/* +---------------------------------------------------------------------------+ | 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/gui.h> #include <mrpt/opengl.h> #include <mrpt/hwdrivers/CCameraSensor.h> using namespace mrpt; using namespace mrpt::gui; using namespace mrpt::opengl; using namespace mrpt::math; // ------------------------------------------------------ // 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::CCameraSensorPtr 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: COpenGLViewportPtr gl_view_main; { COpenGLScenePtr &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: COpenGLViewportPtr gl_view_aux; { COpenGLScenePtr &theScene = win2.get3DSceneAndLock(); theScene->insert( mrpt::opengl::CGridPlaneXY::Create() ); // 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())); mrpt::system::sleep(1); // Grab new video frame: CObservationPtr obs = cam->getNextFrame(); if (obs) { if (IS_CLASS(obs,CObservationImage)) { CObservationImagePtr o = CObservationImagePtr(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; } }