#include <GridMapVisual.hpp>

Public Types
using	ColorArray = Eigen::Array< Ogre::ColourValue, Eigen::Dynamic, Eigen::Dynamic >

using	MaskArray = Eigen::Array< bool, Eigen::Dynamic, Eigen::Dynamic >

using	MatrixConstRef = Eigen::Ref< const grid_map::Matrix >

Public Member Functions
void	computeVisualization (float alpha, bool showGridLines, bool flatTerrain, std::string heightLayer, bool flatColor, bool noColor, Ogre::ColourValue meshColor, bool mapLayerColor, std::string colorLayer, std::string colorMap, bool useColorMap, bool invertColorMap, Ogre::ColourValue minColor, Ogre::ColourValue maxColor, bool autocomputeIntensity, float minIntensity, float maxIntensity, float gridLineThickness, int gridCellDecimation)

std::vector< std::string >	getLayerNames ()

	GridMapVisual (Ogre::SceneManager sceneManager, Ogre::SceneNode parentNode)

void	setFrameOrientation (const Ogre::Quaternion &orientation)

void	setFramePosition (const Ogre::Vector3 &position)

void	setMessage (const grid_map_msgs::GridMap::ConstPtr &msg)

virtual	~GridMapVisual ()

Private Types
enum	ColoringMethod { ColoringMethod::FLAT, ColoringMethod::COLOR_LAYER, ColoringMethod::INTENSITY_LAYER_MANUAL, ColoringMethod::INTENSITY_LAYER_COLORMAP, ColoringMethod::INTENSITY_LAYER_INVERTED_COLORMAP }

Private Member Functions
ColorArray	computeColorValues (MatrixConstRef heightData, MatrixConstRef colorData, ColoringMethod coloringMethod, std::string colorMap, Ogre::ColourValue flatColor, double minIntensity, double maxIntensity, bool autocomputeIntensity, Ogre::ColourValue minColor, Ogre::ColourValue maxColor)

MaskArray	computeIsValidMask (std::vector< std::string > basicLayers)

std::vector< Ogre::Vector3 >	computeMeshLineVertices (int i, int j, int gridCellDecimation, bool isNthRow, bool isNthCol, bool isLastRow, bool isLastCol, double resolution, const grid_map::Position &topLeft, const Eigen::ArrayXXf &heightOrFlatData, const MaskArray &isValid) const

Ogre::ColourValue	getInterpolatedColor (float intensity, Ogre::ColourValue minColor, Ogre::ColourValue maxColor)

void	initializeAndBeginManualObject (size_t nVertices)

void	initializeMeshLines (size_t cols, size_t rows, double resolution, double alpha, double lineWidth)

void	printMissingBasicLayers (const std::vector< std::string > &basicLayers) const
	Logs a warning message which lists the basic layers that are missing from the grid map. More...

Static Private Member Functions
static Ogre::ColourValue	getRainbowColor (float intensity)

static void	normalizeIntensity (float &intensity, float minIntensity, float maxIntensity)

Private Attributes
Ogre::SceneNode *	frameNode_

bool	haveMap_

Ogre::ManualObject *	manualObject_

grid_map::GridMap	map_

Ogre::MaterialPtr	material_

std::string	materialName_

boost::shared_ptr< rviz::BillboardLine >	meshLines_

Ogre::SceneManager *	sceneManager_

Static Private Attributes
static constexpr double	warningMessageThrottlePeriod_ {10.0}

Detailed Description

Definition at line 31 of file GridMapVisual.hpp.

Member Typedef Documentation

◆ ColorArray

using grid_map_rviz_plugin::GridMapVisual::ColorArray = Eigen::Array<Ogre::ColourValue, Eigen::Dynamic, Eigen::Dynamic>

Definition at line 34 of file GridMapVisual.hpp.

◆ MaskArray

using grid_map_rviz_plugin::GridMapVisual::MaskArray = Eigen::Array<bool, Eigen::Dynamic, Eigen::Dynamic>

Definition at line 33 of file GridMapVisual.hpp.

◆ MatrixConstRef

using grid_map_rviz_plugin::GridMapVisual::MatrixConstRef = Eigen::Ref<const grid_map::Matrix>

Definition at line 35 of file GridMapVisual.hpp.

Member Enumeration Documentation

◆ ColoringMethod

enum grid_map_rviz_plugin::GridMapVisual::ColoringMethod

strongprivate

Enumerator
FLAT
COLOR_LAYER
INTENSITY_LAYER_MANUAL
INTENSITY_LAYER_COLORMAP
INTENSITY_LAYER_INVERTED_COLORMAP

Definition at line 57 of file GridMapVisual.hpp.

Constructor & Destructor Documentation

◆ GridMapVisual()

grid_map_rviz_plugin::GridMapVisual::GridMapVisual	(	Ogre::SceneManager *	sceneManager,
		Ogre::SceneNode *	parentNode
	)

Definition at line 32 of file GridMapVisual.cpp.

◆ ~GridMapVisual()

grid_map_rviz_plugin::GridMapVisual::~GridMapVisual ( )

virtual

Definition at line 40 of file GridMapVisual.cpp.

Member Function Documentation

◆ computeColorValues()

GridMapVisual::ColorArray grid_map_rviz_plugin::GridMapVisual::computeColorValues	(	GridMapVisual::MatrixConstRef	heightData,
		GridMapVisual::MatrixConstRef	colorData,
		GridMapVisual::ColoringMethod	coloringMethod,
		std::string	colorMap,
		Ogre::ColourValue	flatColor,
		double	minIntensity,
		double	maxIntensity,
		bool	autocomputeIntensity,
		Ogre::ColourValue	minColor,
		Ogre::ColourValue	maxColor
	)

private

Computes a matrix of color values corresponding to the grid cells. Color is computed depending on the coloringMethod.

Parameters

heightData	Height values of the cells.
colorData	Values of the layer specified for coloring the mesh.
coloringMethod	The strategy to color, see ColoringMethod.
colorMap	colorMap selected (string). See GridMapColorMaps.hpp
flatColor	Used only if coloringMethod is FLAT
minIntensity	Used for the intensity based coloring methods only.
maxIntensity	Used for the intensity based coloring methods only.
autocomputeIntensity	Wheter to override the values in min and max intensity and compute them based on the provided intensity data.
minColor	Used only if coloringMethod is COLOR_LAYER.
maxColor	Used only if coloringMethod is COLOR_LAYER.

Returns: The color for each cell.

Definition at line 302 of file GridMapVisual.cpp.

◆ computeIsValidMask()

GridMapVisual::MaskArray grid_map_rviz_plugin::GridMapVisual::computeIsValidMask ( std::vector< std::string > basicLayers )

private

Computes a mask where all the provided basicLayers are finite. Used to do fast lockups during mesh creation.

Parameters

basicLayers The values to check, if they are finite.

Returns: A boolean mask. True indicates that all layers are finite, false indicates that at least one layer is NAN.

Definition at line 357 of file GridMapVisual.cpp.

◆ computeMeshLineVertices()

std::vector< Ogre::Vector3 > grid_map_rviz_plugin::GridMapVisual::computeMeshLineVertices	(	int	i,
		int	j,
		int	gridCellDecimation,
		bool	isNthRow,
		bool	isNthCol,
		bool	isLastRow,
		bool	isLastCol,
		double	resolution,
		const grid_map::Position &	topLeft,
		const Eigen::ArrayXXf &	heightOrFlatData,
		const MaskArray &	isValid
	)		const

private

Returns a vector of ogre coordinates. Each coordinate is a vertex for a mesh line.

Parameters

i	Index of the current point in x.
j	Index of the current point in y.
gridCellDecimation	Integer that defines how many cells to skip between mesh lines. E.g. if n=3, every third mesh line will be displayed.
isNthRow	Flag to indicate the n-th row, where n = gridCellDecimation.
isNthCol	Flag to indicate the n-th column, where n = gridCellDecimation.
isLastRow	Flag to indicate the last row.
isLastCol	Flag to indicate the last column.
resolution	The resolution.
topLeft	The (x,y) position of the top left corner in the map.
heightOrFlatData	The height data for the elevation (z coordinates).
isValid	Mask of indices with valid data (i.e. not nan or inf)

Returns

Definition at line 257 of file GridMapVisual.cpp.

◆ computeVisualization()

void grid_map_rviz_plugin::GridMapVisual::computeVisualization	(	float	alpha,
		bool	showGridLines,
		bool	flatTerrain,
		std::string	heightLayer,
		bool	flatColor,
		bool	noColor,
		Ogre::ColourValue	meshColor,
		bool	mapLayerColor,
		std::string	colorLayer,
		std::string	colorMap,
		bool	useColorMap,
		bool	invertColorMap,
		Ogre::ColourValue	minColor,
		Ogre::ColourValue	maxColor,
		bool	autocomputeIntensity,
		float	minIntensity,
		float	maxIntensity,
		float	gridLineThickness,
		int	gridCellDecimation
	)

Definition at line 58 of file GridMapVisual.cpp.

◆ getInterpolatedColor()

Ogre::ColourValue grid_map_rviz_plugin::GridMapVisual::getInterpolatedColor	(	float	intensity,
		Ogre::ColourValue	minColor,
		Ogre::ColourValue	maxColor
	)

private

Returns a linearly interpolated color between min and max Color with the weighting [0,1] specified by intensity.

Parameters

intensity	The weighting for interpolation, 0 means minColor, 1 means maxColor.
minColor	The lower color for interpolation.
maxColor	The upper color for interpolation.

Returns

Definition at line 424 of file GridMapVisual.cpp.

◆ getLayerNames()

std::vector< std::string > grid_map_rviz_plugin::GridMapVisual::getLayerNames ( )

Definition at line 388 of file GridMapVisual.cpp.

◆ getRainbowColor()

Ogre::ColourValue grid_map_rviz_plugin::GridMapVisual::getRainbowColor ( float intensity )

staticprivate

Copied from rviz/src/rviz/default_plugin/point_cloud_transformers.cpp. Transforms an intensity value in [0,1] range to a rainbow coloring.

Parameters

intensity Value to color, should be in [0,1] range, otherwise it is clipped.

Returns: The corresponding rainbow color.

Definition at line 398 of file GridMapVisual.cpp.

◆ initializeAndBeginManualObject()

void grid_map_rviz_plugin::GridMapVisual::initializeAndBeginManualObject ( size_t nVertices )

private

Initialized the manualObject if not already initialized and clears all previously added data.

Parameters

nVertices An estimate on the number of vertices to be added.

Definition at line 280 of file GridMapVisual.cpp.

◆ initializeMeshLines()

void grid_map_rviz_plugin::GridMapVisual::initializeMeshLines	(	size_t	cols,
		size_t	rows,
		double	resolution,
		double	alpha,
		double	lineWidth
	)

private

Initialized the meshLines_ object. Should be called before adding lines. Sets the drawing style and allocates the buffer.

Parameters

cols	Number of columns that will be drawn.
rows	Number of rows that will be drawn.
resolution	Resolution of the map. Used to compute the line thickness.
alpha	Line opacity.
lineWidth	line thickness for the mesh lines

Definition at line 348 of file GridMapVisual.cpp.

◆ normalizeIntensity()

void grid_map_rviz_plugin::GridMapVisual::normalizeIntensity	(	float &	intensity,
		float	minIntensity,
		float	maxIntensity
	)

staticprivate

Transforms the intensity into [0,1] range where 0 corresponds to the minIntensity and 1 to maxIntensity. The given value is clipped to that range.

Parameters

intensity	The intensity value to normalize.
minIntensity	Lower bound.
maxIntensity	Upper bound.

Definition at line 392 of file GridMapVisual.cpp.

◆ printMissingBasicLayers()

void grid_map_rviz_plugin::GridMapVisual::printMissingBasicLayers ( const std::vector< std::string > & basicLayers ) const

private

Logs a warning message which lists the basic layers that are missing from the grid map.

Parameters

basicLayers Basic layers.

Definition at line 367 of file GridMapVisual.cpp.

◆ setFrameOrientation()

void grid_map_rviz_plugin::GridMapVisual::setFrameOrientation ( const Ogre::Quaternion & orientation )

Definition at line 384 of file GridMapVisual.cpp.

◆ setFramePosition()

void grid_map_rviz_plugin::GridMapVisual::setFramePosition ( const Ogre::Vector3 & position )

Definition at line 380 of file GridMapVisual.cpp.

◆ setMessage()

void grid_map_rviz_plugin::GridMapVisual::setMessage ( const grid_map_msgs::GridMap::ConstPtr & msg )

Definition at line 52 of file GridMapVisual.cpp.

Member Data Documentation

◆ frameNode_

Ogre::SceneNode* grid_map_rviz_plugin::GridMapVisual::frameNode_

private

Definition at line 59 of file GridMapVisual.hpp.

◆ haveMap_

bool grid_map_rviz_plugin::GridMapVisual::haveMap_

private

Definition at line 74 of file GridMapVisual.hpp.

◆ manualObject_

Ogre::ManualObject* grid_map_rviz_plugin::GridMapVisual::manualObject_

private

Definition at line 63 of file GridMapVisual.hpp.

◆ map_

grid_map::GridMap grid_map_rviz_plugin::GridMapVisual::map_

private

Definition at line 71 of file GridMapVisual.hpp.

◆ material_

Ogre::MaterialPtr grid_map_rviz_plugin::GridMapVisual::material_

private

Definition at line 64 of file GridMapVisual.hpp.

◆ materialName_

std::string grid_map_rviz_plugin::GridMapVisual::materialName_

private

Definition at line 65 of file GridMapVisual.hpp.

◆ meshLines_

boost::shared_ptr<rviz::BillboardLine> grid_map_rviz_plugin::GridMapVisual::meshLines_

private

Definition at line 68 of file GridMapVisual.hpp.

◆ sceneManager_

Ogre::SceneManager* grid_map_rviz_plugin::GridMapVisual::sceneManager_

private

Definition at line 60 of file GridMapVisual.hpp.

◆ warningMessageThrottlePeriod_

constexpr double grid_map_rviz_plugin::GridMapVisual::warningMessageThrottlePeriod_ {10.0}

staticprivate

Definition at line 77 of file GridMapVisual.hpp.

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

Public Types

Public Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Typedef Documentation

◆ ColorArray

◆ MaskArray

◆ MatrixConstRef

Member Enumeration Documentation

◆ ColoringMethod

Constructor & Destructor Documentation

◆ GridMapVisual()

◆ ~GridMapVisual()

Member Function Documentation

◆ computeColorValues()

◆ computeIsValidMask()

◆ computeMeshLineVertices()

◆ computeVisualization()

◆ getInterpolatedColor()

◆ getLayerNames()

◆ getRainbowColor()

◆ initializeAndBeginManualObject()

◆ initializeMeshLines()

◆ normalizeIntensity()

◆ printMissingBasicLayers()

◆ setFrameOrientation()

◆ setFramePosition()

◆ setMessage()

Member Data Documentation

◆ frameNode_

◆ haveMap_

◆ manualObject_

◆ map_

◆ material_

◆ materialName_

◆ meshLines_

◆ sceneManager_

◆ warningMessageThrottlePeriod_