Skip to content
Snippets Groups Projects
Commit 6734f84c authored by vahrenkamp's avatar vahrenkamp
Browse files

Camera render example 

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@772 042f3d55-54a8-47e9-b7fb-15903f145c44
parent 64e56193
No related branches found
No related tags found
No related merge requests found
Hide whitespace changes
Inline Side-by-side
Showing
with 982 additions and 0 deletions
VirtualRobot/examples/CMakeLists.txt
+ 1
− 0
View file @ 6734f84c
......@@ -7,6 +7,7 @@ endif (RBDL_FOUND)
ADD_SUBDIRECTORY(loadRobot)
ADD_SUBDIRECTORY(CameraViewer)
ADD_SUBDIRECTORY(RobotViewer)
ADD_SUBDIRECTORY(RobotViewerOSG)
ADD_SUBDIRECTORY(SceneViewer)
......
VirtualRobot/examples/CameraViewer/CMakeLists.txt 0 → 100644
+ 43
− 0
View file @ 6734f84c
PROJECT ( CameraViewer )
CMAKE_MINIMUM_REQUIRED(VERSION 2.6.4)
CMAKE_POLICY(VERSION 2.6)
INCLUDE(${Simox_DIR}/CMakeModules/SimoxMacros.cmake)
IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
# the variable "demo_SRCS" contains all .cpp files of this project
FILE(GLOB demo_SRCS ${PROJECT_SOURCE_DIR}/CameraViewer.cpp ${PROJECT_SOURCE_DIR}/showCamWindow.cpp)
FILE(GLOB demo_INCS ${PROJECT_SOURCE_DIR}/showCamWindow.h)
################################## moc'ing ##############################
set(GUI_MOC_HDRS
${PROJECT_SOURCE_DIR}/showCamWindow.h
)
set(GUI_UIS
${PROJECT_SOURCE_DIR}/CameraViewer.ui
)
# create the executable
VirtualRobotQtApplication(${PROJECT_NAME} "${demo_SRCS}" "${demo_INCS}" "${GUI_MOC_HDRS}" "${GUI_UIS}")
SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${Simox_BIN_DIR})
SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES FOLDER "Examples")
#######################################################################################
############################ Setup for installation ###################################
#######################################################################################
install(TARGETS ${PROJECT_NAME}
# IMPORTANT: Add the library to the "export-set"
EXPORT SimoxTargets
RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
COMPONENT dev)
MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be placed into " ${Simox_BIN_DIR})
MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " ${INSTALL_BIN_DIR})
ENDIF()
VirtualRobot/examples/CameraViewer/CameraViewer.cpp 0 → 100644
+ 72
− 0
View file @ 6734f84c
#include <VirtualRobot/Robot.h>
#include <VirtualRobot/VirtualRobotException.h>
#include <VirtualRobot/Nodes/RobotNode.h>
#include <VirtualRobot/XML/RobotIO.h>
#include <VirtualRobot/Visualization/VisualizationFactory.h>
#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualization.h>
#include <VirtualRobot/RuntimeEnvironment.h>
#include <Inventor/Qt/viewers/SoQtExaminerViewer.h>
#include <Inventor/nodes/SoSeparator.h>
#include <Inventor/Qt/SoQt.h>
#include <boost/shared_ptr.hpp>
#include <string>
#include <iostream>
using std::cout;
using std::endl;
using namespace VirtualRobot;
#include <Eigen/Core>
#include <Eigen/Geometry>
#include "showCamWindow.h"
bool useColModel = false;
int main(int argc, char* argv[])
{
SoDB::init();
SoQt::init(argc, argv, "RobotViewer");
VirtualRobot::RuntimeEnvironment::considerKey("robot");
VirtualRobot::RuntimeEnvironment::considerKey("cam1");
VirtualRobot::RuntimeEnvironment::considerKey("cam2");
VirtualRobot::RuntimeEnvironment::processCommandLine(argc, argv);
VirtualRobot::RuntimeEnvironment::print();
cout << " --- START --- " << endl;
std::string filename("robots/ArmarIII/ArmarIII.xml");
std::string cam1Name("EyeLeftCamera");
std::string cam2Name("EyeRightCamera");
if (VirtualRobot::RuntimeEnvironment::hasValue("robot"))
{
std::string robFile = VirtualRobot::RuntimeEnvironment::getValue("robot");
if (VirtualRobot::RuntimeEnvironment::getDataFileAbsolute(robFile))
{
filename = robFile;
}
}
if (VirtualRobot::RuntimeEnvironment::hasValue("cam1"))
cam1Name = VirtualRobot::RuntimeEnvironment::getValue("cam1");
if (VirtualRobot::RuntimeEnvironment::hasValue("cam2"))
cam2Name = VirtualRobot::RuntimeEnvironment::getValue("cam2");
cout << "Using robot:" << filename << ", cam1:" << cam1Name << ", cam2:" << cam2Name << endl;
showCamWindow rw(filename,cam1Name,cam2Name);
rw.main();
return 0;
}
VirtualRobot/examples/CameraViewer/CameraViewer.ui 0 → 100644
+ 260
− 0
View file @ 6734f84c
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>MainWindowCamera</class>
<widget class="QMainWindow" name="MainWindowCamera">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>1114</width>
<height>855</height>
</rect>
</property>
<property name="windowTitle">
<string>Simox - VirtualRobot - Show Robot</string>
</property>
<widget class="QWidget" name="centralwidget">
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="0">
<widget class="QFrame" name="frameViewer">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QGroupBox" name="groupBox">
<property name="maximumSize">
<size>
<width>400</width>
<height>16777215</height>
</size>
</property>
<property name="title">
<string/>
</property>
<widget class="QPushButton" name="pushButtonReset">
<property name="geometry">
<rect>
<x>20</x>
<y>20</y>
<width>171</width>
<height>28</height>
</rect>
</property>
<property name="text">
<string>Reset</string>
</property>
</widget>
<widget class="QPushButton" name="pushButtonLoad">
<property name="geometry">
<rect>
<x>210</x>
<y>20</y>
<width>171</width>
<height>28</height>
</rect>
</property>
<property name="text">
<string>Select Robot File</string>
</property>
</widget>
<widget class="QGroupBox" name="groupBox_3">
<property name="geometry">
<rect>
<x>0</x>
<y>60</y>
<width>391</width>
<height>131</height>
</rect>
</property>
<property name="title">
<string>Joints</string>
</property>
<property name="flat">
<bool>false</bool>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<widget class="QLabel" name="label_2">
<property name="geometry">
<rect>
<x>10</x>
<y>80</y>
<width>81</width>
<height>16</height>
</rect>
</property>
<property name="text">
<string>Joint Value</string>
</property>
</widget>
<widget class="QLCDNumber" name="lcdNumberJointValue">
<property name="geometry">
<rect>
<x>80</x>
<y>70</y>
<width>91</width>
<height>31</height>
</rect>
</property>
<property name="smallDecimalPoint">
<bool>true</bool>
</property>
<property name="digitCount">
<number>5</number>
</property>
<property name="value" stdset="0">
<double>0.000000000000000</double>
</property>
</widget>
<widget class="QSlider" name="horizontalSliderPos">
<property name="geometry">
<rect>
<x>200</x>
<y>80</y>
<width>181</width>
<height>20</height>
</rect>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="pageStep">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
<widget class="QLabel" name="labelMinPos">
<property name="geometry">
<rect>
<x>200</x>
<y>100</y>
<width>91</width>
<height>21</height>
</rect>
</property>
<property name="text">
<string>-1.57</string>
</property>
</widget>
<widget class="QLabel" name="labelMaxPos">
<property name="geometry">
<rect>
<x>300</x>
<y>100</y>
<width>81</width>
<height>20</height>
</rect>
</property>
<property name="layoutDirection">
<enum>Qt::RightToLeft</enum>
</property>
<property name="text">
<string>1.57</string>
</property>
</widget>
<widget class="QComboBox" name="comboBoxJoint">
<property name="geometry">
<rect>
<x>200</x>
<y>40</y>
<width>181</width>
<height>22</height>
</rect>
</property>
</widget>
<widget class="QComboBox" name="comboBoxRobotNodeSet">
<property name="geometry">
<rect>
<x>10</x>
<y>40</y>
<width>181</width>
<height>22</height>
</rect>
</property>
</widget>
<widget class="QLabel" name="label_3">
<property name="geometry">
<rect>
<x>10</x>
<y>20</y>
<width>131</width>
<height>16</height>
</rect>
</property>
<property name="text">
<string>Select RobotNodeSet</string>
</property>
</widget>
<widget class="QLabel" name="label_4">
<property name="geometry">
<rect>
<x>200</x>
<y>20</y>
<width>131</width>
<height>16</height>
</rect>
</property>
<property name="text">
<string>Select RobotNode</string>
</property>
</widget>
</widget>
<widget class="QGraphicsView" name="cam2">
<property name="geometry">
<rect>
<x>40</x>
<y>520</y>
<width>320</width>
<height>240</height>
</rect>
</property>
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
</widget>
<widget class="QGraphicsView" name="cam1">
<property name="geometry">
<rect>
<x>40</x>
<y>260</y>
<width>320</width>
<height>240</height>
</rect>
</property>
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
</widget>
</widget>
</item>
</layout>
</widget>
<widget class="QMenuBar" name="menubar">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>1114</width>
<height>21</height>
</rect>
</property>
</widget>
<widget class="QStatusBar" name="statusbar"/>
</widget>
<resources/>
<connections/>
</ui>
VirtualRobot/examples/CameraViewer/showCamWindow.cpp 0 → 100644
+ 499
− 0
View file @ 6734f84c
#include "showCamWindow.h"
#include "VirtualRobot/EndEffector/EndEffector.h"
#include "VirtualRobot/Workspace/Reachability.h"
#include <VirtualRobot/RuntimeEnvironment.h>
#include <VirtualRobot/Import/RobotImporterFactory.h>
#include <QFileDialog>
#include <Eigen/Geometry>
#include <time.h>
#include <vector>
#include <iostream>
#include <cmath>
#include "Inventor/actions/SoLineHighlightRenderAction.h"
#include <Inventor/nodes/SoShapeHints.h>
#include <Inventor/nodes/SoLightModel.h>
#include <Inventor/nodes/SoUnits.h>
//#include <boost/foreach.hpp>
#include <boost/algorithm/string.hpp>
#include <boost/filesystem.hpp>
#include <sstream>
using namespace std;
using namespace VirtualRobot;
float TIMER_MS = 30.0f;
showCamWindow::showCamWindow(std::string& sRobotFilename, std::string& cam1Name, std::string& cam2Name, Qt::WFlags flags)
: QMainWindow(NULL)
{
VR_INFO << " start " << endl;
//this->setCaption(QString("ShowRobot - KIT - Humanoids Group"));
//resize(1100, 768);
cam1Renderer = NULL;
cam2Renderer = NULL;
cam1Buffer = NULL;
cam2Buffer = NULL;
useColModel = false;
VirtualRobot::RuntimeEnvironment::getDataFileAbsolute(sRobotFilename);
m_sRobotFilename = sRobotFilename;
this->cam1Name = cam1Name;
this->cam2Name = cam2Name;
sceneSep = new SoSeparator;
sceneSep->ref();
/*SoUnits *u = new SoUnits;
u->units = SoUnits::MILLIMETERS;
sceneSep->addChild(u);*/
robotSep = new SoSeparator;
extraSep = new SoSeparator;
sceneSep->addChild(extraSep);
visuObject = VirtualRobot::Obstacle::createSphere(400.0f);
Eigen::Matrix4f m;
m.setIdentity();
m(1,3) = 1500.0f;
m(2,3) = 1500.0f;
visuObject->setGlobalPose(m);
SoNode* objectSep = VirtualRobot::CoinVisualizationFactory::getCoinVisualization(visuObject,VirtualRobot::SceneObject::Full);
extraSep->addChild(objectSep);
/*SoShapeHints * shapeHints = new SoShapeHints;
shapeHints->vertexOrdering = SoShapeHints::COUNTERCLOCKWISE;
shapeHints->shapeType = SoShapeHints::UNKNOWN_SHAPE_TYPE;
sceneSep->addChild(shapeHints);*/
/*SoLightModel * lightModel = new SoLightModel;
lightModel->model = SoLightModel::BASE_COLOR;
sceneSep->addChild(lightModel);*/
sceneSep->addChild(robotSep);
setupUI();
loadRobot();
viewer->viewAll();
}
showCamWindow::~showCamWindow()
{
robot.reset();
sceneSep->unref();
UI.cam1->setScene(NULL);
UI.cam2->setScene(NULL);
delete [] cam1Buffer;
delete [] cam2Buffer;
}
void showCamWindow::setupUI()
{
UI.setupUi(this);
//centralWidget()->setLayout(UI.gridLayoutViewer);
viewer = new SoQtExaminerViewer(UI.frameViewer, "", TRUE, SoQtExaminerViewer::BUILD_POPUP);
// setup
viewer->setBackgroundColor(SbColor(1.0f, 1.0f, 1.0f));
viewer->setAccumulationBuffer(true);
#ifdef WIN32
//#ifndef _DEBUG
viewer->setAntialiasing(true, 4);
//#endif
#endif
viewer->setGLRenderAction(new SoLineHighlightRenderAction);
viewer->setTransparencyType(SoGLRenderAction::BLEND);
viewer->setFeedbackVisibility(true);
viewer->setSceneGraph(sceneSep);
viewer->viewAll();
connect(UI.pushButtonReset, SIGNAL(clicked()), this, SLOT(resetSceneryAll()));
connect(UI.pushButtonLoad, SIGNAL(clicked()), this, SLOT(selectRobot()));
connect(UI.comboBoxRobotNodeSet, SIGNAL(activated(int)), this, SLOT(selectRNS(int)));
connect(UI.comboBoxJoint, SIGNAL(activated(int)), this, SLOT(selectJoint(int)));
connect(UI.horizontalSliderPos, SIGNAL(valueChanged(int)), this, SLOT(jointValueChanged(int)));
}
QString showCamWindow::formatString(const char* s, float f)
{
QString str1(s);
if (f >= 0)
{
str1 += " ";
}
if (fabs(f) < 1000)
{
str1 += " ";
}
if (fabs(f) < 100)
{
str1 += " ";
}
if (fabs(f) < 10)
{
str1 += " ";
}
QString str1n;
str1n.setNum(f, 'f', 3);
str1 = str1 + str1n;
return str1;
}
void showCamWindow::resetSceneryAll()
{
if (!robot)
{
return;
}
std::vector<float> jv(allRobotNodes.size(), 0.0f);
robot->setJointValues(allRobotNodes, jv);
selectJoint(UI.comboBoxJoint->currentIndex());
}
void showCamWindow::rebuildVisualization()
{
if (!robot)
{
return;
}
robotSep->removeAllChildren();
//setRobotModelShape(UI.checkBoxColModel->state() == QCheckBox::On);
useColModel = false;
//bool sensors = UI.checkBoxRobotSensors->checkState() == Qt::Checked;
SceneObject::VisualizationType colModel = useColModel ? SceneObject::Collision : SceneObject::Full;
visualization = robot->getVisualization<CoinVisualization>(colModel);
SoNode* visualisationNode = NULL;
if (visualization)
{
visualisationNode = visualization->getCoinVisualization();
}
if (visualisationNode)
{
robotSep->addChild(visualisationNode);
}
selectJoint(UI.comboBoxJoint->currentIndex());
}
void showCamWindow::showRobot()
{
//m_pGraspScenery->showRobot(m_pShowRobot->state() == QCheckBox::On);
}
void showCamWindow::closeEvent(QCloseEvent* event)
{
quit();
QMainWindow::closeEvent(event);
}
int showCamWindow::main()
{
SoQt::show(this);
SoQt::mainLoop();
return 0;
}
void showCamWindow::quit()
{
std::cout << "CShowRobotWindow: Closing" << std::endl;
this->close();
SoQt::exitMainLoop();
}
void showCamWindow::updateJointBox()
{
UI.comboBoxJoint->clear();
for (unsigned int i = 0; i < currentRobotNodes.size(); i++)
{
UI.comboBoxJoint->addItem(QString(currentRobotNodes[i]->getName().c_str()));
}
}
void showCamWindow::updateRNSBox()
{
UI.comboBoxRobotNodeSet->clear();
UI.comboBoxRobotNodeSet->addItem(QString("<All>"));
for (unsigned int i = 0; i < robotNodeSets.size(); i++)
{
UI.comboBoxRobotNodeSet->addItem(QString(robotNodeSets[i]->getName().c_str()));
}
}
void showCamWindow::selectRNS(int nr)
{
currentRobotNodeSet.reset();
cout << "Selecting RNS nr " << nr << endl;
if (nr <= 0)
{
// all joints
currentRobotNodes = allRobotNodes;
}
else
{
nr--;
if (nr >= (int)robotNodeSets.size())
{
return;
}
currentRobotNodeSet = robotNodeSets[nr];
currentRobotNodes = currentRobotNodeSet->getAllRobotNodes();
/*cout << "HIGHLIGHTING rns " << currentRobotNodeSet->getName() << endl;
if (visualization)
{
robot->highlight(visualization,false);
currentRobotNodeSet->highlight(visualization,true);
}*/
}
updateJointBox();
selectJoint(0);
}
void showCamWindow::selectJoint(int nr)
{
if (currentRobotNode)
{
currentRobotNode->showBoundingBox(false);
}
currentRobotNode.reset();
cout << "Selecting Joint nr " << nr << endl;
if (nr < 0 || nr >= (int)currentRobotNodes.size())
{
return;
}
currentRobotNode = currentRobotNodes[nr];
currentRobotNode->showBoundingBox(true, true);
currentRobotNode->print();
float mi = currentRobotNode->getJointLimitLo();
float ma = currentRobotNode->getJointLimitHi();
QString qMin = QString::number(mi);
QString qMax = QString::number(ma);
UI.labelMinPos->setText(qMin);
UI.labelMaxPos->setText(qMax);
float j = currentRobotNode->getJointValue();
UI.lcdNumberJointValue->display((double)j);
if (fabs(ma - mi) > 0 && (currentRobotNode->isTranslationalJoint() || currentRobotNode->isRotationalJoint()))
{
UI.horizontalSliderPos->setEnabled(true);
int pos = (int)((j - mi) / (ma - mi) * 1000.0f);
UI.horizontalSliderPos->setValue(pos);
}
else
{
UI.horizontalSliderPos->setValue(500);
UI.horizontalSliderPos->setEnabled(false);
}
cout << "HIGHLIGHTING node " << currentRobotNodes[nr]->getName() << endl;
if (visualization)
{
robot->highlight(visualization, false);
currentRobotNode->highlight(visualization, true);
}
}
void showCamWindow::jointValueChanged(int pos)
{
int nr = UI.comboBoxJoint->currentIndex();
if (nr < 0 || nr >= (int)currentRobotNodes.size())
{
return;
}
float fPos = currentRobotNodes[nr]->getJointLimitLo() + (float)pos / 1000.0f * (currentRobotNodes[nr]->getJointLimitHi() - currentRobotNodes[nr]->getJointLimitLo());
robot->setJointValue(currentRobotNodes[nr], fPos);
UI.lcdNumberJointValue->display((double)fPos);
renderCam();
}
void showCamWindow::selectRobot()
{
string supportedExtensions = RobotImporterFactory::getAllExtensions();
string supported = "Supported Formats, " + supportedExtensions + " (" + supportedExtensions + ")";
string filter = supported + ";;" + RobotImporterFactory::getAllFileFilters();
QString fi = QFileDialog::getOpenFileName(this, tr("Open Robot File"), QString(), tr(filter.c_str()));
std::string s = m_sRobotFilename = std::string(fi.toAscii());
if (!s.empty())
{
m_sRobotFilename = s;
loadRobot();
}
}
void showCamWindow::loadRobot()
{
robotSep->removeAllChildren();
cout << "Loading Robot from " << m_sRobotFilename << endl;
currentRobotNode.reset();
currentRobotNodes.clear();
currentRobotNodeSet.reset();
robot.reset();
try
{
QFileInfo fileInfo(m_sRobotFilename.c_str());
std::string suffix(fileInfo.suffix().toAscii());
RobotImporterFactoryPtr importer = RobotImporterFactory::fromFileExtension(suffix, NULL);
if (!importer)
{
cout << " ERROR while grabbing importer" << endl;
return;
}
robot = importer->loadFromFile(m_sRobotFilename, RobotIO::eFull);
}
catch (VirtualRobotException& e)
{
cout << " ERROR while creating robot" << endl;
cout << e.what();
return;
}
if (!robot)
{
cout << " ERROR while creating robot" << endl;
return;
}
updateCameras();
updatRobotInfo();
}
void showCamWindow::updateCameras()
{
cam1.reset();
cam2.reset();
cam1Renderer = NULL;
cam2Renderer = NULL;
delete []cam1Buffer;
cam1Buffer = NULL;
delete []cam2Buffer;
cam2Buffer = NULL;
if (!robot)
return;
if (robot->hasRobotNode(cam1Name))
cam1 = robot->getRobotNode(cam1Name);
if (robot->hasRobotNode(cam2Name))
cam2 = robot->getRobotNode(cam2Name);
if (cam1)
{
cam1Renderer = CoinVisualizationFactory::createOffscreenRenderer(UI.cam1->size().width(), UI.cam1->size().height());
cam1Buffer = new unsigned char [UI.cam1->size().width() * UI.cam1->size().height() * 3];
}
if (cam2)
{
cam2Renderer = CoinVisualizationFactory::createOffscreenRenderer(UI.cam2->size().width(), UI.cam2->size().height());
cam2Buffer = new unsigned char [UI.cam2->size().width() * UI.cam2->size().height() * 3];
}
renderCam();
}
void showCamWindow::renderCam()
{
if (cam1 && cam1Renderer)
{
CoinVisualizationFactory::renderOffscreen(cam1Renderer, cam1, sceneSep, &cam1Buffer);
QImage img1(cam1Buffer, UI.cam1->size().width(), UI.cam1->size().height(), QImage::Format_RGB888);
//UI.cam1->setPixmap(QPixmap::fromImage(img1));
QGraphicsScene *scene = new QGraphicsScene();
//scene->addPixmap(QPixmap::fromImage(qimg2.mirrored(true,false))); // we need to mirror the image, since different coord systems are assumed
scene->addPixmap(QPixmap::fromImage(img1.mirrored(false,true))); // we need to mirror the image as the output from the renderer is of "left-bottom" type
QGraphicsScene *oldScene = UI.cam1->scene();
UI.cam1->setScene(scene);
delete oldScene;
}
if (cam2 && cam2Renderer)
{
CoinVisualizationFactory::renderOffscreen(cam2Renderer, cam2, sceneSep, &cam2Buffer);
QImage img2(cam2Buffer, UI.cam2->size().width(), UI.cam2->size().height(), QImage::Format_RGB888);
//UI.cam2->setPixmap(QPixmap::fromImage(img2));
QGraphicsScene *scene = new QGraphicsScene();
//scene->addPixmap(QPixmap::fromImage(qimg2.mirrored(true,false))); // we need to mirror the image, since different coord systems are assumed
scene->addPixmap(QPixmap::fromImage(img2.mirrored(false,true))); // we need to mirror the image as the output from the renderer is of "left-bottom" type
QGraphicsScene *oldScene = UI.cam2->scene();
UI.cam2->setScene(scene);
delete oldScene;
}
}
void showCamWindow::updatRobotInfo()
{
if (!robot)
{
return;
}
// get nodes
robot->getRobotNodes(allRobotNodes);
robot->getRobotNodeSets(robotNodeSets);
updateRNSBox();
selectRNS(0);
if (allRobotNodes.size() == 0)
{
selectJoint(-1);
}
else
{
selectJoint(0);
}
// build visualization
rebuildVisualization();
viewer->viewAll();
}
VirtualRobot/examples/CameraViewer/showCamWindow.h 0 → 100644
+ 107
− 0
View file @ 6734f84c
#ifndef __ShowRobot_WINDOW_H_
#define __ShowRobot_WINDOW_H_
#include <VirtualRobot/VirtualRobot.h>
#include <VirtualRobot/Robot.h>
#include <VirtualRobot/VirtualRobotException.h>
#include <VirtualRobot/Nodes/RobotNode.h>
#include <VirtualRobot/XML/RobotIO.h>
#include <VirtualRobot/Visualization/VisualizationFactory.h>
#include <VirtualRobot/Obstacle.h>
#include <VirtualRobot/RobotNodeSet.h>
#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualizationNode.h>
#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualization.h>
#include <string.h>
#include <QtCore/QtGlobal>
#include <QtGui/QtGui>
#include <QtCore/QtCore>
#include <Inventor/sensors/SoTimerSensor.h>
#include <Inventor/nodes/SoEventCallback.h>
#include <Inventor/Qt/viewers/SoQtExaminerViewer.h>
#include <Inventor/Qt/SoQt.h>
#include <Inventor/nodes/SoSeparator.h>
#include <vector>
#include "ui_CameraViewer.h"
class showCamWindow : public QMainWindow
{
Q_OBJECT
public:
showCamWindow(std::string& sRobotFilename, std::string& cam1Name, std::string& cam2Name, Qt::WFlags flags = 0);
~showCamWindow();
/*!< Executes the SoQt mainLoop. You need to call this in order to execute the application. */
int main();
public slots:
/*! Closes the window and exits SoQt runloop. */
void quit();
/*!< Overriding the close event, so we know when the window was closed by the user. */
void closeEvent(QCloseEvent* event);
void resetSceneryAll();
void rebuildVisualization();
void showRobot();
void loadRobot();
void selectJoint(int nr);
void selectRNS(int nr);
void jointValueChanged(int pos);
void selectRobot();
SoQtExaminerViewer* getExaminerViewer()
{
return viewer;
};
protected:
void setupUI();
QString formatString(const char* s, float f);
void updateJointBox();
void updateRNSBox();
void updateCameras();
void renderCam();
void updatRobotInfo();
Ui::MainWindowCamera UI;
SoQtExaminerViewer* viewer; /*!< Viewer to display the 3D model of the robot and the environment. */
SoSeparator* sceneSep;
SoSeparator* robotSep;
SoSeparator* extraSep;
VirtualRobot::RobotPtr robot;
std::string m_sRobotFilename;
std::string cam1Name;
std::string cam2Name;
VirtualRobot::RobotNodePtr cam1;
VirtualRobot::RobotNodePtr cam2;
SoOffscreenRenderer* cam1Renderer;
SoOffscreenRenderer* cam2Renderer;
VirtualRobot::ObstaclePtr visuObject;
unsigned char *cam1Buffer;
unsigned char *cam2Buffer;
std::vector < VirtualRobot::RobotNodePtr > allRobotNodes;
std::vector < VirtualRobot::RobotNodePtr > currentRobotNodes;
std::vector < VirtualRobot::RobotNodeSetPtr > robotNodeSets;
VirtualRobot::RobotNodeSetPtr currentRobotNodeSet;
VirtualRobot::RobotNodePtr currentRobotNode;
bool useColModel;
boost::shared_ptr<VirtualRobot::CoinVisualization> visualization;
};
#endif // __ShowCamera_WINDOW_H_
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment