render_points_test.cpp
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29 
31 
32 #include <QMouseEvent>
33 #include <QWheelEvent>
34 #include <QApplication>
35 #include <QVBoxLayout>
36 
37 #include <OgreCamera.h>
38 #include <OgreSceneNode.h>
39 
40 using namespace rviz;
41 
42 MyFrame::MyFrame(QWidget* parent)
43  : QWidget(parent)
44  , left_mouse_down_(false)
45  , middle_mouse_down_(false)
46  , right_mouse_down_(false)
47  , mouse_x_(0)
48  , mouse_y_(0)
49 {
50  render_system_ = RenderSystem::get();
52 
53  try
54  {
55  scene_manager_ = root_->createSceneManager(Ogre::ST_GENERIC, "TestSceneManager");
56 
58  render_panel_->resize(this->size());
60 
61  QVBoxLayout* layout = new QVBoxLayout;
62  layout->setContentsMargins(0, 0, 0, 0);
63  layout->addWidget(render_panel_);
64  setLayout(layout);
65 
67  camera_->setPosition(0, 0, 15);
68  camera_->getOgreCamera()->setNearClipDistance(0.1);
69 
71  render_panel_->setBackgroundColor(Ogre::ColourValue(0.8, 0.8, 1));
72 
73  Ogre::Light* directional_light = scene_manager_->createLight("MainDirectional");
74  directional_light->setType(Ogre::Light::LT_DIRECTIONAL);
75  directional_light->setDirection(Ogre::Vector3(0, -1, 1));
76  directional_light->setDiffuseColour(Ogre::ColourValue(1.0f, 1.0f, 1.0f));
77 
78 #if 0
79  Grid* grid = new Grid( scene_manager_, NULL, Grid::Lines, 10, 1.0f, 0.02, Ogre::ColourValue(1.0f, 1.0f, 1.0f, 0.5f));
80  grid->setHeight(4);
81 
82 
84  line->setMaxPointsPerLine(105);
85  for ( int i = -50; i < 50; ++i )
86  {
87  line->addPoint( Ogre::Vector3( i*2, 0.0f, -1.0f ) );
88  }
89 
90  for ( int i = 0; i < 5; ++i )
91  {
92  line->addPoint( Ogre::Vector3( 4.0f, 0.0f, i ) );
93  }
94 
95  line->setLineWidth( 0.05 );
96  line->setColor( 0.0f, 1.0f, 0.0f, 0.5f );
97 
98  Shape* sphere = new Shape(Shape::Sphere, scene_manager_);
99  sphere->setPosition(Ogre::Vector3(0.0f, 0.0f, 2.0f));
100  sphere->setColor(0.0f, 1.0f, 2.0f, 1.0f);
101  Shape* cube = new Shape(Shape::Cube, scene_manager_);
102  cube->setPosition(Ogre::Vector3(0.0f, 1.0f, 2.0f));
103  cube->setColor(1.0f, 0.0f, 0.0f, 1.0f);
104  Shape* cylinder = new Shape(Shape::Cylinder, scene_manager_);
105  cylinder->setPosition(Ogre::Vector3(0.0f, 2.0f, 2.0f));
106  cylinder->setColor(1.0f, 1.0f, 0.0f, 1.0f);
107  Shape* cone = new Shape(Shape::Cone, scene_manager_);
108  cone->setPosition(Ogre::Vector3(0.0f, 3.0f, 2.0f));
109  cone->setColor(0.0f, 0.0f, 1.0f, 1.0f);
110 
111  Axes* axes = new Axes( scene_manager_ );
112  //axes->setScale( Ogre::Vector3( 2.0f, 2.0f, 2.0f ) );
113 
114  /*Cone* cone = new Cone( scene_manager_, NULL );
115  cone->setScale( Ogre::Vector3( 0.3f, 2.0f, 0.3f ) );*/
116 
117  Arrow* arrow = new Arrow( scene_manager_ );
118  arrow->setHeadColor( 1.0f, 0.0f, 0.0f );
119  arrow->setShaftColor( 0.0f, 0.0f, 1.0f );
120  arrow->setOrientation( Ogre::Quaternion::IDENTITY );
121  //arrow->setOrientation( Ogre::Quaternion( Ogre::Degree( 45 ), Ogre::Vector3::UNIT_X ) );
122  //arrow->setScale( Ogre::Vector3( 1.0f, 1.0f, 3.0f ) );
123 #endif
124 
125 #if 01
126  Ogre::SceneNode* scene_node = scene_manager_->getRootSceneNode()->createChildSceneNode();
127  PointCloud* pointCloud = new PointCloud();
128  pointCloud->setDimensions(0.05f, 0.05f, 0.05f);
129  // pointCloud->setColorByIndex(true);
130  pointCloud->setRenderMode(PointCloud::RM_SQUARES);
131  pointCloud->setCommonDirection(Ogre::Vector3(0.0, 1.0, 0.0));
132  pointCloud->setCommonUpVector(Ogre::Vector3(0.0, 0.0, -1.0));
133  pointCloud->setAlpha(1.0);
134  std::vector<PointCloud::Point> points;
135  int32_t xcount = 200;
136  int32_t ycount = 100;
137  int32_t zcount = 100;
138  // points.resize(xcount * ycount * zcount);
139  float factor = 0.1f;
140  for (int32_t x = 0; x < xcount; ++x)
141  {
142  for (int32_t y = 0; y < ycount; ++y)
143  {
144  for (int32_t z = 0; z < zcount; ++z)
145  {
146  // int32_t index = (ycount*zcount*x) + zcount*y + z;
147  PointCloud::Point point; // = points[index];
148  point.position.x = x * factor;
149  point.position.y = y * factor;
150  point.position.z = z * factor;
151 
152  point.setColor(x * 0.1, y * 0.1, z * 0.1);
153  points.push_back(point);
154  }
155  }
156  }
157 
158  printf("size: %d\n", (int)points.size());
159  pointCloud->addPoints(&points.front(), points.size());
160  scene_node->attachObject(pointCloud);
161 #endif
162  }
163  catch (Ogre::Exception& e)
164  {
165  printf("Fatal error: %s\n", e.what());
166  exit(1);
167  }
168 
169  connect(&render_timer_, SIGNAL(timeout()), this, SLOT(doRender()));
170  render_timer_.start(33);
171 }
172 
174 {
175 }
176 
178 {
180  root_->renderOneFrame();
182  printf("Render took [%f] msec\n", (end - start).toSec() * 1000.0f);
183 }
184 
185 void MyFrame::mousePressEvent(QMouseEvent* event)
186 {
187  left_mouse_down_ = false;
188  middle_mouse_down_ = false;
189  right_mouse_down_ = false;
190 
191  switch (event->button())
192  {
193  case Qt::LeftButton:
194  left_mouse_down_ = true;
195  break;
196  case Qt::MidButton:
197  middle_mouse_down_ = true;
198  break;
199  case Qt::RightButton:
200  right_mouse_down_ = true;
201  break;
202  default:
203  break;
204  }
205 }
206 
207 void MyFrame::mouseReleaseEvent(QMouseEvent* event)
208 {
209  switch (event->button())
210  {
211  case Qt::LeftButton:
212  left_mouse_down_ = false;
213  break;
214  case Qt::MidButton:
215  middle_mouse_down_ = false;
216  break;
217  case Qt::RightButton:
218  right_mouse_down_ = false;
219  break;
220  default:
221  break;
222  }
223 }
224 
225 void MyFrame::mouseMoveEvent(QMouseEvent* event)
226 {
227  int32_t diff_x = event->x() - mouse_x_;
228  int32_t diff_y = event->y() - mouse_y_;
229 
230  mouse_x_ = event->x();
231  mouse_y_ = event->y();
232 
233  bool cmd = event->modifiers() & Qt::ControlModifier;
234  bool shift = event->modifiers() & Qt::ShiftModifier;
235  bool alt = event->modifiers() & Qt::AltModifier;
236 
237  if (left_mouse_down_)
238  {
239  camera_->mouseLeftDrag(diff_x, diff_y, cmd, alt, shift);
240  }
241  else if (middle_mouse_down_)
242  {
243  camera_->mouseMiddleDrag(diff_x, diff_y, cmd, alt, shift);
244  }
245  else if (right_mouse_down_)
246  {
247  camera_->mouseRightDrag(diff_x, diff_y, cmd, alt, shift);
248  }
249 }
250 
251 void MyFrame::wheelEvent(QWheelEvent* event)
252 {
253  if (event->delta() != 0)
254  {
255  bool cmd = event->modifiers() & Qt::ControlModifier;
256  bool shift = event->modifiers() & Qt::ShiftModifier;
257  bool alt = event->modifiers() & Qt::AltModifier;
258 
259  camera_->scrollWheel(event->delta(), cmd, alt, shift);
260  }
261 }
262 
263 int main(int argc, char** argv)
264 {
265  QApplication app(argc, argv);
266 
267  MyFrame frame;
268  frame.resize(800, 600);
269  frame.setWindowTitle("I hope this is not all black.");
270  frame.show();
271 
272  return app.exec();
273 }
app
virtual void mouseLeftDrag(int diff_x, int diff_y, bool ctrl, bool alt, bool shift)=0
Handle a left mouse button drag.
void addPoints(Point *points, uint32_t num_points)
Add points to this point cloud.
#define NULL
Definition: global.h:37
~MyFrame() override
QTimer render_timer_
void wheelEvent(QWheelEvent *event) override
CameraBase * camera_
ROSCPP_DECL void start()
Ogre::SceneManager * scene_manager_
void addPoint(const Ogre::Vector3 &point)
void setRenderMode(RenderMode mode)
Set what type of rendering primitives should be used, currently points, billboards and boxes are supp...
f
string cmd
An object that displays a multi-segment line strip rendered as billboards.
Ogre::Camera * getOgreCamera()
Get the Ogre camera associated with this camera object.
Definition: camera_base.h:67
void setAutoRender(bool auto_render)
RenderSystem * render_system_
Ogre::Root * root_
void mouseMoveEvent(QMouseEvent *event) override
void setHeight(uint32_t count)
Definition: grid.cpp:141
void setColor(float r, float g, float b, float a) override
Set the color of the object. Values are in the range [0, 1].
Definition: shape.cpp:140
Ogre::Root * root()
Definition: render_system.h:61
void setCommonUpVector(const Ogre::Vector3 &vec)
See Ogre::BillboardSet::setCommonUpVector.
int main(int argc, char **argv)
QtOgreRenderWindow * render_panel_
bool middle_mouse_down_
virtual void mouseMiddleDrag(int diff_x, int diff_y, bool ctrl, bool alt, bool shift)=0
Handle a middle mouse button drag.
virtual void mouseRightDrag(int diff_x, int diff_y, bool ctrl, bool alt, bool shift)=0
Handle a right mouse button drag.
void mousePressEvent(QMouseEvent *event) override
Representation of a point, with x/y/z position and r/g/b color.
Definition: point_cloud.h:132
void setDimensions(float width, float height, float depth)
Set the dimensions of the billboards used to render each point.
void mouseReleaseEvent(QMouseEvent *event) override
Ogre::Vector3 position
Definition: point_cloud.h:139
void setAlpha(float alpha, bool per_point_alpha=false)
void setColor(float r, float g, float b, float a) override
Set the color of the object. Values are in the range [0, 1].
void setBackgroundColor(Ogre::ColourValue color)
void setShaftColor(float r, float g, float b, float a=1.0f)
Set the color of the arrow&#39;s shaft. Values are in the range [0, 1].
Definition: arrow.cpp:104
An object that displays a set of X/Y/Z axes, with X=Red, Y=Green, Z=Blue.
Definition: axes.h:59
virtual void scrollWheel(int diff, bool ctrl, bool alt, bool shift)=0
Handle a scrollwheel change.
void setMaxPointsPerLine(uint32_t max)
Displays a grid of cells, drawn with lines.
Definition: grid.h:62
void setPosition(const Ogre::Vector3 &position) override
Set the position of this object.
Definition: shape.cpp:150
bool left_mouse_down_
static WallTime now()
A visual representation of a set of points.
Definition: point_cloud.h:107
An arrow consisting of a cylinder and a cone.
Definition: arrow.h:59
void setOrientation(const Ogre::Quaternion &orientation) override
Set the orientation.
Definition: arrow.cpp:119
void setCommonDirection(const Ogre::Vector3 &vec)
See Ogre::BillboardSet::setCommonDirection.
An orbital camera, controlled by yaw, pitch, distance, and focal point.
Definition: orbit_camera.h:61
virtual void setPosition(const Ogre::Vector3 &position)
Set the position of the camera.
Definition: camera_base.cpp:66
void setCamera(Ogre::Camera *camera)
void setHeadColor(float r, float g, float b, float a=1.0f)
Set the color of the arrow&#39;s head. Values are in the range [0, 1].
Definition: arrow.cpp:109
bool right_mouse_down_
void setColor(float r, float g, float b, float a=1.0)
Definition: point_cloud.h:134
MyFrame(QWidget *parent=nullptr)
void setLineWidth(float width)


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Fri Aug 12 2022 02:06:09