/* +---------------------------------------------------------------------------+ | 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/slam.h> #include <mrpt/gui.h> using namespace mrpt; using namespace mrpt::gui; using namespace mrpt::vision; using namespace mrpt::opengl; #include <mrpt/examples_config.h> string myDataDir( MRPT_EXAMPLES_BASE_DIRECTORY + string("setOfTexturedTrianglesTest/") ); // ------------------------------------------------------ // TestDisplay3D // ------------------------------------------------------ void TestDisplay3D() { CDisplayWindow3D win("Test of CSetOfTexturedTriangles"); COpenGLScenePtr &scene = win.get3DSceneAndLock(); // Modify the scene: // ------------------------------------------------------ { opengl::CGridPlaneXYPtr obj = opengl::CGridPlaneXY::Create(-20,20,-20,20,0,1); obj->setColor(0.4,0.4,0.4); scene->insert( obj ); } { opengl::CAxisPtr obj = opengl::CAxis::Create(); obj->setFrequency(5); obj->enableTickMarks(); obj->setAxisLimits(-10,-10,-10, 10,10,10); scene->insert( obj ); } { opengl::CSpherePtr obj = opengl::CSphere::Create(); obj->setColor(0,0,1); obj->setRadius(0.3); obj->setLocation(0,0,1); obj->setName( "ball_1" ); scene->insert( obj ); } { opengl::CSpherePtr obj = opengl::CSphere::Create(); obj->setColor(1,0,0); obj->setRadius(0.3); obj->setLocation(-1,-1,1); obj->setName( "ball_2"); scene->insert( obj ); } { vision::CImage image, alpha; // image.loadFromFile(myDataDir + string("texture.png"), 0); // grayscale image.loadFromFile(myDataDir + string("texture.png"), 1); // color alpha.loadFromFile(myDataDir + string("mask.png"), 0); // transparency opengl::CSetOfTexturedTrianglesPtr obj = opengl::CSetOfTexturedTriangles::Create(); opengl::CSetOfTexturedTriangles::TTriangle tri; tri = opengl::CSetOfTexturedTriangles::TTriangle( opengl::CSetOfTexturedTriangles::TVertex( -2.0, -2.0, 0, 0, 256 ), // 3D coord (x,y,z) Pixel coord (u,v) opengl::CSetOfTexturedTriangles::TVertex( 2.0, -2.0, 0, 256, 256 ), opengl::CSetOfTexturedTriangles::TVertex( 2.0, 2.0, 0, 256, 0 ) ); obj->insertTriangle(tri); tri = opengl::CSetOfTexturedTriangles::TTriangle( opengl::CSetOfTexturedTriangles::TVertex( -2.0, 2.0, 1, 0, 0 ), opengl::CSetOfTexturedTriangles::TVertex( 2.0, 2.0, 0, 256, 0 ), opengl::CSetOfTexturedTriangles::TVertex( -2.0, -2.0, 0, 0, 256 ) ); obj->insertTriangle(tri); obj->setName( "set" ); // obj->assignImage(image); obj->assignImage(image, alpha); // transparency scene->insert( obj ); } // IMPORTANT!!! IF NOT UNLOCKED, THE WINDOW WILL NOT BE UPDATED! win.unlockAccess3DScene(); win.setCameraElevationDeg( 25.0f ); while( !mrpt::system::os::kbhit() && win.isOpen() ) { // Move the scene: COpenGLScenePtr &scene = win.get3DSceneAndLock(); opengl::CRenderizablePtr obj = scene->getByName("ball_1"); obj->setLocation( obj->getPoseX() + cos(obj->getPoseY()/2)*0.05, obj->getPoseY() - sin(obj->getPoseX()/2)*0.09, obj->getPoseZ() - sin(obj->getPoseX()/2)*0.08 ); obj = scene->getByName("ball_2"); obj->setLocation( obj->getPoseX() + cos(obj->getPoseY()/2)*0.05, obj->getPoseY() - sin(obj->getPoseX()/2)*0.09, obj->getPoseZ() - sin(obj->getPoseX()/2)*0.08 ); // IMPORTANT!!! IF NOT UNLOCKED, THE WINDOW WILL NOT BE UPDATED! win.unlockAccess3DScene(); // Update window: win.forceRepaint(); mrpt::system::sleep(20); } } // ------------------------------------------------------ // MAIN // ------------------------------------------------------ int main(int argc, char* argv[]) { try { TestDisplay3D(); return 0; } catch (std::exception &e) { std::cout << "MRPT exception caught: " << e.what() << std::endl; return -1; } catch (...) { printf("Untyped exception!!"); return -1; } }