Added camera tracking

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})
 
 #--------------------------------------
@@ -116,8 +116,11 @@ ign_create_docs(
   "\"${CMAKE_SOURCE_DIR}/doc/qt.tag.xml=http://doc.qt.io/qt-5/\" \
    \"${IGNITION-MATH_DOXYGEN_TAGFILE} = ${IGNITION-MATH_API_URL}\" \
    \"${IGNITION-MSGS_DOXYGEN_TAGFILE} = ${IGNITION-MSGS_API_URL}\" \
+   \"${IGNITION-RENDERING_DOXYGEN_TAGFILE} = ${IGNITION-RENDERING_API_URL}\" \
    \"${IGNITION-TRANSPORT_DOXYGEN_TAGFILE} = ${IGNITION-TRANSPORT_API_URL}\" \
    \"${IGNITION-COMMON_DOXYGEN_TAGFILE} = ${IGNITION-COMMON_API_URL}\""
   )
 
-file(COPY ${CMAKE_SOURCE_DIR}/tutorials/images/ DESTINATION ${CMAKE_BINARY_DIR}/doxygen/html/images/)
+if(TARGET doc)
+  file(COPY ${CMAKE_SOURCE_DIR}/tutorials/images/ DESTINATION ${CMAKE_BINARY_DIR}/doxygen/html/images/)
+endif()

Migration.md

@@ -5,6 +5,11 @@ Deprecated code produces compile-time warnings. These warning serve as
 notification to users that their code should be upgraded. The next major
 release will remove the deprecated code.
 
+## Ignition GUI 5.x to 6.x
+
+* The `Scene3D` plugin is deprecated, use `MinimalScene` with
+  `TransportSceneManager` instead.
+
 ## Ignition GUI 3.x to 4.x
 
 * Use rendering4, transport9 and msgs6.

examples/config/scene3d.config

@@ -4,38 +4,34 @@
     <width>1216</width>
     <height>894</height>
 </window>
-<plugin filename="Scene3D">
+<plugin filename="MinimalScene">
     <ignition-gui>
       <title>View 1</title>
       <property type="string" key="state">docked</property>
     </ignition-gui>
-    <engine>ogre</engine>
+    <engine>ogre2</engine>
     <scene>scene</scene>
-    <ambient_light>0 0 1</ambient_light>
+    <ambient_light>1 1 1</ambient_light>
     <background_color>0.8 0.8 0.8</background_color>
     <camera_pose>-6 0 6 0 0.5 0</camera_pose>
 </plugin>
-<plugin filename="Grid3D" name="3D Grid">
-  <engine>ogre</engine>
-  <scene>scene</scene>
+<plugin filename="TransportSceneManager" name="Transport Scene Manager">
+  <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>
+  <service>/example/scene</service>
+  <pose_topic>/example/pose</pose_topic>
+  <deletion_topic>/example/delete</deletion_topic>
+  <scene_topic>/example/scene</scene_topic>
 </plugin>
-<!-- TODO(anyone) Support multiple scenes in the same window
-  plugin filename="Scene3D">
-    <title>View 2</title>
-    <scene>scene</scene>
-    <camera_pose>-6 -6 6 0 0.5 0.7</camera_pose>
-</plugin-->
-<!-- TODO(anyone) Fix grid plugin
-  plugin filename="Grid3D" delete_later="true">
-  <engine>ogre</engine>
-  <scene>scene</scene>
-  <insert>
-    <cell_count>5</cell_count>
-    <pose>3.0 0 0 0 0 0</pose>
-    <color>0.2 0.2 0.2 1.0</color>
-  </insert>
-</plugin-->
-
 <plugin filename="WorldControl">
   <ignition-gui>
     <title>Controls</title>

examples/standalone/scene_provider/CMakeLists.txt

@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+
+find_package(ignition-msgs8 REQUIRED)
+find_package(ignition-transport11 REQUIRED)
+
+add_executable(scene_provider
+  scene_provider.cc
+)
+target_link_libraries(scene_provider
+  ignition-msgs8::core
+  ignition-transport11::core
+)
+

examples/standalone/scene_provider/README.md

@@ -0,0 +1,36 @@
+## Scene provider
+
+This example demonstrates how to populate and update a 3D scene using
+Ignition Transport.
+
+This example is meant to be used with `examples/config/scened.config`, which
+loads the `Scene3D` plugin to create the scene, and the `TransportSceneManager`
+plugin to update the scene using Ignition Transport.
+
+## Build
+
+```
+cd examples/standalone/scene_provider
+mkdir build
+cd build
+cmake ..
+make
+```
+
+## Run
+
+In one terminal, start the scene provider:
+
+```
+cd examples/standalone/scene_provider/build
+./scene_provider
+```
+
+On another terminal, start the example config:
+
+```
+ign gui -c examples/config/scene3d.config
+```
+
+You should see a black box moving around the scene.
+

examples/standalone/scene_provider/scene_provider.cc

@@ -0,0 +1,108 @@
+/*
+ * 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.
+ *
+*/
+
+#include <chrono>
+#include <iostream>
+#include <string>
+#include <ignition/math/Rand.hh>
+#include <ignition/msgs/pose_v.pb.h>
+#include <ignition/msgs/scene.pb.h>
+#include <ignition/transport/Node.hh>
+
+using namespace std::chrono_literals;
+
+//////////////////////////////////////////////////
+bool sceneService(ignition::msgs::Scene &_rep)
+{
+  std::cout << "Returning scene" << std::endl;
+
+  // Light
+  auto lightMsg = _rep.add_light();
+
+  auto diffuseMsg = lightMsg->mutable_diffuse();
+  diffuseMsg->set_r(1.0);
+  diffuseMsg->set_g(1.0);
+  diffuseMsg->set_b(1.0);
+
+  auto directionMsg = lightMsg->mutable_direction();
+  directionMsg->set_x(0.0);
+  directionMsg->set_y(0.0);
+  directionMsg->set_z(1.0);
+
+  // Box
+  auto modelMsg = _rep.add_model();
+  modelMsg->set_id(1);
+  modelMsg->set_is_static(true);
+  modelMsg->set_name("box_model");
+
+  auto linkMsg = modelMsg->add_link();
+  linkMsg->set_id(2);
+  linkMsg->set_name("box_link");
+
+  auto visMsg = linkMsg->add_visual();
+  visMsg->set_id(3);
+  visMsg->set_name("box_vis");
+
+  auto geomMsg = visMsg->mutable_geometry();
+  auto boxMsg = geomMsg->mutable_box();
+  auto boxSize = boxMsg->mutable_size();
+  boxSize->set_x(1.0);
+  boxSize->set_y(2.0);
+  boxSize->set_z(3.0);
+
+  return true;
+}
+
+//////////////////////////////////////////////////
+int main(int argc, char **argv)
+{
+  ignition::transport::Node node;
+
+  // Scene service
+  node.Advertise("/example/scene", sceneService);
+
+  // Periodic pose updated
+  auto posePub = node.Advertise<ignition::msgs::Pose_V>("/example/pose");
+
+  ignition::msgs::Pose_V poseVMsg;
+  auto poseMsg = poseVMsg.add_pose();
+  poseMsg->set_id(1);
+  poseMsg->set_name("box_model");
+  auto positionMsg = poseMsg->mutable_position();
+
+  const double change{0.1};
+
+  double x{0.0};
+  double y{0.0};
+  double z{0.0};
+
+  while (true)
+  {
+    std::this_thread::sleep_for(100ms);
+
+    x += ignition::math::Rand::DblUniform(-change, change);
+    y += ignition::math::Rand::DblUniform(-change, change);
+    z += ignition::math::Rand::DblUniform(-change, change);
+
+    positionMsg->set_x(x);
+    positionMsg->set_y(y);
+    positionMsg->set_z(z);
+    posePub.Publish(poseVMsg);
+  }
+
+  ignition::transport::waitForShutdown();
+}

src/plugins/CMakeLists.txt

@@ -114,16 +114,19 @@ 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)
 add_subdirectory(key_publisher)
 add_subdirectory(plotting)
 add_subdirectory(publisher)
+add_subdirectory(minimal_scene)
 add_subdirectory(scene3d)
 add_subdirectory(screenshot)
 add_subdirectory(tape_measure)
 add_subdirectory(topic_echo)
 add_subdirectory(topic_viewer)
+add_subdirectory(transport_scene_manager)
 add_subdirectory(world_control)
 add_subdirectory(world_stats)

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
+)