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Salta il rendering delle camere con --no-images #43

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Salta il rendering delle camere con --no-images #43

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5 changes: 5 additions & 0 deletions include/SimulationViewport.h
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,10 @@ class SimulationViewport : public QOpenGLWindow {
public:
SimulationViewport(MujocoContext& mujContext);

void setCamerasEnabled(bool enabled) {
camerasEnabled_ = enabled;
}

void pauseRendering() {
if (timer) {
timer->stop();
Expand All @@ -39,6 +43,7 @@ class SimulationViewport : public QOpenGLWindow {
void keyPressEvent(QKeyEvent* event) override;

private:
bool camerasEnabled_ = true;
QPointF lastMousePosition;
mjtMouse mouseAction = mjMOUSE_NONE;

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1 change: 1 addition & 0 deletions src/AppWindow.cpp
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Expand Up @@ -153,6 +153,7 @@ void AppWindow::loadScene(const QString& yaml_file) {

mujContext = std::make_unique<MujocoContext>(xmlScene);
viewport = std::make_unique<SimulationViewport>(*mujContext);
viewport->setCamerasEnabled(publishImages_);

// Configure and bind GameController
GameController::instance().configure(parser.getSceneInfo().simulationConfig);
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3 changes: 3 additions & 0 deletions src/SimulationViewport.cpp
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Expand Up @@ -48,6 +48,9 @@ void SimulationViewport::paintGL() {
mjv_updateScene(model, data, opt, nullptr, cam, mjCAT_ALL, scene);
mjr_render(viewport, scene, context);

if (!camerasEnabled_)
return;

// Render cameras offscreen and save images
for (int i = 0; i < RobotManager::instance().getRobots().size(); ++i) {
auto robot = RobotManager::instance().getRobots()[i];
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