Mesh Viewer

Install prerequisites

In order to compile the example in this tutorial, make sure to install the dependencies listed in the Installation tutorial.

Compile and run the example

Clone the source code, create a build directory and use cmake and make to compile the code:

git clone https://github.com/gazebosim/gz-rendering
cd gz-rendering/examples/mesh_viewer
mkdir build
cd build
cmake ..
make

To run the example:

./mesh_viewer

Code

In the the Main.cc file there is a function called buildScene which is in charge of creating the objects in the scene (for example: the grid or the duck). The steps to visualize a mesh are the following:

• Create a visual
• Attach mesh to the visual
• Include the visual in the scene

  MeshDescriptor descriptor;
  descriptor.meshName = common::joinPaths(RESOURCE_PATH, "duck.dae");
  common::MeshManager *meshManager = common::MeshManager::Instance();
  descriptor.mesh = meshManager->Load(descriptor.meshName);
  if (descriptor.mesh)
  {
    VisualPtr mesh = _scene->CreateVisual();
    mesh->SetLocalPosition(3, 0, 0);
    mesh->SetLocalRotation(1.5708, 0, 2.0);
    MeshPtr meshGeom = _scene->CreateMesh(descriptor);
    mesh->AddGeometry(meshGeom);
    root->AddChild(mesh);
  }
  else
  {
    gzerr << "Failed load mesh: " << descriptor.meshName << std::endl;
  }

Similarly, we can add a grid to the floor:

  VisualPtr grid = _scene->CreateVisual();
  GridPtr gridGeom = _scene->CreateGrid();
  gridGeom->SetCellCount(20);
  gridGeom->SetCellLength(1);
  gridGeom->SetVerticalCellCount(0);
  grid->AddGeometry(gridGeom);
  grid->SetLocalPosition(3, 0, 0.0);
  grid->SetMaterial(gray);
  root->AddChild(grid);

Or we can include a camera and set up the position, orientation, dimensions and other relevant features of cameras:

  CameraPtr camera = _scene->CreateCamera("camera");
  camera->SetLocalPosition(0.0, 1.0, 0.5);
  camera->SetLocalRotation(0.0, 0.0, 0.0);
  camera->SetImageWidth(800);
  camera->SetImageHeight(600);
  camera->SetAntiAliasing(2);
  camera->SetAspectRatio(1.333);
  camera->SetHFOV(GZ_PI / 2);
  root->AddChild(camera);