Merge branch 'main' into chapulina/6/marker_point_color

examples/wide_angle_camera/CMakeLists.txt

@@ -0,0 +1,58 @@
+cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+project(ignition-rendering-wide-angle-camera)
+find_package(ignition-rendering7 REQUIRED)
+
+include_directories(SYSTEM
+  ${PROJECT_BINARY_DIR}
+)
+
+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)
+  include_directories(SYSTEM ${GLEW_INCLUDE_DIRS})
+  link_directories(${GLEW_LIBRARY_DIRS})
+
+  set(TARGET_THIRD_PARTY_DEPENDS
+    ${TARGET_THIRD_PARTY_DEPENDS}
+    ${GLEW_LIBRARIES}
+  )
+endif()
+
+if (WIN32)
+  find_package(FreeGLUT REQUIRED)
+  set(TARGET_THIRD_PARTY_DEPENDS ${TARGET_THIRD_PARTY_DEPENDS} FreeGLUT::freeglut)
+endif()
+
+add_executable(wide_angle_camera Main.cc GlutWindow.cc)
+
+target_link_libraries(wide_angle_camera
+  ${IGNITION-RENDERING_LIBRARIES}
+  ${TARGET_THIRD_PARTY_DEPENDS}
+)
+
+if (WIN32)
+  set_target_properties(wide_angle_camera
+    PROPERTIES
+      RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}
+      RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PROJECT_BINARY_DIR}
+      RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PROJECT_BINARY_DIR}
+      RUNTIME_OUTPUT_DIRECTORY_RELWITHDEBINFO ${PROJECT_BINARY_DIR}
+      RUNTIME_OUTPUT_DIRECTORY_MINSIZEREL ${PROJECT_BINARY_DIR}
+  )
+endif()

examples/wide_angle_camera/GlutWindow.cc

@@ -0,0 +1,232 @@
+/*
+ * 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
+  #include <windows.h>
+  #include <GL/glew.h>
+  #include <GL/glu.h>
+  #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/Image.hh>
+#include <ignition/rendering/Scene.hh>
+#include <ignition/rendering/WideAngleCamera.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;
+ignition::common::ConnectionPtr g_connection;
+
+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 displayCB()
+{
+#if __APPLE__
+  CGLSetCurrentContext(g_context);
+#elif _WIN32
+  if (!wglMakeCurrent(g_display, g_context))
+  {
+    std::cerr << "Error callcing wglMakeCurrent" << '\n';
+    exit(-1);
+  }
+#else
+  if (g_display)
+  {
+    glXMakeCurrent(g_display, g_drawable, g_context);
+  }
+#endif
+
+  g_cameras[g_cameraIndex]->Update();
+
+#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();
+}
+
+//////////////////////////////////////////////////
+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 OnNewWideAngleFrame(const void *_data,
+                     unsigned int _width, unsigned int _height,
+                     unsigned int _channels,
+                     const std::string &/*_format*/)
+{
+  unsigned char *data = g_image->Data<unsigned char>();
+  memcpy(data, _data,_width * _height * _channels);
+}
+
+//////////////////////////////////////////////////
+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);
+
+  ir::WideAngleCameraPtr wideAngleCamera =
+      std::dynamic_pointer_cast<ir::WideAngleCamera>(
+      g_camera);
+
+  // connect to new image event
+  g_connection = wideAngleCamera->ConnectNewWideAngleFrame(
+        std::bind(OnNewWideAngleFrame,
+          std::placeholders::_1, std::placeholders::_2, std::placeholders::_3,
+          std::placeholders::_4, std::placeholders::_5));
+
+  // update the camera once
+  g_camera->Update();
+}
+
+//////////////////////////////////////////////////
+void initContext()
+{
+  glutInitDisplayMode(GLUT_DOUBLE);
+  glutInitWindowPosition(0, 0);
+  glutInitWindowSize(imgw, imgh);
+  glutCreateWindow("Wide Angle Camera");
+  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/wide_angle_camera/GlutWindow.hh

@@ -0,0 +1,29 @@
+/*
+ * 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_WIDE_ANGLE_CAMERA_GLUTWINDOW_HH_
+#define IGNITION_RENDERING_EXAMPLES_WIDE_ANGLE_CAMERA_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