From - LuxCore Render Engine Example #505 (#727)

* state of branch Signed-off-by: Tomas Lorente <[email protected]> Signed-off-by: William Lew <[email protected]> * Update README.md Signed-off-by: William Lew <[email protected]> * Added render engine example Signed-off-by: William Lew <[email protected]> * Render white box Signed-off-by: William Lew <[email protected]> * Reverted simple demo Signed-off-by: William Lew <[email protected]> * Fixed camera image size Signed-off-by: William Lew <[email protected]> * Added lens trace example Signed-off-by: William Lew <[email protected]> * Added sample render for luxcore Signed-off-by: William Lew <[email protected]> * Added ProRender base plugin files Signed-off-by: William Lew <[email protected]> * Added dynamic scene creation with luxcore Signed-off-by: William Lew <[email protected]> * Added mesh class Signed-off-by: William Lew <[email protected]> * Split classes to separate files Signed-off-by: William Lew <[email protected]> * Add mesh to scene with factory Signed-off-by: William Lew <[email protected]> * Added plane Signed-off-by: William Lew <[email protected]> * Moved RenderSession to Camera Signed-off-by: William Lew <[email protected]> * Fixed luxcore initialization Signed-off-by: William Lew <[email protected]> * Wait for render to finish Signed-off-by: William Lew <[email protected]> * Fixed race condition Signed-off-by: William Lew <[email protected]> * Keep render session alive for accumulation Signed-off-by: William Lew <[email protected]> * Use CUDA for renders Signed-off-by: William Lew <[email protected]> * Added directional light Signed-off-by: William Lew <[email protected]> * Fixed camera tracking Signed-off-by: William Lew <[email protected]> * Added Duck model Signed-off-by: William Lew <[email protected]> * Added normals and UV coordinates to submeshes Signed-off-by: William Lew <[email protected]> * Updated format of examples Signed-off-by: William Lew <[email protected]> * Fixed header order error Signed-off-by: William Lew <[email protected]> * Remodev pro-render example Signed-off-by: William Lew <[email protected]> * Fixed versioning Signed-off-by: William Lew <[email protected]> * Cleaned code formatting Signed-off-by: William Lew <[email protected]> * Use cornell box for example Signed-off-by: William Lew <[email protected]> * Added environment variable warnings Signed-off-by: William Lew <[email protected]> * Undo edits to simple demo Signed-off-by: William Lew <[email protected]> * Removed lights outside of scene Signed-off-by: William Lew <[email protected]> * Removed outdated comments Signed-off-by: William Lew <[email protected]> * Added render engine output when running demo Signed-off-by: William Lew <[email protected]> * Added image maps with each mesh import Signed-off-by: William Lew <[email protected]> * Added textures into LuxCore SDL Signed-off-by: William Lew <[email protected]> * Fixed loading data from gz::common::image Signed-off-by: William Lew <[email protected]> * Added duck to cornell box Signed-off-by: William Lew <[email protected]> * PR review comments resolved Signed-off-by: Sanjuksha Nirgude <[email protected]> * allow user to configure render engine type Signed-off-by: Ian Chen <[email protected]> * PR review comments resolved Signed-off-by: Sanjuksha Nirgude <[email protected]> * Added Documentation Signed-off-by: Sanjuksha Nirgude <[email protected]> * update doc, style changes Signed-off-by: Ian Chen <[email protected]> Signed-off-by: Tomas Lorente <[email protected]> Signed-off-by: William Lew <[email protected]> Signed-off-by: Sanjuksha Nirgude <[email protected]> Signed-off-by: Ian Chen <[email protected]> Signed-off-by: Sanjuksha Nirgude <[email protected]> Co-authored-by: Tomas Lorente <[email protected]> Co-authored-by: William Lew <[email protected]> Co-authored-by: Sanjuksha Nirgude <[email protected]> Co-authored-by: Ian Chen <[email protected]>
gazebosim · Oct 14, 2022 · 18e69f0 · 18e69f0
1 parent 75bb0d0
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diff --git a/examples/lux_core_engine/CMakeLists.txt b/examples/lux_core_engine/CMakeLists.txt
@@ -0,0 +1,69 @@
+cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
+
+set(IGN_PLUGIN_VER 1)
+set(IGN_COMMON_VER 4)
+
+find_package(ignition-rendering6 REQUIRED)
+find_package(ignition-plugin1 REQUIRED COMPONENTS all)
+
+if (NOT DEFINED ENV{LUXCORE_SDK_PATH})
+  message(FATAL_ERROR "Must define LUXCORE_SDK_PATH")
+endif ()
+
+include_directories($ENV{LUXCORE_SDK_PATH}/include)
+find_library(LUXCORE_LIBRARY luxcore HINTS $ENV{LUXCORE_SDK_PATH}/lib/)
+
+add_library(LuxCoreEngine SHARED
+  LuxCoreEngineObject.cc
+  LuxCoreEngineMaterial.cc
+  LuxCoreEngineRenderTarget.cc
+  LuxCoreEngineNode.cc
+  LuxCoreEngineSensor.cc
+  LuxCoreEngineCamera.cc
+  LuxCoreEngineGeometry.cc
+  LuxCoreEngineVisual.cc
+  LuxCoreEngineMesh.cc
+  LuxCoreEngineMeshFactory.cc
+  LuxCoreEngineScene.cc
+  LuxCoreEngineLight.cc
+  LuxCoreEngine.cc)
+
+target_link_libraries(LuxCoreEngine
+  PUBLIC
+    ${ignition-common${IGN_COMMON_VER}_LIBRARIES}
+    ${IGNITION-RENDERING_LIBRARIES}
+    ${LUXCORE_LIBRARY}
+  PRIVATE
+    ignition-plugin${IGN_PLUGIN_VER}::register
+)
+
+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})
+
+if (NOT APPLE)
+  find_package(GLEW REQUIRED)
+  include_directories(SYSTEM ${GLEW_INCLUDE_DIRS})
+  link_directories(${GLEW_LIBRARY_DIRS})
+endif()
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated-declarations")
+
+add_executable(luxcore_demo Main.cc GlutWindow.cc)
+
+target_link_libraries(luxcore_demo
+  ${GLUT_LIBRARIES}
+  ${OPENGL_LIBRARIES}
+  ${GLEW_LIBRARIES}
+  ${IGNITION-RENDERING_LIBRARIES}
+)
+
+add_custom_target(copy_resources
+  COMMAND ${CMAKE_COMMAND} -E copy_directory ${CMAKE_CURRENT_LIST_DIR}/media ${CMAKE_CURRENT_BINARY_DIR}/media
+)
+
+add_dependencies(luxcore_demo copy_resources)
diff --git a/examples/lux_core_engine/GlutWindow.cc b/examples/lux_core_engine/GlutWindow.cc
@@ -0,0 +1,200 @@
+/*
+ * Copyright (C) 2022 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 <GLUT/glut.h>
+#include <OpenGL/OpenGL.h>
+#include <OpenGL/gl.h>
+#else
+#include <GL/glew.h>
+#include <GL/glut.h>
+#include <GL/gl.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
+#else
+GLXContext g_context;
+Display *g_display;
+GLXDrawable g_drawable;
+GLXContext g_glutContext;
+Display *g_glutDisplay;
+GLXDrawable g_glutDrawable;
+#endif
+
+double g_offset = M_PI * 0.5;
+bool isRotating = true;
+
+//////////////////////////////////////////////////
+//! [update camera]
+void updateCameras()
+{
+  double angle = g_offset / 2 * M_PI;
+  double x = sin(angle) * 12.0;
+  double y = cos(angle) * 12.0;
+  for (ir::CameraPtr camera : g_cameras) {
+    camera->SetLocalPosition(x, y, 1.0);
+  }
+
+  g_offset += 0.005;
+}
+//! [update camera]
+
+//////////////////////////////////////////////////
+void displayCB() {
+#if __APPLE__
+  CGLSetCurrentContext(g_context);
+#elif _WIN32
+#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
+#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();
+
+  if (isRotating) {
+    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) {
+    isRotating = !isRotating;
+  }
+}
+
+//////////////////////////////////////////////////
+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("LuxCore Demo");
+  glutDisplayFunc(displayCB);
+  glutIdleFunc(idleCB);
+  glutKeyboardFunc(keyboardCB);
+}
+
+//////////////////////////////////////////////////
+void printUsage()
+{
+  std::cout << "===============================" << std::endl;
+  std::cout << "  TAB - Pause and bake scene   " << 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
+#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
+#else
+  g_glutDisplay = glXGetCurrentDisplay();
+  g_glutDrawable = glXGetCurrentDrawable();
+  g_glutContext = glXGetCurrentContext();
+#endif
+
+  glutMainLoop();
+}
diff --git a/examples/lux_core_engine/GlutWindow.hh b/examples/lux_core_engine/GlutWindow.hh
@@ -0,0 +1,29 @@
+/*
+ * Copyright (C) 2022 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_SIMPLE_DEMO_GLUTWINDOW_HH_
+#define IGNITION_RENDERING_EXAMPLES_SIMPLE_DEMO_GLUTWINDOW_HH_
+
+#include "ignition/rendering/RenderTypes.hh"
+#include <vector>
+
+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