vpViewer.cpp

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Simulator based on Coin3d.
 */
 
#include <visp3/core/vpConfig.h>
 
#ifdef VISP_HAVE_COIN3D_AND_GUI
#include <visp3/ar/vpSimulator.h>
#include <visp3/ar/vpViewer.h>
 
#include <Inventor/events/SoKeyboardEvent.h>
#include <Inventor/nodes/SoEventCallback.h>
 
BEGIN_VISP_NAMESPACE
#if defined(VISP_HAVE_SOWIN)
vpViewer::vpViewer(HWND parent, vpSimulator *_simu, vpViewerType type)
  : SoWinExaminerViewer(parent, (char *)nullptr, false), viewerType(type), simu(_simu)
#elif defined(VISP_HAVE_SOQT)
vpViewer::vpViewer(QWidget *parent, vpSimulator *_simu, vpViewerType type)
  : SoQtExaminerViewer(parent, (char *)nullptr, false), viewerType(type), simu(_simu)
#elif defined(VISP_HAVE_SOXT)
vpViewer::vpViewer(Widget parent, vpSimulator *_simu, vpViewerType type)
  : SoXtExaminerViewer(parent, (char *)nullptr, false), viewerType(type), simu(_simu)
#endif
{
  // Coin should not clear the pixel-buffer, so the background image
  // is not removed.
 
  this->setClearBeforeRender(FALSE, TRUE);
  //  this->setAntialiasing(true, 2) ;
  setAutoRedraw(false);
}
 
vpViewer::~vpViewer() { }
 
void vpViewer::actualRedraw(void)
{
 
  {
    const SbViewportRegion vp = this->getViewportRegion();
    SbVec2s origin = vp.getViewportOriginPixels();
    SbVec2s size = vp.getViewportSizePixels();
    glViewport(origin[0], origin[1], size[0], size[1]);
 
    const SbColor col = this->getBackgroundColor();
    glClearColor(col[0], col[1], col[2], 0.0f);
    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
 
    // this should be used only with the vpAR:vpSimulator
    // to diplay an image background
    if (simu->image_background != nullptr) {
      glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
      if (simu->typeImage == vpSimulator::grayImage)
        glDrawPixels((GLsizei)simu->getInternalWidth(), (GLsizei)simu->getInternalHeight(), (GLenum)GL_LUMINANCE,
                     GL_UNSIGNED_BYTE, simu->image_background);
      else
        glDrawPixels((GLsizei)simu->getInternalWidth(), (GLsizei)simu->getInternalHeight(), (GLenum)GL_RGB,
                     GL_UNSIGNED_BYTE, simu->image_background);
 
      glEnable(GL_DEPTH_TEST);
      glClear(GL_DEPTH_BUFFER_BIT); // clear the z-buffer
      glClearDepth(100.0);          // Profondeur du Z-Buf
    }
// Render normal scenegraph.
#if defined(VISP_HAVE_SOWIN)
    SoWinExaminerViewer::actualRedraw();
#elif defined(VISP_HAVE_SOQT)
    SoQtExaminerViewer::actualRedraw();
#elif defined(VISP_HAVE_SOXT)
    SoXtExaminerViewer::actualRedraw();
#endif
    glSwapBuffers();
    if (viewerType == vpViewer::internalView) {
      simu->get = 0;
      glReadPixels(0, 0, (GLsizei)simu->getInternalWidth(), (GLsizei)simu->getInternalHeight(), (GLenum)GL_RGB,
                   GL_UNSIGNED_BYTE, simu->bufferView);
      simu->get = 1;
    }
  }
}

void
#if defined(VISP_HAVE_SOWIN) || defined(VISP_HAVE_SOQT)
vpViewer::resize(int x, int y, bool fixed)
#else
vpViewer::resize(int x, int y, bool /*fixed*/)
#endif
{
  SbVec2s size(x, y);
  setSize(size);
  setGLSize(size);
 
#if defined(VISP_HAVE_SOWIN)
  HWND parent = getParentWidget();
 
  RECT rcClient, rcWindow;
  POINT ptDiff;
  GetClientRect(parent, &rcClient);
  GetWindowRect(parent, &rcWindow);
  ptDiff.x = (rcWindow.right - rcWindow.left) - rcClient.right;
  ptDiff.y = (rcWindow.bottom - rcWindow.top) - rcClient.bottom;
  MoveWindow(parent, rcWindow.left, rcWindow.top, x + ptDiff.x, y + ptDiff.y, TRUE);
  if (fixed) {
    DWORD dwStyle = GetWindowLong(parent, GWL_STYLE);
    dwStyle &= ~(WS_SIZEBOX);
    SetWindowLong(parent, GWL_STYLE, dwStyle);
  }
#elif defined(VISP_HAVE_SOQT)
  if (fixed) {
    QWidget *parent = getParentWidget();
    parent->setFixedSize(x, y);
  }
#endif
}

 
SbBool vpViewer::processSoEvent(const SoEvent *const event)
{
  if (this->isViewing() && event->getTypeId() == SoKeyboardEvent::getClassTypeId()) {
    SoKeyboardEvent *kbevent = (SoKeyboardEvent *)event;
    switch (kbevent->getKey()) {
    case SoKeyboardEvent::H:
      if (kbevent->getState() == SoButtonEvent::DOWN) {
        std::cout << "H : this help " << std::endl;
        std::cout << "M : get and save the external camera location (matrix)" << std::endl;
        std::cout << "V : get and save the external camera location (vector)" << std::endl;
        std::cout << "M : load camera location (vector)" << std::endl;
        std::cout << "P : get external camera location and set the internal one" << std::endl;
      }
      return TRUE;
 
    case SoKeyboardEvent::M:
      if (kbevent->getState() == SoButtonEvent::DOWN) {
        vpHomogeneousMatrix cMf;
        simu->getExternalCameraPosition(cMf);
        std::ofstream f("cMf.dat");
        cMf.save(f);
        f.close();
      }
      return TRUE;
    case SoKeyboardEvent::V:
      if (kbevent->getState() == SoButtonEvent::DOWN) {
        vpHomogeneousMatrix cMf;
        simu->getExternalCameraPosition(cMf);
        vpPoseVector vcMf(cMf);
        std::ofstream f("vcMf.dat");
        vcMf.save(f);
        f.close();
      }
      return TRUE;
    case SoKeyboardEvent::L:
      if (kbevent->getState() == SoButtonEvent::DOWN) {
        vpPoseVector vcMf;
        std::ifstream f("vcMf.dat");
        vcMf.load(f);
        f.close();
        vpHomogeneousMatrix cMf(vcMf);
        simu->setCameraPosition(cMf);
        simu->moveInternalCamera(cMf);
      }
      return TRUE;
    case SoKeyboardEvent::P:
      if (kbevent->getState() == SoButtonEvent::DOWN) {
        vpHomogeneousMatrix cMf;
        simu->getExternalCameraPosition(cMf);
        vpPoseVector vcMf(cMf);
        vcMf.print();
        simu->setCameraPosition(cMf);
        simu->moveInternalCamera(cMf);
      }
      return TRUE;
    default:
      break;
    }
  }
#if defined(VISP_HAVE_SOWIN)
  return SoWinExaminerViewer::processSoEvent(event);
#elif defined(VISP_HAVE_SOQT)
  return SoQtExaminerViewer::processSoEvent(event);
#elif defined(VISP_HAVE_SOXT)
  return SoXtExaminerViewer::processSoEvent(event);
#endif
}
END_VISP_NAMESPACE
#elif !defined(VISP_BUILD_SHARED_LIBS)
// Work around to avoid warning: libvisp_ar.a(vpViewer.cpp.o) has no symbols
void dummy_vpViewer() { }
#endif