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cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) | ||
project(ignition-rendering-visualization-demo) | ||
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find_package(ignition-rendering6) | ||
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if (APPLE OR UNIX) | ||
find_package(GLUT REQUIRED) | ||
include_directories(SYSTEM ${GLUT_INCLUDE_DIRS}) | ||
link_directories(${GLUT_LIBRARY_DIRS}) | ||
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find_package(OpenGL REQUIRED) | ||
include_directories(SYSTEM ${OpenGL_INCLUDE_DIRS}) | ||
link_directories(${OpenGL_LIBRARY_DIRS}) | ||
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set(TARGET_THIRD_PARTY_DEPENDS | ||
${TARGET_THIRD_PARTY_DEPENDS} | ||
${OPENGL_LIBRARIES} | ||
${GLUT_LIBRARIES} | ||
) | ||
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated-declarations") | ||
endif() | ||
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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() | ||
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if (WIN32) | ||
find_package(FreeGLUT REQUIRED) | ||
set(TARGET_THIRD_PARTY_DEPENDS ${TARGET_THIRD_PARTY_DEPENDS} FreeGLUT::freeglut) | ||
endif() | ||
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add_executable(visualization_demo Main.cc GlutWindow.cc) | ||
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target_link_libraries(visualization_demo | ||
${IGNITION-RENDERING_LIBRARIES} | ||
${TARGET_THIRD_PARTY_DEPENDS} | ||
) |
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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. | ||
* | ||
*/ | ||
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#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 | ||
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#if !defined(__APPLE__) && !defined(_WIN32) | ||
#include <GL/glx.h> | ||
#endif | ||
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#include <mutex> | ||
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#include <ignition/common/Console.hh> | ||
#include <ignition/rendering/Camera.hh> | ||
#include <ignition/rendering/Image.hh> | ||
#include <ignition/rendering/Scene.hh> | ||
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#include "GlutWindow.hh" | ||
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#define KEY_ESC 27 | ||
#define KEY_TAB 9 | ||
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////////////////////////////////////////////////// | ||
unsigned int imgw = 0; | ||
unsigned int imgh = 0; | ||
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std::vector<ir::CameraPtr> g_cameras; | ||
ir::CameraPtr g_camera; | ||
ir::CameraPtr g_currCamera; | ||
unsigned int g_cameraIndex = 0; | ||
ir::ImagePtr g_image; | ||
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bool g_initContext = false; | ||
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#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 | ||
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double g_offset = 0.0; | ||
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////////////////////////////////////////////////// | ||
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); | ||
} | ||
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g_offset += 0.0005; | ||
} | ||
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////////////////////////////////////////////////// | ||
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 | ||
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g_cameras[g_cameraIndex]->Capture(*g_image); | ||
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#if __APPLE__ | ||
CGLSetCurrentContext(g_glutContext); | ||
#elif _WIN32 | ||
wglMakeCurrent(g_glutDisplay, g_glutContext); | ||
#else | ||
glXMakeCurrent(g_glutDisplay, g_glutDrawable, g_glutContext); | ||
#endif | ||
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unsigned char *data = g_image->Data<unsigned char>(); | ||
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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); | ||
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glutSwapBuffers(); | ||
updateCameras(); | ||
} | ||
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////////////////////////////////////////////////// | ||
void idleCB() | ||
{ | ||
glutPostRedisplay(); | ||
} | ||
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////////////////////////////////////////////////// | ||
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(); | ||
} | ||
} | ||
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////////////////////////////////////////////////// | ||
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); | ||
} | ||
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////////////////////////////////////////////////// | ||
void initContext() | ||
{ | ||
glutInitDisplayMode(GLUT_DOUBLE); | ||
glutInitWindowPosition(0, 0); | ||
glutInitWindowSize(imgw, imgh); | ||
glutCreateWindow("Visualization Demo"); | ||
glutDisplayFunc(displayCB); | ||
glutIdleFunc(idleCB); | ||
glutKeyboardFunc(keyboardCB); | ||
} | ||
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////////////////////////////////////////////////// | ||
void printUsage() | ||
{ | ||
std::cout << "===============================" << std::endl; | ||
std::cout << " TAB - Switch render engines " << std::endl; | ||
std::cout << " ESC - Exit " << std::endl; | ||
std::cout << "===============================" << std::endl; | ||
} | ||
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////////////////////////////////////////////////// | ||
void run(std::vector<ir::CameraPtr> _cameras) | ||
{ | ||
if (_cameras.empty()) | ||
{ | ||
ignerr << "No cameras found. Scene will not be rendered" << std::endl; | ||
return; | ||
} | ||
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#if __APPLE__ | ||
g_context = CGLGetCurrentContext(); | ||
#elif _WIN32 | ||
g_context = wglGetCurrentContext(); | ||
g_display = wglGetCurrentDC(); | ||
#else | ||
g_context = glXGetCurrentContext(); | ||
g_display = glXGetCurrentDisplay(); | ||
g_drawable = glXGetCurrentDrawable(); | ||
#endif | ||
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g_cameras = _cameras; | ||
initCamera(_cameras[0]); | ||
initContext(); | ||
printUsage(); | ||
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#if __APPLE__ | ||
g_glutContext = CGLGetCurrentContext(); | ||
#elif _WIN32 | ||
g_glutContext = wglGetCurrentContext(); | ||
g_glutDisplay = wglGetCurrentDC(); | ||
#else | ||
g_glutDisplay = glXGetCurrentDisplay(); | ||
g_glutDrawable = glXGetCurrentDrawable(); | ||
g_glutContext = glXGetCurrentContext(); | ||
#endif | ||
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glutMainLoop(); | ||
} |
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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_ | ||
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#include <vector> | ||
#include "ignition/rendering/RenderTypes.hh" | ||
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namespace ir = ignition::rendering; | ||
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/// \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); | ||
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#endif |
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