Mesh Viewer

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);