segment_array_display.cpp

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/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2013, Ryohei Ueda and JSK Lab
 *  All rights reserved.
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#include "segment_array_display.h"
#include <jsk_topic_tools/color_utils.h>
namespace jsk_rviz_plugins
{
  SegmentArrayDisplay::SegmentArrayDisplay()
  {
    coloring_property_ = new rviz::EnumProperty(
      "coloring", "Auto",
      "coloring method",
      this, SLOT(updateColoring()));
    coloring_property_->addOption("Auto", 0);
    coloring_property_->addOption("Flat color", 1);

    color_property_ = new rviz::ColorProperty(
      "color", QColor(25, 255, 0),
      "color to draw the edges",
      this, SLOT(updateColor()));
    alpha_property_ = new rviz::FloatProperty(
      "alpha", 0.8,
      "alpha value to draw the edges",
      this, SLOT(updateAlpha()));
    line_width_property_ = new rviz::FloatProperty(
      "line width", 0.005,
      "line width of the edges",
      this, SLOT(updateLineWidth()));
  }

  SegmentArrayDisplay::~SegmentArrayDisplay()
  {
    delete color_property_;
    delete alpha_property_;
    delete coloring_property_;
  }

  QColor SegmentArrayDisplay::getColor(size_t index)
  {
    if (coloring_method_ == "auto") {
      std_msgs::ColorRGBA ros_color = jsk_topic_tools::colorCategory20(index);
      return QColor(ros_color.r * 255.0,
                    ros_color.g * 255.0,
                    ros_color.b * 255.0,
                    ros_color.a * 255.0);
    }
    else if (coloring_method_ == "flat") {
      return color_;
    }
    return QColor(255, 255, 255, 255);
  }

  void SegmentArrayDisplay::onInitialize()
  {
    MFDClass::onInitialize();
    scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode();

    updateColor();
    updateAlpha();
    updateColoring();
    updateLineWidth();
  }

  void SegmentArrayDisplay::updateLineWidth()
  {
    line_width_ = line_width_property_->getFloat();
    if (latest_msg_) {
      processMessage(latest_msg_);
    }
  }

  void SegmentArrayDisplay::updateColor()
  {
    color_ = color_property_->getColor();
    if (latest_msg_) {
      processMessage(latest_msg_);
    }
  }

  void SegmentArrayDisplay::updateAlpha()
  {
    alpha_ = alpha_property_->getFloat();
    if (latest_msg_) {
      processMessage(latest_msg_);
    }
  }

  void SegmentArrayDisplay::updateColoring()
  {
    if (coloring_property_->getOptionInt() == 0) {
      coloring_method_ = "auto";
      color_property_->hide();
    }
    else if (coloring_property_->getOptionInt() == 1) {
      coloring_method_ = "flat";
      color_property_->show();
    }

    if (latest_msg_) {
      processMessage(latest_msg_);
    }
  }

  void SegmentArrayDisplay::reset()
  {
    MFDClass::reset();
    edges_.clear();
    latest_msg_.reset();
  }

  void SegmentArrayDisplay::allocateBillboardLines(int num)
  {
    if (num > edges_.size()) {
      for (size_t i = edges_.size(); i < num; i++) {
        BillboardLinePtr line(new rviz::BillboardLine(
                                                      this->context_->getSceneManager(), this->scene_node_));
        edges_.push_back(line);
      }
    }
    else if (num < edges_.size())
      {
        edges_.resize(num);       // ok??
      }
  }

  void SegmentArrayDisplay::showEdges(
    const jsk_recognition_msgs::SegmentArray::ConstPtr& msg)
  {
    allocateBillboardLines(msg->segments.size());
    for (size_t i = 0; i < msg->segments.size(); i++) {
      jsk_recognition_msgs::Segment edge_msg = msg->segments[i];

      BillboardLinePtr edge = edges_[i];
      edge->clear();

      geometry_msgs::Pose start_pose_local;
      geometry_msgs::Pose end_pose_local;
      start_pose_local.position = edge_msg.start_point;
      start_pose_local.orientation.w = 1.0;
      end_pose_local.position = edge_msg.end_point;
      end_pose_local.orientation.w = 1.0;

      Ogre::Vector3 start_point;
      Ogre::Vector3 end_point;
      Ogre::Quaternion quaternion; // not used to visualize
      bool transform_ret;
      transform_ret =
        context_->getFrameManager()->transform(msg->header, start_pose_local, start_point, quaternion)
        && context_->getFrameManager()->transform(msg->header, end_pose_local, end_point, quaternion);
      if(!transform_ret) {
        ROS_ERROR( "Error transforming pose"
                   "'%s' from frame '%s' to frame '%s'",
                   qPrintable( getName() ), msg->header.frame_id.c_str(),
                   qPrintable( fixed_frame_ ));
        return;                 // return?
      }
      edge->addPoint(start_point);
      edge->addPoint(end_point);
      edge->setLineWidth(line_width_);
      QColor color = getColor(i);
      edge->setColor(color.red() / 255.0,
                     color.green() / 255.0,
                     color.blue() / 255.0,
                     alpha_);
    }
  }

  void SegmentArrayDisplay::processMessage(
    const jsk_recognition_msgs::SegmentArray::ConstPtr& msg)
  {
    // Store latest message
    latest_msg_ = msg;

    showEdges(msg);
  }
}

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