Class to display mesh data in the main panel of rviz. More...

#include <trianglemesh_visual.h>

Public Member Functions
void	reset ()
	Clears whole stored data. More...

void	setFrameOrientation (const Ogre::Quaternion &orientation)
	Sets the orientation of the coordinate frame the message refers to. More...

void	setFramePosition (const Ogre::Vector3 &position)
	Sets the pose of the coordinate frame the message refers to. More...

void	setMessage (const mesh_msgs::TriangleMeshStamped::ConstPtr &meshMsg)
	Extracts data from the ros-messages and creates meshes. More...

	TriangleMeshVisual (rviz::DisplayContext *context, size_t displayID, size_t meshID, size_t randomID)
	Constructor. More...

void	updateMaterial (bool showWireframe, Ogre::ColourValue wireframeColor, float wireframeAlpha, bool showFaces, Ogre::ColourValue facesColor, float facesAlpha, bool useVertexColors, bool useTriangleColors, bool showTextures, bool showNormals, Ogre::ColourValue normalsColor, float normalsAlpha, float normalsScallingFactor)
	Updates the visible parts of the mesh depending on input from the rviz display. More...

void	updateNormals (float scallingFactor)
	Updates the size of the normals dynamically. More...

virtual	~TriangleMeshVisual ()
	Destructor. More...

Private Member Functions
void	enteringColoredTriangleMesh (const mesh_msgs::TriangleMesh &mesh)

void	enteringGeneralTriangleMesh (const mesh_msgs::TriangleMesh &mesh)

void	enteringNormals (const mesh_msgs::TriangleMesh &mesh)

void	showFaces (Ogre::Pass *pass, Ogre::ColourValue facesColor, float facesAlpha, bool useVertexColors)

void	showNormals (Ogre::Pass *pass, Ogre::ColourValue normalsColor, float normalsAlpha)

void	showTextures (Ogre::Pass *pass)

void	showWireframe (Ogre::Pass *pass, Ogre::ColourValue wireframeColor, float wireframeAlpha)

Private Attributes
rviz::DisplayContext *	m_displayContext
	The context that contains the display information. More...

std::map< size_t, Ogre::ColourValue >	m_fakeTextures
	Map of fake textures (size = 1x1 = only a color) More...

bool	m_hasTextures
	Is the mesh textured? More...

Ogre::ManualObject *	m_mesh
	The mesh-object to display. More...

Ogre::MaterialPtr	m_meshColoredTrianglesMaterial
	The material for the colored triangle mesh. More...

Ogre::MaterialPtr	m_meshGeneralMaterial
	The material for the general mesh. More...

Ogre::MaterialPtr	m_normalMaterial
	The material of the normals. More...

float	m_normalsScalingFactor
	Factor the normal-size is multiplied with. More...

size_t	m_postfix
	Second ID of the created mesh. More...

size_t	m_prefix
	First ID of the created mesh. More...

size_t	m_random
	Random ID of the created mesh. More...

Ogre::SceneNode *	m_sceneNode
	Ogre Scenenode. More...

bool	m_texture_coords_enabled

size_t	m_textureCounter
	Counter for textures. More...

bool	m_triangle_colors_enabled

bool	m_vertex_colors_enabled

bool	m_vertex_normals_enabled

Detailed Description

Class to display mesh data in the main panel of rviz.

Definition at line 81 of file trianglemesh_visual.h.

Constructor & Destructor Documentation

◆ TriangleMeshVisual()

rviz_mesh_plugin::TriangleMeshVisual::TriangleMeshVisual	(	rviz::DisplayContext *	context,
		size_t	displayID,
		size_t	meshID,
		size_t	randomID
	)

Constructor.

Parameters

context	The context that contains the display information.
displayID	The display id
meshID	The mesh id
randomID	random number that will be used as part of the meshes UID

Definition at line 17 of file trianglemesh_visual.cpp.

◆ ~TriangleMeshVisual()

rviz_mesh_plugin::TriangleMeshVisual::~TriangleMeshVisual ( )

virtual

Destructor.

Definition at line 59 of file trianglemesh_visual.cpp.

Member Function Documentation

◆ enteringColoredTriangleMesh()

void rviz_mesh_plugin::TriangleMeshVisual::enteringColoredTriangleMesh ( const mesh_msgs::TriangleMesh & mesh )

private

Definition at line 336 of file trianglemesh_visual.cpp.

◆ enteringGeneralTriangleMesh()

void rviz_mesh_plugin::TriangleMeshVisual::enteringGeneralTriangleMesh ( const mesh_msgs::TriangleMesh & mesh )

private

Definition at line 399 of file trianglemesh_visual.cpp.

◆ enteringNormals()

void rviz_mesh_plugin::TriangleMeshVisual::enteringNormals ( const mesh_msgs::TriangleMesh & mesh )

private

Definition at line 466 of file trianglemesh_visual.cpp.

◆ reset()

void rviz_mesh_plugin::TriangleMeshVisual::reset ( )

Clears whole stored data.

Definition at line 72 of file trianglemesh_visual.cpp.

◆ setFrameOrientation()

void rviz_mesh_plugin::TriangleMeshVisual::setFrameOrientation ( const Ogre::Quaternion & orientation )

Sets the orientation of the coordinate frame the message refers to.

Parameters

orientation The orientation of the coordinate frame

Definition at line 596 of file trianglemesh_visual.cpp.

◆ setFramePosition()

void rviz_mesh_plugin::TriangleMeshVisual::setFramePosition ( const Ogre::Vector3 & position )

Sets the pose of the coordinate frame the message refers to.

Parameters

position The pose of the coordinate frame

Definition at line 591 of file trianglemesh_visual.cpp.

◆ setMessage()

void rviz_mesh_plugin::TriangleMeshVisual::setMessage ( const mesh_msgs::TriangleMeshStamped::ConstPtr & meshMsg )

Extracts data from the ros-messages and creates meshes.

Parameters

meshMsg Message containing the mesh

Definition at line 496 of file trianglemesh_visual.cpp.

◆ showFaces()

void rviz_mesh_plugin::TriangleMeshVisual::showFaces	(	Ogre::Pass *	pass,
		Ogre::ColourValue	facesColor,
		float	facesAlpha,
		bool	useVertexColors
	)

private

Definition at line 148 of file trianglemesh_visual.cpp.

◆ showNormals()

void rviz_mesh_plugin::TriangleMeshVisual::showNormals	(	Ogre::Pass *	pass,
		Ogre::ColourValue	normalsColor,
		float	normalsAlpha
	)

private

Definition at line 179 of file trianglemesh_visual.cpp.

◆ showTextures()

void rviz_mesh_plugin::TriangleMeshVisual::showTextures ( Ogre::Pass * pass )

private

Definition at line 203 of file trianglemesh_visual.cpp.

◆ showWireframe()

void rviz_mesh_plugin::TriangleMeshVisual::showWireframe	(	Ogre::Pass *	pass,
		Ogre::ColourValue	wireframeColor,
		float	wireframeAlpha
	)

private

Definition at line 118 of file trianglemesh_visual.cpp.

◆ updateMaterial()

void rviz_mesh_plugin::TriangleMeshVisual::updateMaterial	(	bool	showWireframe,
		Ogre::ColourValue	wireframeColor,
		float	wireframeAlpha,
		bool	showFaces,
		Ogre::ColourValue	facesColor,
		float	facesAlpha,
		bool	useVertexColors,
		bool	useTriangleColors,
		bool	showTextures,
		bool	showNormals,
		Ogre::ColourValue	normalsColor,
		float	normalsAlpha,
		float	normalsScallingFactor
	)

Updates the visible parts of the mesh depending on input from the rviz display.

Parameters

showWireframe	When TRUE wireframe is visible
wireframeColor	The color of the wireframe
wireframeAlpha	The transparency of the wireframe
showFaces	When TRUE faces are visible
facesColor	The color of the faces
facesAlpha	The transparency of the faces
useVertexColors	When TRUE vertex colors are used
useTriangleColors	When TRUE triangle colors are used
showTextures	When TRUE textures are visible
showNormals	When TRUE normals are visible
normalsColor	The color of the normals
normalsAlpha	The transparency of the normals
normalsScallingFactor	The size of the normals

Definition at line 208 of file trianglemesh_visual.cpp.

◆ updateNormals()

void rviz_mesh_plugin::TriangleMeshVisual::updateNormals ( float scallingFactor )

Updates the size of the normals dynamically.

Parameters

scallingFactor The factor the normals have to be scaled with

Definition at line 284 of file trianglemesh_visual.cpp.

Member Data Documentation

◆ m_displayContext

rviz::DisplayContext* rviz_mesh_plugin::TriangleMeshVisual::m_displayContext

private

The context that contains the display information.

Definition at line 176 of file trianglemesh_visual.h.

◆ m_fakeTextures

std::map<size_t, Ogre::ColourValue> rviz_mesh_plugin::TriangleMeshVisual::m_fakeTextures

private

Map of fake textures (size = 1x1 = only a color)

Definition at line 206 of file trianglemesh_visual.h.

◆ m_hasTextures

bool rviz_mesh_plugin::TriangleMeshVisual::m_hasTextures

private

Is the mesh textured?

Definition at line 203 of file trianglemesh_visual.h.

◆ m_mesh

Ogre::ManualObject* rviz_mesh_plugin::TriangleMeshVisual::m_mesh

private

The mesh-object to display.

Definition at line 188 of file trianglemesh_visual.h.

◆ m_meshColoredTrianglesMaterial

Ogre::MaterialPtr rviz_mesh_plugin::TriangleMeshVisual::m_meshColoredTrianglesMaterial

private

The material for the colored triangle mesh.

Definition at line 194 of file trianglemesh_visual.h.

◆ m_meshGeneralMaterial

Ogre::MaterialPtr rviz_mesh_plugin::TriangleMeshVisual::m_meshGeneralMaterial

private

The material for the general mesh.

Definition at line 191 of file trianglemesh_visual.h.

◆ m_normalMaterial

Ogre::MaterialPtr rviz_mesh_plugin::TriangleMeshVisual::m_normalMaterial

private

The material of the normals.

Definition at line 197 of file trianglemesh_visual.h.

◆ m_normalsScalingFactor

float rviz_mesh_plugin::TriangleMeshVisual::m_normalsScalingFactor

private

Factor the normal-size is multiplied with.

Definition at line 209 of file trianglemesh_visual.h.

◆ m_postfix

size_t rviz_mesh_plugin::TriangleMeshVisual::m_postfix

private

Second ID of the created mesh.

Definition at line 182 of file trianglemesh_visual.h.

◆ m_prefix

size_t rviz_mesh_plugin::TriangleMeshVisual::m_prefix

private

First ID of the created mesh.

Definition at line 179 of file trianglemesh_visual.h.

◆ m_random

size_t rviz_mesh_plugin::TriangleMeshVisual::m_random

private

Random ID of the created mesh.

Definition at line 185 of file trianglemesh_visual.h.

◆ m_sceneNode

Ogre::SceneNode* rviz_mesh_plugin::TriangleMeshVisual::m_sceneNode

private

Ogre Scenenode.

Definition at line 173 of file trianglemesh_visual.h.

◆ m_texture_coords_enabled

bool rviz_mesh_plugin::TriangleMeshVisual::m_texture_coords_enabled

private

Definition at line 170 of file trianglemesh_visual.h.

◆ m_textureCounter

size_t rviz_mesh_plugin::TriangleMeshVisual::m_textureCounter

private

Counter for textures.

Definition at line 200 of file trianglemesh_visual.h.

◆ m_triangle_colors_enabled

bool rviz_mesh_plugin::TriangleMeshVisual::m_triangle_colors_enabled

private

Definition at line 169 of file trianglemesh_visual.h.

◆ m_vertex_colors_enabled

bool rviz_mesh_plugin::TriangleMeshVisual::m_vertex_colors_enabled

private

Definition at line 168 of file trianglemesh_visual.h.

◆ m_vertex_normals_enabled

bool rviz_mesh_plugin::TriangleMeshVisual::m_vertex_normals_enabled

private

Definition at line 167 of file trianglemesh_visual.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TriangleMeshVisual()

◆ ~TriangleMeshVisual()

Member Function Documentation

◆ enteringColoredTriangleMesh()

◆ enteringGeneralTriangleMesh()

◆ enteringNormals()

◆ reset()

◆ setFrameOrientation()

◆ setFramePosition()

◆ setMessage()

◆ showFaces()

◆ showNormals()

◆ showTextures()

◆ showWireframe()

◆ updateMaterial()

◆ updateNormals()

Member Data Documentation

◆ m_displayContext

◆ m_fakeTextures

◆ m_hasTextures

◆ m_mesh

◆ m_meshColoredTrianglesMaterial

◆ m_meshGeneralMaterial

◆ m_normalMaterial

◆ m_normalsScalingFactor

◆ m_postfix

◆ m_prefix

◆ m_random

◆ m_sceneNode

◆ m_texture_coords_enabled

◆ m_textureCounter

◆ m_triangle_colors_enabled

◆ m_vertex_colors_enabled

◆ m_vertex_normals_enabled