Inertia visual

examples/visualization_demo/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+project(ignition-rendering-visualization-demo)
+
+find_package(ignition-rendering6)
+
+if (APPLE OR UNIX)
+  find_package(GLUT REQUIRED)
+  include_directories(SYSTEM ${GLUT_INCLUDE_DIRS})
+  link_directories(${GLUT_LIBRARY_DIRS})
+
+  find_package(OpenGL REQUIRED)
+  include_directories(SYSTEM ${OpenGL_INCLUDE_DIRS})
+  link_directories(${OpenGL_LIBRARY_DIRS})
+
+  set(TARGET_THIRD_PARTY_DEPENDS
+		${TARGET_THIRD_PARTY_DEPENDS}
+		${OPENGL_LIBRARIES}
+		${GLUT_LIBRARIES}
+  )
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated-declarations")
+endif()
+
+if (NOT APPLE)
+  find_package(GLEW REQUIRED)
+  if (WIN32)
+    set(TARGET_THIRD_PARTY_DEPENDS
+      ${TARGET_THIRD_PARTY_DEPENDS}
+      GLEW::glew
+    )
+  else ()
+    set(TARGET_THIRD_PARTY_DEPENDS
+      ${TARGET_THIRD_PARTY_DEPENDS}
+      GLEW
+    )
+  endif()
+endif()
+
+if (WIN32)
+  find_package(FreeGLUT REQUIRED)
+  set(TARGET_THIRD_PARTY_DEPENDS ${TARGET_THIRD_PARTY_DEPENDS} FreeGLUT::freeglut)
+endif()
+
+add_executable(visualization_demo Main.cc GlutWindow.cc)
+
+target_link_libraries(visualization_demo
+  ${IGNITION-RENDERING_LIBRARIES}
+  ${TARGET_THIRD_PARTY_DEPENDS}
+)

examples/visualization_demo/GlutWindow.cc

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+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#if __APPLE__
+  #include <OpenGL/gl.h>
+  #include <OpenGL/OpenGL.h>
+  #include <GLUT/glut.h>
+#elif _WIN32
+  #define NOMINMAX
+  // Must include this before GL/gl.h
+  #include <windows.h>
+  #include <GL/glew.h
+  // OpenGL utilities header file
+  #include <GL/glu.h>
+  // OpenGL utilities header file
+  #include <GL/glut.h>
+  #include "Wingdi.h"
+#else
+  #include <GL/glew.h>
+  #include <GL/gl.h>
+  #include <GL/glut.h>
+#endif
+
+#if !defined(__APPLE__) && !defined(_WIN32)
+  #include <GL/glx.h>
+#endif
+
+#include <mutex>
+
+#include <ignition/common/Console.hh>
+#include <ignition/rendering/Camera.hh>
+#include <ignition/rendering/Image.hh>
+#include <ignition/rendering/Scene.hh>
+
+#include "GlutWindow.hh"
+
+#define KEY_ESC 27
+#define KEY_TAB  9
+
+//////////////////////////////////////////////////
+unsigned int imgw = 0;
+unsigned int imgh = 0;
+
+std::vector<ir::CameraPtr> g_cameras;
+ir::CameraPtr g_camera;
+ir::CameraPtr g_currCamera;
+unsigned int g_cameraIndex = 0;
+ir::ImagePtr g_image;
+
+bool g_initContext = false;
+
+#if __APPLE__
+  CGLContextObj g_context;
+  CGLContextObj g_glutContext;
+#elif _WIN32
+  HGLRC g_context = 0;
+  HDC g_display = 0;
+  HGLRC g_glutContext = 0;
+  HDC g_glutDisplay = 0;
+#else
+  GLXContext g_context;
+  Display *g_display;
+  GLXDrawable g_drawable;
+  GLXContext g_glutContext;
+  Display *g_glutDisplay;
+  GLXDrawable g_glutDrawable;
+#endif
+
+double g_offset = 0.0;
+
+//////////////////////////////////////////////////
+void updateCameras()
+{
+  double angle = g_offset / 2 * M_PI;
+  double x = sin(angle) * 3.0 + 3.0;
+  double y = cos(angle) * 3.0;
+  for (ir::CameraPtr camera : g_cameras)
+  {
+    camera->SetLocalPosition(x, y, 0.0);
+  }
+
+  g_offset += 0.0005;
+}
+
+//////////////////////////////////////////////////
+void displayCB()
+{
+#if __APPLE__
+  CGLSetCurrentContext(g_context);
+#elif _WIN32
+  if(!wglMakeCurrent(g_display, g_context))
+  {
+    std::cerr << "Not able to wglMakeCurrent" << '\n';
+    exit(-1);
+  }
+#else
+  if (g_display)
+  {
+    glXMakeCurrent(g_display, g_drawable, g_context);
+  }
+#endif
+
+  g_cameras[g_cameraIndex]->Capture(*g_image);
+
+#if __APPLE__
+  CGLSetCurrentContext(g_glutContext);
+#elif _WIN32
+  wglMakeCurrent(g_glutDisplay, g_glutContext);
+#else
+  glXMakeCurrent(g_glutDisplay, g_glutDrawable, g_glutContext);
+#endif
+
+  unsigned char *data = g_image->Data<unsigned char>();
+
+  glClearColor(0.5, 0.5, 0.5, 1);
+  glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+  glPixelZoom(1, -1);
+  glRasterPos2f(-1, 1);
+  glDrawPixels(imgw, imgh, GL_RGB, GL_UNSIGNED_BYTE, data);
+
+  glutSwapBuffers();
+  updateCameras();
+}
+
+//////////////////////////////////////////////////
+void idleCB()
+{
+  glutPostRedisplay();
+}
+
+//////////////////////////////////////////////////
+void keyboardCB(unsigned char _key, int, int)
+{
+  if (_key == KEY_ESC || _key == 'q' || _key == 'Q')
+  {
+    exit(0);
+  }
+  else if (_key == KEY_TAB)
+  {
+    g_cameraIndex = (g_cameraIndex + 1) % g_cameras.size();
+  }
+}
+
+//////////////////////////////////////////////////
+void initCamera(ir::CameraPtr _camera)
+{
+  g_camera = _camera;
+  imgw = g_camera->ImageWidth();
+  imgh = g_camera->ImageHeight();
+  ir::Image image = g_camera->CreateImage();
+  g_image = std::make_shared<ir::Image>(image);
+  g_camera->Capture(*g_image);
+}
+
+//////////////////////////////////////////////////
+void initContext()
+{
+  glutInitDisplayMode(GLUT_DOUBLE);
+  glutInitWindowPosition(0, 0);
+  glutInitWindowSize(imgw, imgh);
+  glutCreateWindow("Visualization Demo");
+  glutDisplayFunc(displayCB);
+  glutIdleFunc(idleCB);
+  glutKeyboardFunc(keyboardCB);
+}
+
+//////////////////////////////////////////////////
+void printUsage()
+{
+  std::cout << "===============================" << std::endl;
+  std::cout << "  TAB - Switch render engines  " << std::endl;
+  std::cout << "  ESC - Exit                   " << std::endl;
+  std::cout << "===============================" << std::endl;
+}
+
+//////////////////////////////////////////////////
+void run(std::vector<ir::CameraPtr> _cameras)
+{
+  if (_cameras.empty())
+  {
+    ignerr << "No cameras found. Scene will not be rendered" << std::endl;
+    return;
+  }
+
+#if __APPLE__
+  g_context = CGLGetCurrentContext();
+#elif _WIN32
+  g_context = wglGetCurrentContext();
+  g_display = wglGetCurrentDC();
+#else
+  g_context = glXGetCurrentContext();
+  g_display = glXGetCurrentDisplay();
+  g_drawable = glXGetCurrentDrawable();
+#endif
+
+  g_cameras = _cameras;
+  initCamera(_cameras[0]);
+  initContext();
+  printUsage();
+
+#if __APPLE__
+  g_glutContext = CGLGetCurrentContext();
+#elif _WIN32
+  g_glutContext = wglGetCurrentContext();
+  g_glutDisplay = wglGetCurrentDC();
+#else
+  g_glutDisplay = glXGetCurrentDisplay();
+  g_glutDrawable = glXGetCurrentDrawable();
+  g_glutContext = glXGetCurrentContext();
+#endif
+
+  glutMainLoop();
+}

examples/visualization_demo/GlutWindow.hh

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+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+#ifndef IGNITION_RENDERING_EXAMPLES_VISUALIZATION_DEMO_GLUTWINDOW_HH_
+#define IGNITION_RENDERING_EXAMPLES_VISUALIZATION_DEMO_GLUTWINDOW_HH_
+
+#include <vector>
+#include "ignition/rendering/RenderTypes.hh"
+
+namespace ir = ignition::rendering;
+
+/// \brief Run the demo and render the scene from the cameras
+/// \param[in] _cameras Cameras in the scene
+void run(std::vector<ir::CameraPtr> _cameras);
+
+#endif