Screenshot plugin

CMakeLists.txt

@@ -118,3 +118,5 @@ ign_create_docs(
    \"${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/)

src/plugins/CMakeLists.txt

@@ -98,6 +98,18 @@ function(ign_gui_add_plugin plugin_name)
         ${PROJECT_BINARY_DIR})
   endif()
 
+  if (MSVC)
+    # Warning #4251 is the "dll-interface" warning that tells you when types used
+    # by a class are not being exported. These generated source files have private
+    # members that don't get exported, so they trigger this warning. However, the
+    # warning is not important since those members do not need to be interfaced
+    # with.
+    set_source_files_properties(
+        ${ign_gui_add_plugin_SOURCES}
+        ${ign_gui_add_plugin_TEST_SOURCES}
+        COMPILE_FLAGS "/wd4251")
+  endif()
+
   install (TARGETS ${plugin_name} DESTINATION ${IGNITION_GUI_PLUGIN_INSTALL_DIR})
 endfunction()
 
@@ -107,6 +119,7 @@ add_subdirectory(image_display)
 add_subdirectory(key_publisher)
 add_subdirectory(publisher)
 add_subdirectory(scene3d)
+add_subdirectory(screenshot)
 add_subdirectory(topic_echo)
 add_subdirectory(topic_viewer)
 add_subdirectory(world_control)

src/plugins/scene3d/Scene3D.cc

@@ -1434,7 +1434,6 @@ void Scene3D::LoadConfig(const tinyxml2::XMLElement *_pluginElem)
   }
 }
 
-
 /////////////////////////////////////////////////
 void RenderWindowItem::mousePressEvent(QMouseEvent *_e)
 {
@@ -1485,7 +1484,6 @@ void RenderWindowItem::wheelEvent(QWheelEvent *_e)
       this->dataPtr->mouseEvent, math::Vector2d(scroll, scroll));
 }
 
-
 ///////////////////////////////////////////////////
 // void Scene3D::resizeEvent(QResizeEvent *_e)
 // {

src/plugins/scene3d/Scene3D.qml

@@ -54,5 +54,3 @@ Rectangle {
       height = Qt.binding(function() {return parent.parent.height})
   }
 }
-
-

src/plugins/screenshot/CMakeLists.txt

@@ -0,0 +1,10 @@
+ign_gui_add_plugin(Screenshot
+  SOURCES
+    Screenshot.cc
+  QT_HEADERS
+    Screenshot.hh
+  PUBLIC_LINK_LIBS
+    ignition-rendering${IGN_RENDERING_VER}::ignition-rendering${IGN_RENDERING_VER}
+  TEST_SOURCES
+    Screenshot_TEST.cc
+)

src/plugins/screenshot/Screenshot.cc

@@ -0,0 +1,281 @@
+/*
+ * 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 "Screenshot.hh"
+
+#include <string>
+
+#include <ignition/common/Console.hh>
+#include <ignition/common/Filesystem.hh>
+#include <ignition/common/Image.hh>
+#include <ignition/plugin/Register.hh>
+
+#ifdef _MSC_VER
+#pragma warning(push, 0)
+#endif
+#include <ignition/rendering/Camera.hh>
+#include <ignition/rendering/RenderEngine.hh>
+#include <ignition/rendering/RenderingIface.hh>
+#include <ignition/rendering/Scene.hh>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
+
+#include <ignition/transport/Node.hh>
+
+#include "ignition/gui/Application.hh"
+#include "ignition/gui/GuiEvents.hh"
+#include "ignition/gui/MainWindow.hh"
+
+namespace ignition
+{
+namespace gui
+{
+namespace plugins
+{
+  class ScreenshotPrivate
+  {
+    /// \brief Node for communication
+    public: ignition::transport::Node node;
+
+    /// \brief Screenshot service name
+    public: std::string screenshotService;
+
+    /// \brief Directory to save screenshots
+    public: std::string directory;
+
+    /// \brief Whether a screenshot has been requested but not processed yet.
+    public: bool dirty{false};
+
+    /// \brief Pointer to the user camera.
+    public: ignition::rendering::CameraPtr userCamera{nullptr};
+
+    /// \brief Saved screenshot filepath
+    public: QString savedScreenshotPath = "";
+  };
+}
+}
+}
+
+using namespace ignition;
+using namespace gui;
+using namespace plugins;
+
+/////////////////////////////////////////////////
+Screenshot::Screenshot()
+  : ignition::gui::Plugin(),
+  dataPtr(std::make_unique<ScreenshotPrivate>())
+{
+  std::string home;
+  common::env(IGN_HOMEDIR, home);
+
+  // default directory
+  this->dataPtr->directory =
+      common::joinPaths(home, ".ignition", "gui", "pictures");
+
+  if (!common::exists(this->dataPtr->directory))
+  {
+    if (!common::createDirectories(this->dataPtr->directory))
+    {
+      std::string defaultDir = common::joinPaths(home, ".ignition", "gui");
+      ignerr << "Unable to create directory [" << this->dataPtr->directory
+             << "]. Changing default directory to: " << defaultDir
+             << std::endl;
+
+      this->dataPtr->directory = defaultDir;
+    }
+  }
+
+  this->DirectoryChanged();
+}
+
+/////////////////////////////////////////////////
+Screenshot::~Screenshot() = default;
+
+/////////////////////////////////////////////////
+void Screenshot::LoadConfig(const tinyxml2::XMLElement *)
+{
+  if (this->title.empty())
+    this->title = "Screenshot";
+
+  // Screenshot service
+  this->dataPtr->screenshotService = "/gui/screenshot";
+  this->dataPtr->node.Advertise(this->dataPtr->screenshotService,
+      &Screenshot::ScreenshotService, this);
+  ignmsg << "Screenshot service on ["
+         << this->dataPtr->screenshotService << "]" << std::endl;
+
+  App()->findChild<MainWindow *>()->installEventFilter(this);
+}
+
+/////////////////////////////////////////////////
+bool Screenshot::eventFilter(QObject *_obj, QEvent *_event)
+{
+  if (_event->type() == events::Render::kType && this->dataPtr->dirty)
+  {
+    this->SaveScreenshot();
+  }
+
+  // Standard event processing
+  return QObject::eventFilter(_obj, _event);
+}
+
+/////////////////////////////////////////////////
+bool Screenshot::ScreenshotService(const msgs::StringMsg &_msg,
+  msgs::Boolean &_res)
+{
+  if (!_msg.data().empty())
+    this->dataPtr->directory = _msg.data();
+  this->dataPtr->dirty = true;
+  _res.set_data(true);
+  return true;
+}
+
+/////////////////////////////////////////////////
+void Screenshot::SaveScreenshot()
+{
+  this->FindUserCamera();
+
+  if (nullptr == this->dataPtr->userCamera)
+    return;
+
+  unsigned int width = this->dataPtr->userCamera->ImageWidth();
+  unsigned int height = this->dataPtr->userCamera->ImageHeight();
+
+  auto cameraImage = this->dataPtr->userCamera->CreateImage();
+  this->dataPtr->userCamera->Copy(cameraImage);
+  auto formatStr =
+      rendering::PixelUtil::Name(this->dataPtr->userCamera->ImageFormat());
+  auto format = common::Image::ConvertPixelFormat(formatStr);
+
+  std::string time = common::systemTimeISO() + ".png";
+  std::string savePath = common::joinPaths(this->dataPtr->directory, time);
+
+  common::Image image;
+  image.SetFromData(cameraImage.Data<unsigned char>(), width, height, format);
+  image.SavePNG(savePath);
+
+  igndbg << "Saved image to [" << savePath << "]" << std::endl;
+
+  this->dataPtr->dirty = false;
+
+  this->SetSavedScreenshotPath(QString::fromStdString(savePath));
+}
+
+/////////////////////////////////////////////////
+void Screenshot::FindUserCamera()
+{
+  if (nullptr != this->dataPtr->userCamera)
+    return;
+
+  auto loadedEngNames = ignition::rendering::loadedEngines();
+  if (loadedEngNames.empty())
+  {
+    igndbg << "No rendering engine is loaded yet" << std::endl;
+    return;
+  }
+
+  // assume there is only one engine loaded
+  auto engineName = loadedEngNames[0];
+  if (loadedEngNames.size() > 1)
+  {
+    igndbg << "More than one engine is available. "
+      << "Using engine [" << engineName << "]" << std::endl;
+  }
+  auto engine = ignition::rendering::engine(engineName);
+  if (!engine)
+  {
+    ignerr << "Internal error: failed to load engine [" << engineName
+      << "]. Grid plugin won't work." << std::endl;
+    return;
+  }
+
+  if (engine->SceneCount() == 0)
+  {
+    igndbg << "No scene has been created yet" << std::endl;
+    return;
+  }
+
+  // Get first scene
+  auto scene = engine->SceneByIndex(0);
+  if (nullptr == scene)
+  {
+    ignerr << "Internal error: scene is null." << std::endl;
+    return;
+  }
+
+  if (engine->SceneCount() > 1)
+  {
+    igndbg << "More than one scene is available. "
+      << "Using scene [" << scene->Name() << "]" << std::endl;
+  }
+
+  if (!scene->IsInitialized() || nullptr == scene->RootVisual())
+  {
+    return;
+  }
+
+  for (unsigned int i = 0; i < scene->NodeCount(); ++i)
+  {
+    auto cam = std::dynamic_pointer_cast<rendering::Camera>(
+        scene->NodeByIndex(i));
+    if (nullptr != cam)
+    {
+      this->dataPtr->userCamera = cam;
+      igndbg << "Screnshot plugin taking pictures of camera ["
+             << this->dataPtr->userCamera->Name() << "]" << std::endl;
+      break;
+    }
+  }
+}
+
+/////////////////////////////////////////////////
+void Screenshot::OnScreenshot()
+{
+  this->dataPtr->dirty = true;
+}
+
+/////////////////////////////////////////////////
+QString Screenshot::Directory() const
+{
+  return QString::fromStdString(this->dataPtr->directory);
+}
+
+/////////////////////////////////////////////////
+void Screenshot::SetDirectory(const QString &_dirUrl)
+{
+  QString newDir = QUrl(_dirUrl).toLocalFile();
+  this->dataPtr->directory = newDir.toStdString();
+  this->DirectoryChanged();
+}
+
+/////////////////////////////////////////////////
+QString Screenshot::SavedScreenshotPath() const
+{
+  return this->dataPtr->savedScreenshotPath;
+}
+
+/////////////////////////////////////////////////
+void Screenshot::SetSavedScreenshotPath(const QString &_filename)
+{
+  this->dataPtr->savedScreenshotPath = _filename;
+  this->SavedScreenshotPathChanged();
+  this->savedScreenshot();
+}
+
+// Register this plugin
+IGNITION_ADD_PLUGIN(ignition::gui::plugins::Screenshot,
+                    ignition::gui::Plugin)