#include <selection_manager.h>

Inheritance diagram for rviz::SelectionManager:

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. More...

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. More...

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. More...

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. More...

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 80 of file selection_manager.h.

Member Typedef Documentation

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

private

Definition at line 237 of file selection_manager.h.

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

private

Definition at line 287 of file selection_manager.h.

Member Enumeration Documentation

enum rviz::SelectionManager::SelectType

Enumerator
Add
Remove
Replace

Definition at line 84 of file selection_manager.h.

Constructor & Destructor Documentation

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

Definition at line 78 of file selection_manager.cpp.

rviz::SelectionManager::~SelectionManager ( )

Definition at line 97 of file selection_manager.cpp.

Member Function Documentation

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

Definition at line 448 of file selection_manager.cpp.

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

private

Definition at line 1165 of file selection_manager.cpp.

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

Definition at line 1136 of file selection_manager.cpp.

void rviz::SelectionManager::clearHandlers ( )

Definition at line 405 of file selection_manager.cpp.

CollObjectHandle rviz::SelectionManager::createHandle ( )

Definition at line 426 of file selection_manager.cpp.

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

Definition at line 412 of file selection_manager.cpp.

void rviz::SelectionManager::focusOnSelection ( )

Definition at line 1228 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 245 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 176 of file selection_manager.cpp.

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

Definition at line 1109 of file selection_manager.cpp.

bool rviz::SelectionManager::getInteractionEnabled ( )

inline

Definition at line 145 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 194 of file selection_manager.cpp.

PropertyTreeModel* rviz::SelectionManager::getPropertyModel ( )

inline

Definition at line 202 of file selection_manager.h.

const M_Picked& rviz::SelectionManager::getSelection ( )

inline

Definition at line 120 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 991 of file selection_manager.cpp.

Ogre::ColourValue rviz::SelectionManager::handleToColor ( CollObjectHandle handle )

static

Definition at line 1056 of file selection_manager.cpp.

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

Definition at line 508 of file selection_manager.cpp.

void rviz::SelectionManager::initialize ( )

Definition at line 122 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 824 of file selection_manager.cpp.

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

private

Definition at line 756 of file selection_manager.cpp.

void rviz::SelectionManager::removeHighlight ( )

Definition at line 521 of file selection_manager.cpp.

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

Definition at line 468 of file selection_manager.cpp.

void rviz::SelectionManager::removeSelectedObject ( const Picked & obj )

private

Definition at line 1204 of file selection_manager.cpp.

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

Definition at line 1122 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

Internal render function to render to a texture and read the pixels back out.

Definition at line 607 of file selection_manager.cpp.

void rviz::SelectionManager::renderAndUnpack	(	Ogre::Viewport *	viewport,
		uint32_t	pass,
		int	x1,
		int	y1,
		int	x2,
		int	y2,
		V_CollObject &	pixels
	)

private

Render to a texture for one of the picking passes and unpack the resulting pixels.

Definition at line 589 of file selection_manager.cpp.

void rviz::SelectionManager::renderQueueStarted	(	uint8_t	queueGroupId,
		const std::string &	invocation,
		bool &	skipThisInvocation
	)

Definition at line 813 of file selection_manager.cpp.

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

Definition at line 528 of file selection_manager.cpp.

void rviz::SelectionManager::selectionAdded ( const M_Picked & added )

private

Definition at line 1283 of file selection_manager.cpp.

void rviz::SelectionManager::selectionRemoved ( const M_Picked & removed )

private

Definition at line 1269 of file selection_manager.cpp.

void rviz::SelectionManager::setDebugMode ( bool debug )

Enables or disables publishing of picking and depth rendering images.

Definition at line 117 of file selection_manager.cpp.

void rviz::SelectionManager::setDepthTextureSize	(	unsigned	width,
		unsigned	height
	)

private

Definition at line 318 of file selection_manager.cpp.

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

private

Definition at line 552 of file selection_manager.cpp.

static void rviz::SelectionManager::setPickColor	(	const Ogre::ColourValue &	color,
		Ogre::SceneNode *	node
	)

inlinestatic

Definition at line 126 of file selection_manager.h.

static void rviz::SelectionManager::setPickColor	(	const Ogre::ColourValue &	color,
		Ogre::MovableObject *	object
	)

inlinestatic

Definition at line 127 of file selection_manager.h.

void rviz::SelectionManager::setPickData	(	CollObjectHandle	handle,
		const Ogre::ColourValue &	color,
		Ogre::SceneNode *	node
	)

static

Definition at line 1064 of file selection_manager.cpp.

void rviz::SelectionManager::setPickData	(	CollObjectHandle	handle,
		const Ogre::ColourValue &	color,
		Ogre::MovableObject *	object
	)

static

Definition at line 1102 of file selection_manager.cpp.

static void rviz::SelectionManager::setPickHandle	(	CollObjectHandle	handle,
		Ogre::SceneNode *	node
	)

inlinestatic

Definition at line 128 of file selection_manager.h.

static void rviz::SelectionManager::setPickHandle	(	CollObjectHandle	handle,
		Ogre::MovableObject *	object
	)

inlinestatic

Definition at line 129 of file selection_manager.h.

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

Definition at line 1155 of file selection_manager.cpp.

void rviz::SelectionManager::setTextureSize ( unsigned size )

Definition at line 364 of file selection_manager.cpp.

void rviz::SelectionManager::unpackColors	(	const Ogre::PixelBox &	box,
		V_CollObject &	pixels
	)

private

Definition at line 567 of file selection_manager.cpp.

void rviz::SelectionManager::update ( )

Definition at line 489 of file selection_manager.cpp.

void rviz::SelectionManager::updateProperties ( )

privateslot

Call updateProperties() on all SelectionHandlers in the current selection.

Definition at line 1298 of file selection_manager.cpp.

Member Data Documentation

Ogre::Camera* rviz::SelectionManager::camera_

private

Definition at line 267 of file selection_manager.h.

bool rviz::SelectionManager::debug_mode_

private

Definition at line 273 of file selection_manager.h.

PublisherMap rviz::SelectionManager::debug_publishers_

private

Definition at line 288 of file selection_manager.h.

Ogre::PixelBox rviz::SelectionManager::depth_pixel_box_

private

Definition at line 261 of file selection_manager.h.

Ogre::TexturePtr rviz::SelectionManager::depth_render_texture_

private

Definition at line 259 of file selection_manager.h.

uint32_t rviz::SelectionManager::depth_texture_height_

private

Definition at line 260 of file selection_manager.h.

uint32_t rviz::SelectionManager::depth_texture_width_

private

Definition at line 260 of file selection_manager.h.

Ogre::Technique* rviz::SelectionManager::fallback_black_cull_technique_

private

Definition at line 280 of file selection_manager.h.

Ogre::Technique* rviz::SelectionManager::fallback_black_technique_

private

Definition at line 277 of file selection_manager.h.

Ogre::Technique* rviz::SelectionManager::fallback_depth_cull_technique_

private

Definition at line 281 of file selection_manager.h.

Ogre::Technique* rviz::SelectionManager::fallback_depth_technique_

private

Definition at line 278 of file selection_manager.h.

Ogre::Technique* rviz::SelectionManager::fallback_pick_cull_technique_

private

Definition at line 279 of file selection_manager.h.

Ogre::MaterialPtr rviz::SelectionManager::fallback_pick_material_

private

Definition at line 275 of file selection_manager.h.

Ogre::Technique* rviz::SelectionManager::fallback_pick_technique_

private

Definition at line 276 of file selection_manager.h.

boost::recursive_mutex rviz::SelectionManager::global_mutex_

private

Definition at line 235 of file selection_manager.h.

Highlight rviz::SelectionManager::highlight_

private

Definition at line 250 of file selection_manager.h.

bool rviz::SelectionManager::highlight_enabled_

private

Definition at line 240 of file selection_manager.h.

Ogre::SceneNode* rviz::SelectionManager::highlight_node_

private

Definition at line 266 of file selection_manager.h.

Ogre::Rectangle2D* rviz::SelectionManager::highlight_rectangle_

private

Definition at line 265 of file selection_manager.h.

bool rviz::SelectionManager::interaction_enabled_

private

Definition at line 271 of file selection_manager.h.

M_CollisionObjectToSelectionHandler rviz::SelectionManager::objects_

private

Definition at line 238 of file selection_manager.h.

Ogre::PixelBox rviz::SelectionManager::pixel_boxes_[s_num_render_textures_]

private

Definition at line 256 of file selection_manager.h.

V_CollObject rviz::SelectionManager::pixel_buffer_

private

Definition at line 269 of file selection_manager.h.

PropertyTreeModel* rviz::SelectionManager::property_model_

private

Definition at line 285 of file selection_manager.h.

Ogre::TexturePtr rviz::SelectionManager::render_textures_[s_num_render_textures_]

private

Definition at line 255 of file selection_manager.h.

const uint32_t rviz::SelectionManager::s_num_render_textures_ = 2

staticprivate

Definition at line 254 of file selection_manager.h.

M_Picked rviz::SelectionManager::selection_

private

Definition at line 252 of file selection_manager.h.

uint32_t rviz::SelectionManager::texture_size_

private

Definition at line 283 of file selection_manager.h.

uint32_t rviz::SelectionManager::uid_counter_

private

Definition at line 263 of file selection_manager.h.

VisualizationManager* rviz::SelectionManager::vis_manager_

private

Definition at line 233 of file selection_manager.h.

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

Static Public Member Functions

Private Types

Private Slots

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation