Add screen capture functionality

idl/gepetto/viewer/graphical-interface.idl

@@ -208,6 +208,21 @@ typedef double Color [4];
     /// \param input nodeName : name of the node.
     /// \param input lightingMode : lighting mode can be "ON" or "OFF".
     boolean setLightingMode(in string nodeName, in string lightingMode) raises (Error);
+
+    /// Start capturing a window into image files.
+    /// \param windowId the ID of the window
+    /// \param filename, extension image files will be
+    /// '<filename>_<sequence_number>.<extension>'
+    ///
+    /// \note To make a movie from the sequence of images, you can run:
+    /// \code
+    ///   ffmpeg -r 25 -b 1800 -i capture_0_%d.jpeg video.mp4
+    /// \endcode
+    boolean startCapture (in unsigned long windowId, in string filename,
+      in string extension) raises (Error);
+
+    /// Stop the running capture of a window.
+    boolean stopCapture (in unsigned long windowId) raises (Error);
   };
 };
 };

src/graphical-interface.impl.cpp

@@ -200,6 +200,9 @@ namespace graphics {
 	       it != newNodeConfigurations_.end (); it++) {
 	 (*it).node->applyConfiguration ( (*it).position, (*it).quat);
 	  }
+	  for (WindowManagers_t::iterator it = windowManagers_.begin ();
+              it!=windowManagers_.end (); ++it)
+            (*it)->frame ();
 	  mtx_.unlock ();
 	  newNodeConfigurations_.clear ();
 	} catch (const std::exception& exc) {
@@ -803,6 +806,44 @@ namespace graphics {
 	  throw Error (exc.what ());
 	}
       }
+
+      bool GraphicalInterface::startCapture (const WindowID windowId, const char* filename,
+          const char* extension)
+        throw (Error)
+      {
+	try {
+	  if (windowId >= 0 || windowId < windowManagers_.size ()) {
+	    windowManagers_[windowId]->startCapture
+              (std::string (filename), std::string (extension));
+	    return true;
+	  }
+	  else {
+	    std::cout << "Window ID " << windowId
+		      << " doesn't exist." << std::endl;
+	    return false;
+	  }
+	} catch (const std::exception& exc) {
+	  throw Error (exc.what ());
+	}
+      }
+
+      bool GraphicalInterface::stopCapture (const WindowID windowId)
+        throw (Error)
+      {
+	try {
+	  if (windowId >= 0 || windowId < windowManagers_.size ()) {
+	    windowManagers_[windowId]->stopCapture ();
+	    return true;
+	  }
+	  else {
+	    std::cout << "Window ID " << windowId
+		      << " doesn't exist." << std::endl;
+	    return false;
+	  }
+	} catch (const std::exception& exc) {
+	  throw Error (exc.what ());
+	}
+      }
     } //end namespace impl
   } //end namespace corbaServer
 } //end namespace graphics

src/graphical-interface.impl.hh

@@ -133,6 +133,9 @@ public:
   virtual bool setWireFrameMode(const char* nodeNameCorba, const char* wireFrameModeCorba)  throw (Error);
   virtual bool setLightingMode(const char* nodeNameCorba, const char* lightingModeCorba)  throw (Error);
 
+  virtual bool startCapture (const WindowID windowId, const char* filename,
+      const char* extension) throw (Error);
+  virtual bool stopCapture (const WindowID windowId) throw (Error);
 }; // end of class
 
 } /* namespace impl */