov2d);
obj->setLocation(off_x,6,0);
obj->setQuantiles(2.0);
theScene->insert( obj );
}
{
opengl::CEllipsoidPtr obj = opengl::CEllipsoid::Create();
obj->setCovMatrix(cov3d);
obj->setQuantiles(2.0);
obj->enableDrawSolid3D(false);
obj->setLocation(off_x,0,0);
theScene->insert( obj );
}
{
opengl::CEllipsoidPtr obj = opengl::CEllipsoid::Create();
obj->setCovMatrix(cov3d);
obj->setQuantiles(2.0);
obj->enableDrawSolid3D(true);
obj->setLocation(off_x,-6,0);
theScene->insert( obj );
}
opengl::CTextPtr gl_txt = opengl::CText::Create("CEllipsoid");
gl_txt->setLocation(off_x,off_y_label,0);
theScene->insert(gl_txt);
}
off_x+=STEP_X;
// CMesh
{
opengl::CMeshPtr obj = opengl::CMesh::Create();
obj->setLocation(off_x,0,0);
mrpt::math::CMatrixFloat Zs(40,40); // Height
// mrpt::math::CMatrixFloat Us,Vs; // Texture
// Us.resize(Zs.size());
// Vs.resize(Zs.size());
for (size_t i=0;i<size(Zs,1);i++)
for (size_t j=0;j<size(Zs,2);j++)
{
double x = i*0.25; double y= j*0.25;
Zs(i,j) = 4*cos((x+y)*0.6)+sin((x-0.5)*(y+1.2)*0.3)*3;
}
obj->setGridLimits(-10,10,-10,10);
obj->setZ(Zs);
//obj->enableWireFrame(true);
obj->enableColorFromZ(true, mrpt::utils::cmJET );
theScene->insert( obj );
opengl::CTextPtr gl_txt = opengl::CText::Create("CMesh");
gl_txt->setLocation(off_x,off_y_label,0);
theScene->insert(gl_txt);
}
off_x+=STEP_X;
// CPointCloud
{
opengl::CPointCloudPtr obj = opengl::CPointCloud::Create();
obj->setLocation(off_x,0,0);
theScene->insert( obj );
obj->setPointSize(3.0);
obj->enablePointSmooth();
obj->enableColorFromY();
for (int i=0;i<100000;i++)
obj->insertPoint(
mrpt::random::randomGenerator.drawUniform(-5,5),
mrpt::random::randomGenerator.drawUniform(-5,5),
mrpt::random::randomGenerator.drawUniform(-5,5) );
opengl::CTextPtr gl_txt = opengl::CText::Create("CPointCloud");
gl_txt->setLocation(off_x,off_y_label,0);
theScene->insert(gl_txt);
}
off_x+=STEP_X;
// CPointCloudColoured
{
opengl::CPointCloudColouredPtr obj = opengl::CPointCloudColoured::Create();
obj->setLocation(off_x,0,0);
theScene->insert( obj );
obj->setPointSize(3.0);
obj->enablePointSmooth();
for (int i=0;i<200;i++)
obj->push_back(
mrpt::random::randomGenerator.drawUniform(-5,5),
mrpt::random::randomGenerator.drawUniform(-5,5),
mrpt::random::randomGenerator.drawUniform(-5,5),
mrpt::random::randomGenerator.drawUniform(0,1),
mrpt::random::randomGenerator.drawUniform(0,1),
mrpt::random::randomGenerator.drawUniform(0,1) );
opengl::CTextPtr gl_txt = opengl::CText::Create("CPointCloudColoured");
gl_txt->setLocation(off_x,off_y_label,0);
theScene->insert(gl_txt);
}
off_x+=STEP_X;
// CPolyhedron
{
{
opengl::CPolyhedronPtr obj = opengl::CPolyhedron::CreateCuboctahedron(1.0);
obj->setLocation(off_x,0,0);
theScene->insert( obj );
}
{
opengl::CPolyhedronPtr obj = opengl::CPolyhedron::CreateDodecahedron(1.0);
obj->setLocation(off_x,-5,0);
theScene->insert( obj );
}
{
opengl::CPolyhedronPtr obj = opengl::CPolyhedron::CreateIcosahedron(1.0);
obj->setLocation(off_x,5,0);
theScene->insert( obj );
}
opengl::CTextPtr gl_txt = opengl::CText::Create("CPolyhedron");
gl_txt->setLocation(off_x,off_y_label,0);
theScene->insert(gl_txt);
}
off_x+=STEP_X;
// CSphere
{
{
opengl::CSpherePtr obj = opengl::CSphere::Create(3.0);
obj->setLocation(off_x,0,0);
theScene->insert( obj );
}
opengl::CTextPtr gl_txt = opengl::CText::Create("CSphere");
gl_txt->setLocation(off_x,off_y_label,0);
theScene->insert(gl_txt);
}
off_x+=STEP_X;
#if 1
// CText
{
{
opengl::CTextPtr obj = opengl::CText::Create("This is a CText example! My size is invariant to eye-distance");
obj->setLocation(off_x,0,0);
theScene->insert( obj );
}
opengl::CTextPtr gl_txt = opengl::CText::Create("CText");
gl_txt->setLocation(off_x,off_y_label,0);
theScene->insert(gl_txt);
}
off_x+=STEP_X;
// CText3D
{
{
opengl::CText3DPtr obj = opengl::CText3D::Create("I'm a cool CText3D!");
obj->setLocation(off_x,0,0);
theScene->insert( obj );
}
opengl::CTextPtr gl_txt = opengl::CText::Create("CText3D");
gl_txt->setLocation(off_x,off_y_label,0);
theScene->insert(gl_txt);
}
off_x+=STEP_X;
// CSetOfLines
{
{
opengl::CSetOfLinesPtr obj = opengl::CSetOfLines::Create();
obj->setLocation(off_x,0,0);
for (int i=0;i<15;i++)
obj->appendLine(
mrpt::random::randomGenerator.drawUniform(-5,5),mrpt::random::randomGenerator.drawUniform(-5,5),mrpt::random::randomGenerator.drawUniform(-5,5),
mrpt::random::randomGenerator.drawUniform(-5,5),mrpt::random::randomGenerator.drawUniform(-5,5),mrpt::random::randomGenerator.drawUniform(-5,5) );
theScene->insert( obj );
}
opengl::CTextPtr gl_txt = opengl::CText::Create("CSetOfLines");
gl_txt->setLocation(off_x,off_y_label,0);
theScene->insert(gl_txt);
}
off_x+=STEP_X;
// stock_objects::BumblebeeCamera
{
{
opengl::CSetOfObjectsPtr obj = opengl::stock_objects::BumblebeeCamera();
obj->setLocation(off_x,0,0);
theScene->insert( obj );
}
opengl::CTextPtr gl_txt = opengl::CText::Create("stock_objects::BumblebeeCamera()");
gl_txt->setLocation(off_x,off_y_label,0);
theScene->insert(gl_txt);
}
off_x+=STEP_X;
// stock_objects::CornerXYSimple
{
{
opengl::CSetOfObjectsPtr obj = opengl::stock_objects::CornerXYSimple(1,3);
obj->setLocation(off_x,0,0);
theScene->insert( obj );
}
opengl::CTextPtr gl_txt = opengl::CText::Create("stock_objects::CornerXYSimple()");
gl_txt->setLocation(off_x,off_y_label,0);
theScene->insert(gl_txt);
}
off_x+=STEP_X;
// stock_objects::CornerXYZSimple
{
{
opengl::CSetOfObjectsPtr obj = opengl::stock_objects::CornerXYZSimple(1,3);
obj->setLocation(off_x,0,0);
theScene->insert( obj );
}
opengl::CTextPtr gl_txt = opengl::CText::Create("stock_objects::CornerXYZSimple()");
gl_txt->setLocation(off_x,off_y_label,0);
theScene->insert(gl_txt);
}
off_x+=STEP_X;
// stock_objects::CornerXYZ
{
{
opengl::CSetOfObjectsPtr obj = opengl::stock_objects::CornerXYZ();
obj->setLocation(off_x,0,0);
theScene->insert( obj );
}
opengl::CTextPtr gl_txt = opengl::CText::Create("stock_objects::CornerXYZ()");
gl_txt->setLocation(off_x,off_y_label,0);
theScene->insert(gl_txt);
}
off_x+=STEP_X;
// stock_objects::RobotPioneer
{
{
opengl::CSetOfObjectsPtr obj = opengl::stock_objects::RobotPioneer();
obj->setLocation(off_x,0,0);
theScene->insert( obj );
}
opengl::CTextPtr gl_txt = opengl::CText::Create("stock_objects::RobotPioneer()");
gl_txt->setLocation(off_x,off_y_label,0);
theScene->insert(gl_txt);
}
off_x+=STEP_X;
#endif
win.setCameraZoom(150);
// 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()));
mrpt::system::sleep(2);
win.repaint();
}
}
// ------------------------------------------------------
// MAIN
// ------------------------------------------------------
int main()
{
try
{
TestOpenGLObjects();
return 0;
} catch (std::exception &e)
{
std::cout << "MRPT exception caught: " << e.what() << std::endl;
return -1;
}
catch (...)
{
printf("Untyped exception!!");
return -1;
}
}
