Multiple threads for different views

[raisimtech]

Multiple threads for different views

[jhwangbo]

nope. It's not supported.

You can only have one window per process.

[edward9503]

nope. It's not supported.

You can only have one window per process.

Thanks for the reply.

Ok, then can I attach the cameraMan view in one process moving together with the camera frame on the robot? And how?

Thanks in advance.

[jhwangbo]

You can assign a dummy joint in the URDF and read it as a frame in raisim. It will give you the position and orientation. Then you have to update the pose of the camera in every frame.

[edward9503]

You can assign a dummy joint in the URDF and read it as a frame in raisim. It will give you the position and orientation. Then you have to update the pose of the camera in every frame.

Really appreciate for the reply.

Yes that was exactly what I was doing. The followings are my codes:

// lambda function for the controller
auto controller = vis,
anymal {
raisim::Vec<3> camera_position;
raisim::Mat<3, 3> camera_orientation;
Ogre::SceneNode* mCamera;
anymal.back()->getFramePosition("depth_camera_front_camera", camera_position);
anymal.back()->getFrameOrientation("depth_camera_front_camera", camera_orientation);
mCamera->setPosition(Ogre::Vector3(camera_position));
mCamera->setOrientation(Ogre::Quaternion{1.,0.,0.,0.});
// vis->getCameraMan()->setYawPitchDist(Ogre::Radian(0), -Ogre::Radian(M_PI_4), 2);
vis->getCameraMan()->setCamera(mCamera);
};

vis->setControlCallback(controller);

I realize that there are issues on the mCamera->setPosition and mCamera->setOrientation lines. But I cannot solve the problems. How is your opinion?

Thanks.

[jhwangbo]

Ogre must have a different convention. Check OgreVis.cpp and see how I converted it