Merge 3a5ae75 into 6f50c9c

gazebosim · Jul 2, 2021 · 9c4df01 · 9c4df01
2 parents 6f50c9c + 3a5ae75
commit 9c4df01
Show file tree

Hide file tree

Showing 11 changed files with 859 additions and 2 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -44,7 +44,7 @@ set(IGN_MATH_VER ${ignition-math6_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-common
-ign_find_package(ignition-common4 REQUIRED VERSION 4.1)
+ign_find_package(ignition-common4 REQUIRED COMPONENTS profiler VERSION 4.1)
 set(IGN_COMMON_VER ${ignition-common4_VERSION_MAJOR})
 
 #--------------------------------------

diff --git a/examples/config/scene3d.config b/examples/config/scene3d.config
@@ -32,6 +32,19 @@
   <deletion_topic>/example/delete</deletion_topic>
   <scene_topic>/example/scene</scene_topic>
 </plugin>
+<plugin filename="CameraTracking" name="Camera tracking">
+  <ignition-gui>
+    <anchors target="View 1">
+      <line own="right" target="right"/>
+      <line own="top" target="top"/>
+    </anchors>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </ignition-gui>
+</plugin>
 <plugin filename="WorldControl">
   <ignition-gui>
     <title>Controls</title>

diff --git a/examples/standalone/scene_provider/README.md b/examples/standalone/scene_provider/README.md
@@ -34,3 +34,32 @@ ign gui -c examples/config/scene3d.config
 
 You should see a black box moving around the scene.
 
+## Testing other plugins
+
+### Camera tracking
+
+Some commands to test camera tracking with this demo:
+
+Move to box:
+
+```
+ign service -s /gui/move_to --reqtype ignition.msgs.StringMsg --reptype ignition.msgs.Boolean --timeout 2000 --req 'data: "box_model"'
+```
+
+Echo camera pose:
+
+```
+ign topic -e -t /gui/camera/pose
+```
+
+Follow box:
+
+```
+ign service -s /gui/follow --reqtype ignition.msgs.StringMsg --reptype ignition.msgs.Boolean --timeout 2000 --req 'data: "box_model"'
+```
+
+Update follow offset:
+
+```
+ign service -s /gui/follow/offset --reqtype ignition.msgs.Vector3d --reptype ignition.msgs.Boolean --timeout 2000 --req 'x: 5, y: 5, z: 5'
+```
diff --git a/src/plugins/CMakeLists.txt b/src/plugins/CMakeLists.txt
@@ -114,6 +114,7 @@ function(ign_gui_add_plugin plugin_name)
 endfunction()
 
 # Plugins
+add_subdirectory(camera_tracking)
 add_subdirectory(grid_3d)
 add_subdirectory(grid_config)
 add_subdirectory(image_display)

diff --git a/src/plugins/camera_tracking/CMakeLists.txt b/src/plugins/camera_tracking/CMakeLists.txt
@@ -0,0 +1,11 @@
+ign_gui_add_plugin(CameraTracking
+  SOURCES
+    CameraTracking.cc
+  QT_HEADERS
+    CameraTracking.hh
+  TEST_SOURCES
+    # CameraTracking_TEST.cc
+  PUBLIC_LINK_LIBS
+   ignition-rendering${IGN_RENDERING_VER}::ignition-rendering${IGN_RENDERING_VER}
+   ignition-common${IGN_COMMON_VER}::profiler
+)