test.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, 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/maps/COccupancyGridMap3D.h>
#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/obs/stock_observations.h>
#include <mrpt/opengl/CGridPlaneXY.h>
#include <mrpt/opengl/COctoMapVoxels.h>
#include <mrpt/system/os.h>
#include <iostream>

// ------------------------------------------------------
//              TestGridMap3D
// ------------------------------------------------------
void TestGridMap3D()
{
    mrpt::maps::COccupancyGridMap3D map;
    const float resolution = 0.10;  // [meters]
    map.setSize(
        mrpt::math::TPoint3D(-3, -5, -2), mrpt::math::TPoint3D(10, 5, 2),
        resolution);

    // Insert 2D scan:
    {
        mrpt::obs::CObservation2DRangeScan scan1;
        mrpt::obs::stock_observations::example2DRangeScan(scan1);
        map.insertObservation(scan1);
    }

    mrpt::gui::CDisplayWindow3D win("GridMap3D demo", 640, 480);

    auto gl_map = mrpt::opengl::COctoMapVoxels::Create();

    {
        mrpt::opengl::COpenGLScene::Ptr& scene = win.get3DSceneAndLock();

        {
            mrpt::opengl::CGridPlaneXY::Ptr gl_grid =
                mrpt::opengl::CGridPlaneXY::Create(-20, 20, -20, 20, 0, 1);
            gl_grid->setColor_u8(mrpt::img::TColor(0x80, 0x80, 0x80));
            scene->insert(gl_grid);
        }

        map.renderingOptions.generateGridLines = true;
        map.getAsOctoMapVoxels(*gl_map);

        gl_map->showGridLines(false);
        gl_map->showVoxels(mrpt::opengl::VOXEL_SET_OCCUPIED, true);
        gl_map->showVoxels(mrpt::opengl::VOXEL_SET_FREESPACE, true);
        scene->insert(gl_map);

        win.unlockAccess3DScene();
    }

    std::cout << "Close the window to exit" << std::endl;

    bool update_msg = true;

    while (win.isOpen())
    {
        if (win.keyHit())
        {
            const unsigned int k = win.getPushedKey();

            switch (k)
            {
                case 'g':
                case 'G':
                    gl_map->showGridLines(!gl_map->areGridLinesVisible());
                    break;
                case 'f':
                case 'F':
                    gl_map->showVoxels(
                        mrpt::opengl::VOXEL_SET_FREESPACE,
                        !gl_map->areVoxelsVisible(
                            mrpt::opengl::VOXEL_SET_FREESPACE));
                    break;
                case 'o':
                case 'O':
                    gl_map->showVoxels(
                        mrpt::opengl::VOXEL_SET_OCCUPIED,
                        !gl_map->areVoxelsVisible(
                            mrpt::opengl::VOXEL_SET_OCCUPIED));
                    break;
                case 'l':
                case 'L':
                    gl_map->enableLights(!gl_map->areLightsEnabled());
                    break;
            };
            update_msg = true;
        }

        if (update_msg)
        {
            update_msg = false;

            win.addTextMessage(
                5, 5,
                mrpt::format(
                    "Commands: 'g' (grids=%s) | 'f' (freespace=%s) | 'o' "
                    "(occupied=%s) | 'l' (lights=%s)",
                    gl_map->areGridLinesVisible() ? "YES" : "NO",
                    gl_map->areVoxelsVisible(mrpt::opengl::VOXEL_SET_FREESPACE)
                        ? "YES"
                        : "NO",
                    gl_map->areVoxelsVisible(mrpt::opengl::VOXEL_SET_OCCUPIED)
                        ? "YES"
                        : "NO",
                    gl_map->areLightsEnabled() ? "YES" : "NO"));

            win.repaint();
        }

        using namespace std::chrono_literals;
        std::this_thread::sleep_for(10ms);
    };
}

int main([[maybe_unused]] int argc, [[maybe_unused]] char** argv)
{
    try
    {
        TestGridMap3D();
        return 0;
    }
    catch (const std::exception& e)
    {
        std::cerr << mrpt::exception_to_str(e) << std::endl;
        return -1;
    }
}