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

#include <textured_mesh_visual.h>

Public Member Functions
bool	addTexture (const mesh_msgs::MeshTexture::ConstPtr &textureMsg)
	Extracts data from the ros-messages and adds textures to the textured mesh. More...

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...

bool	setGeometry (const mesh_msgs::MeshGeometryStamped::ConstPtr &meshMsg)
	Extracts data from the ros-messages and creates meshes. More...

bool	setMaterials (const mesh_msgs::MeshMaterialsStamped::ConstPtr &materialMsg)
	Extracts data from the ros-messages and creates a textured mesh. More...

bool	setVertexColors (const mesh_msgs::MeshVertexColorsStamped::ConstPtr &vertexColorsMsg)
	Extracts data from the ros-messages and creates a colored mesh. More...

bool	setVertexCosts (const mesh_msgs::MeshVertexCostsStamped::ConstPtr &vertexCostsMsg, int costColorType)
	Extracts data from the ros-messages and creates a colored mesh with colors calculated from vertex costs. More...

bool	setVertexCosts (const mesh_msgs::MeshVertexCostsStamped::ConstPtr &vertexCostsMsg, int costColorType, float minCost, float maxCost)

	TexturedMeshVisual (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 showVertexCosts, bool showTextures, bool showTexturedFacesOnly, 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	~TexturedMeshVisual ()
	Destructor. More...

Private Member Functions
Ogre::ColourValue	calculateColorFromCost (float cost, int costColorType)
	Calculates a color for a given cost value using a spectrum from red to green. More...

void	enteringColoredTriangleMesh (const mesh_msgs::MeshGeometry &mesh, const mesh_msgs::MeshVertexColors &vertexColors)

void	enteringGeneralTriangleMesh (const mesh_msgs::MeshGeometry &mesh)

void	enteringNormals (const mesh_msgs::MeshGeometry &mesh)

void	enteringTexturedTriangleMesh (const mesh_msgs::MeshGeometry &mesh, const mesh_msgs::MeshMaterials &meshMaterials)

void	enteringTriangleMeshWithVertexCosts (const mesh_msgs::MeshGeometry &mesh, const mesh_msgs::MeshVertexCosts &vertexCosts, int costColorType)

void	enteringTriangleMeshWithVertexCosts (const mesh_msgs::MeshGeometry &mesh, const mesh_msgs::MeshVertexCosts &vertexCosts, int costColorType, float minCost, float maxCost)

Ogre::PixelFormat	getOgrePixelFormatFromRosString (std::string encoding)

void	loadImageIntoTextureMaterial (size_t textureIndex)

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)
	Enables the wireframe. More...

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

std::vector< Ogre::Image >	m_images

bool	m_materials_enabled

std::string	m_materialsUuid
	Uuid of the currently shown materials. More...

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

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

mesh_msgs::MeshGeometry	m_meshMsg
	Triangle Mesh contained in the given message. More...

Ogre::MaterialPtr	m_meshTexturedTrianglesMaterial
	The material for the textured triangle mesh. More...

std::string	m_meshUuid
	Uuid of the currently shown vertex colors. More...

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

Ogre::ManualObject *	m_normals
	The manual object to display normals. More...

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

Ogre::MaterialPtr	m_noTexCluMaterial
	The materials of the not textured clusters. More...

Ogre::ManualObject *	m_noTexCluMesh
	The manual object to display the not textured parts of the textured mesh. 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

Ogre::ManualObject *	m_texturedMesh
	The manual object to display the textured mesh. More...

Ogre::MaterialPtr	m_texturedMeshMaterial

std::vector< Ogre::MaterialPtr >	m_textureMaterials
	The materials of the textures. More...

bool	m_textures_enabled

bool	m_vertex_colors_enabled

bool	m_vertex_costs_enabled

bool	m_vertex_normals_enabled

std::string	m_vertexColorsUuid
	Uuid of the currently shown vertex colors. More...

Ogre::MaterialPtr	m_vertexCostMaterial
	The material of the mesh with vertex costs. More...

Ogre::ManualObject *	m_vertexCostsMesh
	The manual object to display the mesh with vertex costs. More...

std::string	m_vertexCostsUuid
	Uuid of the currently shown vertex costs. More...

Detailed Description

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

Definition at line 94 of file textured_mesh_visual.h.

Constructor & Destructor Documentation

◆ TexturedMeshVisual()

rviz_mesh_plugin::TexturedMeshVisual::TexturedMeshVisual	(	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 44 of file textured_mesh_visual.cpp.

◆ ~TexturedMeshVisual()

rviz_mesh_plugin::TexturedMeshVisual::~TexturedMeshVisual ( )

virtual

Destructor.

Definition at line 112 of file textured_mesh_visual.cpp.

Member Function Documentation

◆ addTexture()

bool rviz_mesh_plugin::TexturedMeshVisual::addTexture ( const mesh_msgs::MeshTexture::ConstPtr & textureMsg )

Extracts data from the ros-messages and adds textures to the textured mesh.

Parameters

textureMsg Message containing the texture information

Definition at line 1088 of file textured_mesh_visual.cpp.

◆ calculateColorFromCost()

Ogre::ColourValue rviz_mesh_plugin::TexturedMeshVisual::calculateColorFromCost	(	float	cost,
		int	costColorType
	)

private

Calculates a color for a given cost value using a spectrum from red to green.

Parameters

cost	The cost value (should be within the range 0 - 1)

Returns: calculated color

Definition at line 1167 of file textured_mesh_visual.cpp.

◆ enteringColoredTriangleMesh()

void rviz_mesh_plugin::TexturedMeshVisual::enteringColoredTriangleMesh	(	const mesh_msgs::MeshGeometry &	mesh,
		const mesh_msgs::MeshVertexColors &	vertexColors
	)

private

Definition at line 493 of file textured_mesh_visual.cpp.

◆ enteringGeneralTriangleMesh()

void rviz_mesh_plugin::TexturedMeshVisual::enteringGeneralTriangleMesh ( const mesh_msgs::MeshGeometry & mesh )

private

Definition at line 439 of file textured_mesh_visual.cpp.

◆ enteringNormals()

void rviz_mesh_plugin::TexturedMeshVisual::enteringNormals ( const mesh_msgs::MeshGeometry & mesh )

private

Definition at line 832 of file textured_mesh_visual.cpp.

◆ enteringTexturedTriangleMesh()

void rviz_mesh_plugin::TexturedMeshVisual::enteringTexturedTriangleMesh	(	const mesh_msgs::MeshGeometry &	mesh,
		const mesh_msgs::MeshMaterials &	meshMaterials
	)

private

Definition at line 654 of file textured_mesh_visual.cpp.

◆ enteringTriangleMeshWithVertexCosts() [1/2]

void rviz_mesh_plugin::TexturedMeshVisual::enteringTriangleMeshWithVertexCosts	(	const mesh_msgs::MeshGeometry &	mesh,
		const mesh_msgs::MeshVertexCosts &	vertexCosts,
		int	costColorType
	)

private

Definition at line 556 of file textured_mesh_visual.cpp.

◆ enteringTriangleMeshWithVertexCosts() [2/2]

void rviz_mesh_plugin::TexturedMeshVisual::enteringTriangleMeshWithVertexCosts	(	const mesh_msgs::MeshGeometry &	mesh,
		const mesh_msgs::MeshVertexCosts &	vertexCosts,
		int	costColorType,
		float	minCost,
		float	maxCost
	)

private

Definition at line 575 of file textured_mesh_visual.cpp.

◆ getOgrePixelFormatFromRosString()

Ogre::PixelFormat rviz_mesh_plugin::TexturedMeshVisual::getOgrePixelFormatFromRosString ( std::string encoding )

private

Definition at line 1130 of file textured_mesh_visual.cpp.

◆ loadImageIntoTextureMaterial()

void rviz_mesh_plugin::TexturedMeshVisual::loadImageIntoTextureMaterial ( size_t textureIndex )

private

Definition at line 1145 of file textured_mesh_visual.cpp.

◆ reset()

void rviz_mesh_plugin::TexturedMeshVisual::reset ( )

Clears whole stored data.

Definition at line 143 of file textured_mesh_visual.cpp.

◆ setFrameOrientation()

void rviz_mesh_plugin::TexturedMeshVisual::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 1197 of file textured_mesh_visual.cpp.

◆ setFramePosition()

void rviz_mesh_plugin::TexturedMeshVisual::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 1192 of file textured_mesh_visual.cpp.

◆ setGeometry()

bool rviz_mesh_plugin::TexturedMeshVisual::setGeometry ( const mesh_msgs::MeshGeometryStamped::ConstPtr & meshMsg )

Extracts data from the ros-messages and creates meshes.

Parameters

meshMsg Message containing the mesh

Definition at line 869 of file textured_mesh_visual.cpp.

◆ setMaterials()

bool rviz_mesh_plugin::TexturedMeshVisual::setMaterials ( const mesh_msgs::MeshMaterialsStamped::ConstPtr & materialMsg )

Extracts data from the ros-messages and creates a textured mesh.

Parameters

materialMsg Message containing the material information

Definition at line 1039 of file textured_mesh_visual.cpp.

◆ setVertexColors()

bool rviz_mesh_plugin::TexturedMeshVisual::setVertexColors ( const mesh_msgs::MeshVertexColorsStamped::ConstPtr & vertexColorsMsg )

Extracts data from the ros-messages and creates a colored mesh.

Parameters

vertexColorsMsg Message containing the vertex color information

Definition at line 935 of file textured_mesh_visual.cpp.

◆ setVertexCosts() [1/2]

bool rviz_mesh_plugin::TexturedMeshVisual::setVertexCosts	(	const mesh_msgs::MeshVertexCostsStamped::ConstPtr &	vertexCostsMsg,
		int	costColorType
	)

Extracts data from the ros-messages and creates a colored mesh with colors calculated from vertex costs.

Parameters

vertexCostsMsg Message containing the vertex cost information

Definition at line 971 of file textured_mesh_visual.cpp.

◆ setVertexCosts() [2/2]

bool rviz_mesh_plugin::TexturedMeshVisual::setVertexCosts	(	const mesh_msgs::MeshVertexCostsStamped::ConstPtr &	vertexCostsMsg,
		int	costColorType,
		float	minCost,
		float	maxCost
	)

Definition at line 1004 of file textured_mesh_visual.cpp.

◆ showFaces()

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

private

Definition at line 250 of file textured_mesh_visual.cpp.

◆ showNormals()

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

private

Definition at line 283 of file textured_mesh_visual.cpp.

◆ showTextures()

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

private

◆ showWireframe()

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

private

Enables the wireframe.

Parameters

pass	Ogre Pass
wireframeColor	The color of the wireframe
wireframeAlpha	Transparency of the wireframe

Definition at line 218 of file textured_mesh_visual.cpp.

◆ updateMaterial()

void rviz_mesh_plugin::TexturedMeshVisual::updateMaterial	(	bool	showWireframe,
		Ogre::ColourValue	wireframeColor,
		float	wireframeAlpha,
		bool	showFaces,
		Ogre::ColourValue	facesColor,
		float	facesAlpha,
		bool	useVertexColors,
		bool	showVertexCosts,
		bool	showTextures,
		bool	showTexturedFacesOnly,
		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
showVertexCosts	When TRUE vertex costs are visible
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 308 of file textured_mesh_visual.cpp.

◆ updateNormals()

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

Updates the size of the normals dynamically.

Parameters

scallingFactor The factor the normals have to be scaled with

Definition at line 384 of file textured_mesh_visual.cpp.

Member Data Documentation

◆ m_displayContext

rviz::DisplayContext* rviz_mesh_plugin::TexturedMeshVisual::m_displayContext

private

The context that contains the display information.

Definition at line 252 of file textured_mesh_visual.h.

◆ m_images

std::vector<Ogre::Image> rviz_mesh_plugin::TexturedMeshVisual::m_images

private

Definition at line 279 of file textured_mesh_visual.h.

◆ m_materials_enabled

bool rviz_mesh_plugin::TexturedMeshVisual::m_materials_enabled

private

Definition at line 244 of file textured_mesh_visual.h.

◆ m_materialsUuid

std::string rviz_mesh_plugin::TexturedMeshVisual::m_materialsUuid

private

Uuid of the currently shown materials.

Definition at line 318 of file textured_mesh_visual.h.

◆ m_mesh

Ogre::ManualObject* rviz_mesh_plugin::TexturedMeshVisual::m_mesh

private

The mesh-object to display.

Definition at line 264 of file textured_mesh_visual.h.

◆ m_meshGeneralMaterial

Ogre::MaterialPtr rviz_mesh_plugin::TexturedMeshVisual::m_meshGeneralMaterial

private

The material for the general mesh.

Definition at line 285 of file textured_mesh_visual.h.

◆ m_meshMsg

mesh_msgs::MeshGeometry rviz_mesh_plugin::TexturedMeshVisual::m_meshMsg

private

Triangle Mesh contained in the given message.

Definition at line 306 of file textured_mesh_visual.h.

◆ m_meshTexturedTrianglesMaterial

Ogre::MaterialPtr rviz_mesh_plugin::TexturedMeshVisual::m_meshTexturedTrianglesMaterial

private

The material for the textured triangle mesh.

Definition at line 288 of file textured_mesh_visual.h.

◆ m_meshUuid

std::string rviz_mesh_plugin::TexturedMeshVisual::m_meshUuid

private

Uuid of the currently shown vertex colors.

Definition at line 309 of file textured_mesh_visual.h.

◆ m_normalMaterial

Ogre::MaterialPtr rviz_mesh_plugin::TexturedMeshVisual::m_normalMaterial

private

The material of the normals.

Definition at line 291 of file textured_mesh_visual.h.

◆ m_normals

Ogre::ManualObject* rviz_mesh_plugin::TexturedMeshVisual::m_normals

private

The manual object to display normals.

Definition at line 267 of file textured_mesh_visual.h.

◆ m_normalsScalingFactor

float rviz_mesh_plugin::TexturedMeshVisual::m_normalsScalingFactor

private

Factor the normal-size is multiplied with.

Definition at line 303 of file textured_mesh_visual.h.

◆ m_noTexCluMaterial

Ogre::MaterialPtr rviz_mesh_plugin::TexturedMeshVisual::m_noTexCluMaterial

private

The materials of the not textured clusters.

Definition at line 294 of file textured_mesh_visual.h.

◆ m_noTexCluMesh

Ogre::ManualObject* rviz_mesh_plugin::TexturedMeshVisual::m_noTexCluMesh

private

The manual object to display the not textured parts of the textured mesh.

Definition at line 276 of file textured_mesh_visual.h.

◆ m_postfix

size_t rviz_mesh_plugin::TexturedMeshVisual::m_postfix

private

Second ID of the created mesh.

Definition at line 258 of file textured_mesh_visual.h.

◆ m_prefix

size_t rviz_mesh_plugin::TexturedMeshVisual::m_prefix

private

First ID of the created mesh.

Definition at line 255 of file textured_mesh_visual.h.

◆ m_random

size_t rviz_mesh_plugin::TexturedMeshVisual::m_random

private

Random ID of the created mesh.

Definition at line 261 of file textured_mesh_visual.h.

◆ m_sceneNode

Ogre::SceneNode* rviz_mesh_plugin::TexturedMeshVisual::m_sceneNode

private

Ogre Scenenode.

Definition at line 249 of file textured_mesh_visual.h.

◆ m_texture_coords_enabled

bool rviz_mesh_plugin::TexturedMeshVisual::m_texture_coords_enabled

private

Definition at line 245 of file textured_mesh_visual.h.

◆ m_texturedMesh

Ogre::ManualObject* rviz_mesh_plugin::TexturedMeshVisual::m_texturedMesh

private

The manual object to display the textured mesh.

Definition at line 273 of file textured_mesh_visual.h.

◆ m_texturedMeshMaterial

Ogre::MaterialPtr rviz_mesh_plugin::TexturedMeshVisual::m_texturedMeshMaterial

private

Definition at line 282 of file textured_mesh_visual.h.

◆ m_textureMaterials

std::vector<Ogre::MaterialPtr> rviz_mesh_plugin::TexturedMeshVisual::m_textureMaterials

private

The materials of the textures.

Definition at line 300 of file textured_mesh_visual.h.

◆ m_textures_enabled

bool rviz_mesh_plugin::TexturedMeshVisual::m_textures_enabled

private

Definition at line 246 of file textured_mesh_visual.h.

◆ m_vertex_colors_enabled

bool rviz_mesh_plugin::TexturedMeshVisual::m_vertex_colors_enabled

private

Definition at line 242 of file textured_mesh_visual.h.

◆ m_vertex_costs_enabled

bool rviz_mesh_plugin::TexturedMeshVisual::m_vertex_costs_enabled

private

Definition at line 243 of file textured_mesh_visual.h.

◆ m_vertex_normals_enabled

bool rviz_mesh_plugin::TexturedMeshVisual::m_vertex_normals_enabled

private

Definition at line 241 of file textured_mesh_visual.h.

◆ m_vertexColorsUuid

std::string rviz_mesh_plugin::TexturedMeshVisual::m_vertexColorsUuid

private

Uuid of the currently shown vertex colors.

Definition at line 312 of file textured_mesh_visual.h.

◆ m_vertexCostMaterial

Ogre::MaterialPtr rviz_mesh_plugin::TexturedMeshVisual::m_vertexCostMaterial

private

The material of the mesh with vertex costs.

Definition at line 297 of file textured_mesh_visual.h.

◆ m_vertexCostsMesh

Ogre::ManualObject* rviz_mesh_plugin::TexturedMeshVisual::m_vertexCostsMesh

private

The manual object to display the mesh with vertex costs.

Definition at line 270 of file textured_mesh_visual.h.

◆ m_vertexCostsUuid

std::string rviz_mesh_plugin::TexturedMeshVisual::m_vertexCostsUuid

private

Uuid of the currently shown vertex costs.

Definition at line 315 of file textured_mesh_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

◆ TexturedMeshVisual()

◆ ~TexturedMeshVisual()

Member Function Documentation

◆ addTexture()

◆ calculateColorFromCost()

◆ enteringColoredTriangleMesh()

◆ enteringGeneralTriangleMesh()

◆ enteringNormals()

◆ enteringTexturedTriangleMesh()

◆ enteringTriangleMeshWithVertexCosts() [1/2]

◆ enteringTriangleMeshWithVertexCosts() [2/2]

◆ getOgrePixelFormatFromRosString()

◆ loadImageIntoTextureMaterial()

◆ reset()

◆ setFrameOrientation()

◆ setFramePosition()

◆ setGeometry()

◆ setMaterials()

◆ setVertexColors()

◆ setVertexCosts() [1/2]

◆ setVertexCosts() [2/2]

◆ showFaces()

◆ showNormals()

◆ showTextures()

◆ showWireframe()

◆ updateMaterial()

◆ updateNormals()

Member Data Documentation

◆ m_displayContext

◆ m_images

◆ m_materials_enabled

◆ m_materialsUuid

◆ m_mesh

◆ m_meshGeneralMaterial

◆ m_meshMsg

◆ m_meshTexturedTrianglesMaterial

◆ m_meshUuid

◆ m_normalMaterial

◆ m_normals

◆ m_normalsScalingFactor

◆ m_noTexCluMaterial

◆ m_noTexCluMesh

◆ m_postfix

◆ m_prefix

◆ m_random

◆ m_sceneNode

◆ m_texture_coords_enabled

◆ m_texturedMesh

◆ m_texturedMeshMaterial

◆ m_textureMaterials

◆ m_textures_enabled

◆ m_vertex_colors_enabled

◆ m_vertex_costs_enabled

◆ m_vertex_normals_enabled

◆ m_vertexColorsUuid

◆ m_vertexCostMaterial

◆ m_vertexCostsMesh

◆ m_vertexCostsUuid