Merge pull request #496 from ignitionrobotics/ahcorde/6_to_main

6 to main
gazebosim · Nov 30, 2021 · 7f34b67 · 7f34b67
2 parents a8dcb3a + c47c3ba
commit 7f34b67
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Showing 87 changed files with 3,599 additions and 110 deletions.
diff --git a/examples/actor_animation/Main.cc b/examples/actor_animation/Main.cc
@@ -156,10 +156,11 @@ void buildScene(ScenePtr _scene, std::vector<VisualPtr> &_visuals,
 
 //////////////////////////////////////////////////
 CameraPtr createCamera(const std::string &_engineName,
+    const std::map<std::string, std::string>& _params,
     std::vector<VisualPtr> &_visuals, common::SkeletonPtr &_skel)
 {
   // create and populate scene
-  RenderEngine *engine = rendering::engine(_engineName);
+  RenderEngine *engine = rendering::engine(_engineName, _params);
   if (!engine)
   {
     ignwarn << "Engine '" << _engineName
@@ -187,6 +188,12 @@ int main(int _argc, char** _argv)
     ogreEngineName = _argv[1];
   }
 
+  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  if (_argc > 2)
+  {
+    graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));
+  }
+
   common::Console::SetVerbosity(4);
   std::vector<std::string> engineNames;
   std::vector<CameraPtr> cameras;
@@ -201,7 +208,14 @@ int main(int _argc, char** _argv)
     std::cout << "Starting engine [" << engineName << "]" << std::endl;
     try
     {
-      CameraPtr camera = createCamera(engineName, visuals, skel);
+      std::map<std::string, std::string> params;
+      if (engineName.compare("ogre2") == 0
+          && graphicsApi == GraphicsAPI::METAL)
+      {
+        params["metal"] = "1";
+      }
+
+      CameraPtr camera = createCamera(engineName, params, visuals, skel);
       if (camera)
       {
         cameras.push_back(camera);

diff --git a/examples/camera_tracking/Main.cc b/examples/camera_tracking/Main.cc
@@ -95,10 +95,11 @@ NodePtr createMainNode(ScenePtr _scene)
 }
 
 //////////////////////////////////////////////////
-CameraPtr createCamera(const std::string &_engineName)
+CameraPtr createCamera(const std::string &_engineName,
+    const std::map<std::string, std::string>& _params)
 {
   // create and populate scene
-  RenderEngine *engine = rendering::engine(_engineName);
+  RenderEngine *engine = rendering::engine(_engineName, _params);
   if (!engine)
   {
     std::cout << "Engine '" << _engineName
@@ -126,6 +127,12 @@ int main(int _argc, char** _argv)
     ogreEngineName = _argv[1];
   }
 
+  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  if (_argc > 2)
+  {
+    graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));
+  }
+
   common::Console::SetVerbosity(4);
   std::vector<std::string> engineNames;
   std::vector<CameraPtr> cameras;
@@ -138,7 +145,14 @@ int main(int _argc, char** _argv)
   {
     try
     {
-      CameraPtr camera = createCamera(engineName);
+      std::map<std::string, std::string> params;
+      if (engineName.compare("ogre2") == 0
+          && graphicsApi == GraphicsAPI::METAL)
+      {
+        params["metal"] = "1";
+      }
+
+      CameraPtr camera = createCamera(engineName, params);
       if (camera)
       {
         cameras.push_back(camera);

diff --git a/examples/custom_scene_viewer/ManualSceneDemo.cc b/examples/custom_scene_viewer/ManualSceneDemo.cc
@@ -91,9 +91,10 @@ unsigned int ManualSceneDemo::CameraCount() const
 }
 
 //////////////////////////////////////////////////
-void ManualSceneDemo::AddCamera(const std::string &_engineName)
+void ManualSceneDemo::AddCamera(const std::string &_engineName,
+    const std::map<std::string, std::string>& _params)
 {
-  RenderEngine *engine = rendering::engine(_engineName);
+  RenderEngine *engine = rendering::engine(_engineName, _params);
   if (!engine)
   {
     std::cout << "Engine '" << _engineName
@@ -191,6 +192,19 @@ int main(int _argc, char** _argv)
     ogreEngineName = _argv[1];
   }
 
+  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  if (_argc > 2)
+  {
+    graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));
+  }
+
+  std::map<std::string, std::string> params;
+  if (ogreEngineName.compare("ogre2") == 0
+      && graphicsApi == GraphicsAPI::METAL)
+  {
+    params["metal"] = "1";
+  }
+
   common::Console::SetVerbosity(4);
 //! [add scenes]
   ManualSceneDemoPtr sceneDemo(new ManualSceneDemo);
@@ -208,7 +222,7 @@ int main(int _argc, char** _argv)
   sceneDemo->AddScene(SceneBuilderPtr(new ShadowSceneBuilder(4)));
   sceneDemo->AddScene(SceneBuilderPtr(new ShadowSceneBuilder(5)));
 //! [add scenes]
-  sceneDemo->AddCamera(ogreEngineName);
+  sceneDemo->AddCamera(ogreEngineName, params);
   sceneDemo->AddCamera("optix");
   sceneDemo->Run();
   return 0;

diff --git a/examples/custom_scene_viewer/ManualSceneDemo.hh b/examples/custom_scene_viewer/ManualSceneDemo.hh
@@ -17,6 +17,7 @@
 #ifndef IGNITION_RENDERING_EXAMPLES_CUSTOM_SCENE_VIEWER_MANUALSCENEDEMO_HH_
 #define IGNITION_RENDERING_EXAMPLES_CUSTOM_SCENE_VIEWER_MANUALSCENEDEMO_HH_
 
+#include <map>
 #include <string>
 #include <ignition/rendering.hh>
 #include "TestTypes.hh"
@@ -46,7 +47,8 @@ namespace ignition
 
       public: virtual unsigned int CameraCount() const;
 
-      public: virtual void AddCamera(const std::string &_engineName);
+      public: virtual void AddCamera(const std::string &_engineName,
+          const std::map<std::string, std::string>& _params = {});
 
       public: virtual void PrevCamera();
 

diff --git a/examples/depth_camera/CMakeLists.txt b/examples/depth_camera/CMakeLists.txt
@@ -0,0 +1,39 @@
+cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+project(ignition-rendering-depth-camera)
+find_package(ignition-rendering6 REQUIRED)
+
+include_directories(SYSTEM
+  ${PROJECT_BINARY_DIR}
+)
+
+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")
+
+configure_file (example_config.hh.in ${PROJECT_BINARY_DIR}/example_config.hh)
+
+add_executable(depth_camera Main.cc GlutWindow.cc)
+
+target_link_libraries(depth_camera
+  ${GLUT_LIBRARIES}
+  ${OPENGL_LIBRARIES}
+  ${GLEW_LIBRARIES}
+  ${IGNITION-RENDERING_LIBRARIES}
+)
+
+add_custom_command(TARGET depth_camera POST_BUILD
+  COMMAND ${CMAKE_COMMAND} -E copy_directory
+  ${CMAKE_SOURCE_DIR}/media
+  $<TARGET_FILE_DIR:depth_camera>/media)