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Merge branch 'main' into ahcorde/update/ogre2.2
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mjcarroll authored Jun 16, 2021
2 parents b9e8032 + b0c9523 commit 5d1bbb6
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48 changes: 48 additions & 0 deletions 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}
)
227 changes: 227 additions & 0 deletions 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();
}
29 changes: 29 additions & 0 deletions 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
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