Suggestions to #170

src/plugins/scene3d/Scene3D.cc

@@ -25,7 +25,6 @@
 #include <vector>
 
 #include <ignition/common/Console.hh>
-#include <ignition/common/Image.hh>
 #include <ignition/common/MouseEvent.hh>
 #include <ignition/plugin/Register.hh>
 #include <ignition/common/MeshManager.hh>
@@ -231,9 +230,6 @@ namespace plugins
 
     /// \brief View control focus target
     public: math::Vector3d target;
-
-    /// \brief Path to save the screenshot
-    public: std::string screenshotSavePath;
   };
 
   /// \brief Private data class for RenderWindowItem
@@ -252,11 +248,6 @@ namespace plugins
   /// \brief Private data class for Scene3D
   class Scene3DPrivate
   {
-    /// \brief Transport node
-    public: transport::Node node;
-
-    /// \brief Screenshot service
-    public: std::string screenshotService;
   };
 }
 }
@@ -861,25 +852,6 @@ void IgnRenderer::Render()
   // update and render to texture
   this->dataPtr->camera->Update();
 
-  // Save screenshot
-  {
-    if (!this->dataPtr->screenshotSavePath.empty())
-    {
-      unsigned int width = this->dataPtr->camera->ImageWidth();
-      unsigned int height = this->dataPtr->camera->ImageHeight();
-
-      auto cameraImage = this->dataPtr->camera->CreateImage();
-      this->dataPtr->camera->Copy(cameraImage);
-
-      common::Image image;
-      image.SetFromData(cameraImage.Data<unsigned char>(), width, height,
-          common::Image::RGB_INT8);
-      image.SavePNG(this->dataPtr->screenshotSavePath);
-
-      this->dataPtr->screenshotSavePath.clear();
-    }
-  }
-
   if (ignition::gui::App())
   {
     ignition::gui::App()->sendEvent(
@@ -888,13 +860,6 @@ void IgnRenderer::Render()
   }
 }
 
-/////////////////////////////////////////////////
-void IgnRenderer::SaveScreenshot(const std::string &_filename)
-{
-  std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
-  this->dataPtr->screenshotSavePath = _filename;
-}
-
 /////////////////////////////////////////////////
 void IgnRenderer::HandleMouseEvent()
 {
@@ -1467,26 +1432,8 @@ void Scene3D::LoadConfig(const tinyxml2::XMLElement *_pluginElem)
       renderWindow->SetSceneTopic(topic);
     }
   }
-
-  // Screenshot service
-  this->dataPtr->screenshotService = "/gui/screenshot";
-  this->dataPtr->node.Advertise(this->dataPtr->screenshotService,
-      &Scene3D::OnScreenshot, this);
-  ignmsg << "Screenshot service on ["
-         << this->dataPtr->screenshotService << "]" << std::endl;
 }
 
-/////////////////////////////////////////////////
-bool Scene3D::OnScreenshot(const msgs::StringMsg &_msg,
-  msgs::Boolean &_res)
-{
-  auto renderWindow = this->PluginItem()->findChild<RenderWindowItem *>();
-  renderWindow->SaveScreenshot(_msg.data());
-  _res.set_data(true);
-  return true;
-}
-
-
 /////////////////////////////////////////////////
 void RenderWindowItem::mousePressEvent(QMouseEvent *_e)
 {
@@ -1537,13 +1484,6 @@ void RenderWindowItem::wheelEvent(QWheelEvent *_e)
       this->dataPtr->mouseEvent, math::Vector2d(scroll, scroll));
 }
 
-/////////////////////////////////////////////////
-void RenderWindowItem::SaveScreenshot(const std::string &_filename)
-{
-  this->dataPtr->renderThread->ignRenderer.SaveScreenshot(_filename);
-}
-
-
 ///////////////////////////////////////////////////
 // void Scene3D::resizeEvent(QResizeEvent *_e)
 // {

src/plugins/scene3d/Scene3D.hh

@@ -75,13 +75,6 @@ namespace plugins
     public: virtual void LoadConfig(const tinyxml2::XMLElement *_pluginElem)
         override;
 
-    /// \brief Callback for saving a screenshot (from the user camera) request
-    /// \param[in] _msg Request message of the saved file path
-    /// \param[in] _res Response data
-    /// \return True if the request is received
-    private: bool OnScreenshot(const msgs::StringMsg &_msg,
-        msgs::Boolean &_res);
-
     /// \internal
     /// \brief Pointer to private data.
     private: std::unique_ptr<Scene3DPrivate> dataPtr;
@@ -126,10 +119,6 @@ namespace plugins
     private: math::Vector3d ScreenToScene(const math::Vector2i &_screenPos)
         const;
 
-    /// \brief Save a screenshot from the user camera
-    /// \param[in] _filename The filename (including path) of the screenshot
-    public: void SaveScreenshot(const std::string &_filename);
-
     /// \brief Render texture id
     public: GLuint textureId = 0u;
 
@@ -271,10 +260,6 @@ namespace plugins
     /// \brief Slot called when thread is ready to be started
     public Q_SLOTS: void Ready();
 
-    /// \brief Save a screenshot from the user camera
-    /// \param[in] _filename The filename (including path) of the screenshot
-    public: void SaveScreenshot(const std::string &_filename);
-
     // Documentation inherited
     protected: virtual void mousePressEvent(QMouseEvent *_e) override;
 

src/plugins/screenshot/CMakeLists.txt

@@ -3,4 +3,6 @@ ign_gui_add_plugin(Screenshot
     Screenshot.cc
   QT_HEADERS
     Screenshot.hh
+  PUBLIC_LINK_LIBS
+   ignition-rendering${IGN_RENDERING_VER}::ignition-rendering${IGN_RENDERING_VER}
 )

src/plugins/screenshot/Screenshot.cc

@@ -23,10 +23,17 @@
 
 #include <ignition/common/Console.hh>
 #include <ignition/common/Filesystem.hh>
+#include <ignition/common/Image.hh>
 #include <ignition/plugin/Register.hh>
+#include <ignition/rendering/Camera.hh>
+#include <ignition/rendering/RenderEngine.hh>
+#include <ignition/rendering/RenderingIface.hh>
+#include <ignition/rendering/Scene.hh>
 #include <ignition/transport/Node.hh>
 
 #include "ignition/gui/Application.hh"
+#include "ignition/gui/GuiEvents.hh"
+#include "ignition/gui/MainWindow.hh"
 
 namespace ignition
 {
@@ -44,6 +51,12 @@ namespace plugins
 
     /// \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};
   };
 }
 }
@@ -58,21 +71,18 @@ Screenshot::Screenshot()
   : ignition::gui::Plugin(),
   dataPtr(std::make_unique<ScreenshotPrivate>())
 {
-  // for screenshot requests
-  this->dataPtr->screenshotService = "/gui/screenshot";
-
   std::string home;
   common::env(IGN_HOMEDIR, home);
 
   // default directory
   this->dataPtr->directory =
-      common::joinPaths(home, ".ignition", "gazebo", "pictures");
+      common::joinPaths(home, ".ignition", "gui", "pictures");
 
   if (!common::exists(this->dataPtr->directory))
   {
-    if (!common::createDirectory(this->dataPtr->directory))
+    if (!common::createDirectories(this->dataPtr->directory))
     {
-      std::string defaultDir = common::joinPaths(home, ".ignition", "gazebo");
+      std::string defaultDir = common::joinPaths(home, ".ignition", "gui");
       ignerr << "Unable to create directory [" << this->dataPtr->directory
              << "]. Changing default directory to: " << defaultDir
              << std::endl;
@@ -94,24 +104,138 @@ 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);
 }
 
 /////////////////////////////////////////////////
-void Screenshot::OnScreenshot()
+bool Screenshot::eventFilter(QObject *_obj, QEvent *_event)
 {
-  std::function<void(const ignition::msgs::Boolean &, const bool)> cb =
-      [](const ignition::msgs::Boolean &/*_rep*/, const bool _result)
+  if (_event->type() == events::Render::kType && this->dataPtr->dirty)
   {
-    if (!_result)
-      ignerr << "Error sending move to request" << std::endl;
-  };
+    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);
 
   std::string time = common::systemTimeISO() + ".png";
-  std::string savedPath = common::joinPaths(this->dataPtr->directory, time);
+  std::string savePath = common::joinPaths(this->dataPtr->directory, time);
+
+  common::Image image;
+  image.SetFromData(cameraImage.Data<unsigned char>(), width, height,
+      common::Image::RGB_INT8);
+  image.SavePNG(savePath);
+
+  igndbg << "Saved image to [" << savePath << "]" << std::endl;
+
+  this->dataPtr->dirty = false;
+}
+
+/////////////////////////////////////////////////
+void Screenshot::FindUserCamera()
+{
+  if (nullptr != this->dataPtr->userCamera)
+    return;
 
-  ignition::msgs::StringMsg req;
-  req.set_data(savedPath);
-  this->dataPtr->node.Request(this->dataPtr->screenshotService, req, cb);
+  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;
 }
 
 /////////////////////////////////////////////////