// Add objects at your will to check results
void generateObjects(CSetOfObjects::Ptr& world)
{
// create object, give it a random pose/color, insert it in the world
CDisk::Ptr dsk = mrpt::make_aligned_shared<CDisk>();
dsk->setDiskRadius(MYRANDG(5, 5), MYRANDG(5));
configRandom(dsk);
world->insert(dsk);
CSphere::Ptr sph = mrpt::make_aligned_shared<CSphere>(MYRANDG(5, 1));
configRandom(sph);
world->insert(sph);
CTexturedPlane::Ptr pln = mrpt::make_aligned_shared<CTexturedPlane>(
MYRANDG(10, -10), MYRANDG(10), MYRANDG(10, -10), MYRANDG(10));
configRandom(pln);
world->insert(pln);
for (size_t i = 0; i < 5; i++)
{
CPolyhedron::Ptr poly =
CPolyhedron::CreateRandomPolyhedron(MYRANDG(2, 2));
configRandom(poly);
world->insert(poly);
}
CCylinder::Ptr cil = mrpt::make_aligned_shared<CCylinder>(
MYRANDG(3.0, 3.0), MYRANDG(3.0, 1.0), MYRANDG(2.0f, 3.0f), 50, 1);
configRandom(cil);
world->insert(cil);
CEllipsoid::Ptr ell = mrpt::make_aligned_shared<CEllipsoid>();
CMatrixDouble md = CMatrixDouble(3, 3);
for (size_t i = 0; i < 3; i++) md(i, i) = MYRANDG(8.0, 1.0);
for (size_t i = 0; i < 3; i++)
{
size_t ii = (i + 1) % 3;
md(i, ii) = md(ii, i) = MYRANDG(sqrt(md(i, i) * md(ii, ii)));
}
ell->setCovMatrix(md);
configRandom(std::dynamic_pointer_cast<CRenderizable>(ell));
world->insert(ell);
}
/**
* Generate 3 objects to work with - 1 sphere, 2 disks
*/
void generateObjects(CSetOfObjects::Ptr& world)
{
CSphere::Ptr sph = mrpt::make_aligned_shared<CSphere>(0.5);
sph->setLocation(0, 0, 0);
sph->setColor(1, 0, 0);
world->insert(sph);
CDisk::Ptr pln = mrpt::make_aligned_shared<opengl::CDisk>();
pln->setDiskRadius(2);
pln->setPose(CPose3D(0, 0, 0, 0, DEG2RAD(5), DEG2RAD(5)));
pln->setColor(0.8, 0, 0);
world->insert(pln);
{
CDisk::Ptr pln = mrpt::make_aligned_shared<opengl::CDisk>();
pln->setDiskRadius(2);
pln->setPose(CPose3D(0, 0, 0, DEG2RAD(30), DEG2RAD(-20), DEG2RAD(-2)));
pln->setColor(0.9, 0, 0);
world->insert(pln);
}
}
