polygon_display.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include <OGRE/OgreSceneNode.h>
#include <OGRE/OgreSceneManager.h>
#include <OGRE/OgreManualObject.h>
#include <OGRE/OgreBillboardSet.h>

#include "rviz/display_context.h"
#include "rviz/frame_manager.h"
#include "rviz/properties/color_property.h"
#include "rviz/properties/float_property.h"
#include "rviz/properties/parse_color.h"
#include "rviz/validate_floats.h"

#include "polygon_display.h"

namespace rviz
{

PolygonDisplay::PolygonDisplay()
{
  color_property_ = new ColorProperty( "Color", QColor( 25, 255, 0 ),
                                       "Color to draw the polygon.", this, SLOT( queueRender() ));
  alpha_property_ = new FloatProperty( "Alpha", 1.0,
                                       "Amount of transparency to apply to the polygon.", this, SLOT( queueRender() ));
  alpha_property_->setMin( 0 );
  alpha_property_->setMax( 1 );
}

PolygonDisplay::~PolygonDisplay()
{
  scene_manager_->destroyManualObject( manual_object_ );
}

void PolygonDisplay::onInitialize()
{
  MFDClass::onInitialize();

  manual_object_ = scene_manager_->createManualObject();
  manual_object_->setDynamic( true );
  scene_node_->attachObject( manual_object_ );
}

void PolygonDisplay::reset()
{
  MFDClass::reset();
  manual_object_->clear();
}

bool validateFloats( const geometry_msgs::PolygonStamped& msg )
{
  return validateFloats(msg.polygon.points);
}

void PolygonDisplay::processMessage(const geometry_msgs::PolygonStamped::ConstPtr& msg)
{
  if( !validateFloats( *msg ))
  {
    setStatus( StatusProperty::Error, "Topic", "Message contained invalid floating point values (nans or infs)" );
    return;
  }

  Ogre::Vector3 position;
  Ogre::Quaternion orientation;
  if( !context_->getFrameManager()->getTransform( msg->header, position, orientation ))
  {
    ROS_DEBUG( "Error transforming from frame '%s' to frame '%s'",
               msg->header.frame_id.c_str(), qPrintable( fixed_frame_ ));
  }

  scene_node_->setPosition( position );
  scene_node_->setOrientation( orientation );

  manual_object_->clear();

  Ogre::ColourValue color = qtToOgre( color_property_->getColor() );
  color.a = alpha_property_->getFloat();
  // TODO: this does not actually support alpha as-is.  The
  // "BaseWhiteNoLighting" material ends up ignoring the alpha
  // component of the color values we set at each point.  Need to make
  // a material and do the whole setSceneBlending() rigamarole.

  uint32_t num_points = msg->polygon.points.size();
  if( num_points > 0 )
  {
    manual_object_->estimateVertexCount( num_points );
    manual_object_->begin( "BaseWhiteNoLighting", Ogre::RenderOperation::OT_LINE_STRIP );
    for( uint32_t i=0; i < num_points + 1; ++i )
    {
      const geometry_msgs::Point32& msg_point = msg->polygon.points[ i % num_points ];
      manual_object_->position( msg_point.x, msg_point.y, msg_point.z );
      manual_object_->colour( color );
    }

    manual_object_->end();
  }
}

} // namespace rviz

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS( rviz::PolygonDisplay, rviz::Display )