#include <selection_manager.h>

Classes
struct	Highlight
Public Types
enum	SelectType { Add, Remove, Replace }
Public Member Functions
void	addObject (CollObjectHandle obj, SelectionHandler *handler)
void	addSelection (const M_Picked &objs)
void	clearHandlers ()
CollObjectHandle	createHandle ()
void	enableInteraction (bool enable)
void	focusOnSelection ()
bool	get3DPatch (Ogre::Viewport *viewport, const int x, const int y, const unsigned width, const unsigned height, const bool skip_missing, std::vector< Ogre::Vector3 > &result_points)
	Gets the 3D points in a box around a point in a view port.
bool	get3DPoint (Ogre::Viewport *viewport, const int x, const int y, Ogre::Vector3 &result_point)
SelectionHandler *	getHandler (CollObjectHandle obj)
bool	getInteractionEnabled ()
bool	getPatchDepthImage (Ogre::Viewport *viewport, const int x, const int y, const unsigned width, const unsigned height, std::vector< float > &depth_vector)
	Renders a depth image in a box around a point in a view port.
PropertyTreeModel *	getPropertyModel ()
const M_Picked &	getSelection ()
virtual Ogre::Technique *	handleSchemeNotFound (unsigned short scheme_index, const Ogre::String &scheme_name, Ogre::Material original_material, unsigned short lod_index, const Ogre::Renderable rend)
void	highlight (Ogre::Viewport *viewport, int x1, int y1, int x2, int y2)
void	initialize ()
void	pick (Ogre::Viewport *viewport, int x1, int y1, int x2, int y2, M_Picked &results, bool single_render_pass=false)
void	removeHighlight ()
void	removeObject (CollObjectHandle obj)
void	removeSelection (const M_Picked &objs)
void	renderQueueStarted (uint8_t queueGroupId, const std::string &invocation, bool &skipThisInvocation)
void	select (Ogre::Viewport *viewport, int x1, int y1, int x2, int y2, SelectType type)
	SelectionManager (VisualizationManager *manager)
void	setDebugMode (bool debug)
	Enables or disables publishing of picking and depth rendering images.
void	setSelection (const M_Picked &objs)
void	setTextureSize (unsigned size)
void	update ()
	~SelectionManager ()
Static Public Member Functions
static Ogre::ColourValue	handleToColor (CollObjectHandle handle)
static void	setPickColor (const Ogre::ColourValue &color, Ogre::SceneNode *node)
static void	setPickColor (const Ogre::ColourValue &color, Ogre::MovableObject *object)
static void	setPickData (CollObjectHandle handle, const Ogre::ColourValue &color, Ogre::SceneNode *node)
static void	setPickData (CollObjectHandle handle, const Ogre::ColourValue &color, Ogre::MovableObject *object)
static void	setPickHandle (CollObjectHandle handle, Ogre::SceneNode *node)
static void	setPickHandle (CollObjectHandle handle, Ogre::MovableObject *object)
Private Types
typedef boost::unordered_map < CollObjectHandle, SelectionHandler * >	M_CollisionObjectToSelectionHandler
typedef std::map< std::string, ros::Publisher >	PublisherMap
Private Slots
void	updateProperties ()
	Call updateProperties() on all SelectionHandlers in the current selection.
Private Member Functions
std::pair< Picked, bool >	addSelectedObject (const Picked &obj)
void	publishDebugImage (const Ogre::PixelBox &pixel_box, const std::string &label)
void	removeSelectedObject (const Picked &obj)
bool	render (Ogre::Viewport *viewport, Ogre::TexturePtr tex, int x1, int y1, int x2, int y2, Ogre::PixelBox &dst_box, std::string material_scheme, unsigned texture_width, unsigned textured_height)
void	renderAndUnpack (Ogre::Viewport *viewport, uint32_t pass, int x1, int y1, int x2, int y2, V_CollObject &pixels)
void	selectionAdded (const M_Picked &added)
void	selectionRemoved (const M_Picked &removed)
void	setDepthTextureSize (unsigned width, unsigned height)
void	setHighlightRect (Ogre::Viewport *viewport, int x1, int y1, int x2, int y2)
void	unpackColors (const Ogre::PixelBox &box, V_CollObject &pixels)
Private Attributes
Ogre::Camera *	camera_
bool	debug_mode_
PublisherMap	debug_publishers_
Ogre::PixelBox	depth_pixel_box_
Ogre::TexturePtr	depth_render_texture_
uint32_t	depth_texture_height_
uint32_t	depth_texture_width_
Ogre::Technique *	fallback_black_cull_technique_
Ogre::Technique *	fallback_black_technique_
Ogre::Technique *	fallback_depth_cull_technique_
Ogre::Technique *	fallback_depth_technique_
Ogre::Technique *	fallback_pick_cull_technique_
Ogre::MaterialPtr	fallback_pick_material_
Ogre::Technique *	fallback_pick_technique_
boost::recursive_mutex	global_mutex_
Highlight	highlight_
bool	highlight_enabled_
Ogre::SceneNode *	highlight_node_
Ogre::Rectangle2D *	highlight_rectangle_
bool	interaction_enabled_
M_CollisionObjectToSelectionHandler	objects_
Ogre::PixelBox	pixel_boxes_ [s_num_render_textures_]
V_CollObject	pixel_buffer_
PropertyTreeModel *	property_model_
Ogre::TexturePtr	render_textures_ [s_num_render_textures_]
M_Picked	selection_
uint32_t	texture_size_
uint32_t	uid_counter_
VisualizationManager *	vis_manager_
Static Private Attributes
static const uint32_t	s_num_render_textures_ = 2

Detailed Description

Definition at line 77 of file selection_manager.h.

Member Typedef Documentation

typedef boost::unordered_map<CollObjectHandle, SelectionHandler*> rviz::SelectionManager::M_CollisionObjectToSelectionHandler [private]

Definition at line 234 of file selection_manager.h.

typedef std::map<std::string, ros::Publisher> rviz::SelectionManager::PublisherMap [private]

Definition at line 284 of file selection_manager.h.

Member Enumeration Documentation

enum rviz::SelectionManager::SelectType

Enumerator:

Add
Remove
Replace

Definition at line 81 of file selection_manager.h.

Constructor & Destructor Documentation

rviz::SelectionManager::SelectionManager ( VisualizationManager * manager )

Definition at line 75 of file selection_manager.cpp.

rviz::SelectionManager::~SelectionManager ( )

Definition at line 94 of file selection_manager.cpp.

Member Function Documentation

void rviz::SelectionManager::addObject	(	CollObjectHandle	obj,
		SelectionHandler *	handler
	)

Definition at line 445 of file selection_manager.cpp.

std::pair< Picked, bool > rviz::SelectionManager::addSelectedObject ( const Picked & obj ) [private]

Definition at line 1162 of file selection_manager.cpp.

void rviz::SelectionManager::addSelection ( const M_Picked & objs )

Definition at line 1133 of file selection_manager.cpp.

void rviz::SelectionManager::clearHandlers ( )

Definition at line 402 of file selection_manager.cpp.

CollObjectHandle rviz::SelectionManager::createHandle ( )

Definition at line 423 of file selection_manager.cpp.

void rviz::SelectionManager::enableInteraction ( bool enable )

Definition at line 409 of file selection_manager.cpp.

void rviz::SelectionManager::focusOnSelection ( )

Definition at line 1225 of file selection_manager.cpp.

bool rviz::SelectionManager::get3DPatch	(	Ogre::Viewport *	viewport,
		const int	x,
		const int	y,
		const unsigned	width,
		const unsigned	height,
		const bool	skip_missing,
		std::vector< Ogre::Vector3 > &	result_points
	)

Gets the 3D points in a box around a point in a view port.

Parameters:

[in]	viewport	Rendering area clicked on.
[in]	x	x coordinate of upper-left corner of box.
[in]	y	y coordinate of upper-left corner of box.
[in]	width	The width of the rendered box in pixels.
[in]	height	The height of the rendered box in pixels.
[in]	skip_missing	Whether to skip non-existing points or insert NaNs for them
[out]	result_points	The vector of output points.

Returns:: True if any valid point is rendered in the box. NaN points count, so if skip_missing is false, this will always return true if width and height are > 0.

Definition at line 242 of file selection_manager.cpp.

bool rviz::SelectionManager::get3DPoint	(	Ogre::Viewport *	viewport,
		const int	x,
		const int	y,
		Ogre::Vector3 &	result_point
	)

Return true if the point at x, y in the viewport is showing an object, false otherwise. If it is showing an object, result will be changed to contain the 3D point corresponding to it.

Definition at line 173 of file selection_manager.cpp.

SelectionHandler * rviz::SelectionManager::getHandler ( CollObjectHandle obj )

Definition at line 1106 of file selection_manager.cpp.

bool rviz::SelectionManager::getInteractionEnabled ( ) [inline]

Definition at line 142 of file selection_manager.h.

bool rviz::SelectionManager::getPatchDepthImage	(	Ogre::Viewport *	viewport,
		const int	x,
		const int	y,
		const unsigned	width,
		const unsigned	height,
		std::vector< float > &	depth_vector
	)

Renders a depth image in a box around a point in a view port.

Parameters:

[in]	viewport	Rendering area clicked on.
[in]	x	x coordinate of upper-left corner of box.
[in]	y	y coordinate of upper-left corner of box.
[in]	width	The width of the rendered box in pixels.
[in]	height	The height of the rendered box in pixels.
[out]	depth_vector	The vector of depth values.

Returns:: True if rendering operation to render depth data to the depth texture buffer succeeds. Failure likely indicates a pretty serious problem.

Definition at line 191 of file selection_manager.cpp.

PropertyTreeModel* rviz::SelectionManager::getPropertyModel ( ) [inline]

Definition at line 199 of file selection_manager.h.

const M_Picked& rviz::SelectionManager::getSelection ( ) [inline]

Definition at line 117 of file selection_manager.h.

Ogre::Technique * rviz::SelectionManager::handleSchemeNotFound	(	unsigned short	scheme_index,
		const Ogre::String &	scheme_name,
		Ogre::Material *	original_material,
		unsigned short	lod_index,
		const Ogre::Renderable *	rend
	)		`[virtual]`

Definition at line 988 of file selection_manager.cpp.

Ogre::ColourValue rviz::SelectionManager::handleToColor ( CollObjectHandle handle ) [static]

Definition at line 1053 of file selection_manager.cpp.

void rviz::SelectionManager::highlight	(	Ogre::Viewport *	viewport,
		int	x1,
		int	y1,
		int	x2,
		int	y2
	)

Definition at line 505 of file selection_manager.cpp.

void rviz::SelectionManager::initialize ( )

Definition at line 119 of file selection_manager.cpp.

void rviz::SelectionManager::pick	(	Ogre::Viewport *	viewport,
		int	x1,
		int	y1,
		int	x2,
		int	y2,
		M_Picked &	results,
		bool	single_render_pass = `false`
	)

Definition at line 821 of file selection_manager.cpp.

void rviz::SelectionManager::publishDebugImage	(	const Ogre::PixelBox &	pixel_box,
		const std::string &	label
	)		`[private]`

Definition at line 753 of file selection_manager.cpp.

void rviz::SelectionManager::removeHighlight ( )

Definition at line 518 of file selection_manager.cpp.

void rviz::SelectionManager::removeObject ( CollObjectHandle obj )

Definition at line 465 of file selection_manager.cpp.

void rviz::SelectionManager::removeSelectedObject ( const Picked & obj ) [private]

Definition at line 1201 of file selection_manager.cpp.

void rviz::SelectionManager::removeSelection ( const M_Picked & objs )

Definition at line 1119 of file selection_manager.cpp.

bool rviz::SelectionManager::render	(	Ogre::Viewport *	viewport,
		Ogre::TexturePtr	tex,
		int	x1,
		int	y1,
		int	x2,
		int	y2,
		Ogre::PixelBox &	dst_box,
		std::string	material_scheme,
		unsigned	texture_width,
		unsigned	textured_height
	)		`[private]`