Program Listing for File polygon_base.hpp
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/* Author: David V. Lu!! */
#pragma once
#include <rviz_common/message_filter_display.hpp>
#include <rviz_common/logging.hpp>
#include <polygon_rviz_plugins/polygon_parts.hpp>
#include <color_util/convert.hpp>
#include <color_util/named_colors.hpp>
#include <OgreManualObject.h>
#include <OgreMaterial.h>
#include <string>
#include <vector>
namespace polygon_rviz_plugins
{
template <typename T>
class PolygonBase : public rviz_common::MessageFilterDisplay<T>
{
public:
PolygonBase()
{
mode_property_ = new PolygonDisplayModeProperty(this);
outline_color_property_ = new rviz_common::properties::ColorProperty("Outline Color", QColor(36, 64, 142),
"Color to draw the polygon.", this);
filler_color_property_ = new rviz_common::properties::ColorProperty("Fill Color", QColor(165, 188, 255),
"Color to fill the polygon.", this);
filler_alpha_property_ = new rviz_common::properties::FloatProperty(
"Alpha", 0.8, "Amount of transparency to apply to the filler.", this);
filler_alpha_property_->setMin(0.0);
filler_alpha_property_->setMax(1.0);
zoffset_property_ = new rviz_common::properties::FloatProperty("Z-Offset", 0.0, "Offset in the Z direction.", this);
}
virtual ~PolygonBase()
{
for (auto& outline_object : outline_objects_)
{
delete outline_object;
}
for (auto filler_object : filler_objects_)
{
delete filler_object;
}
}
void reset() override
{
rviz_common::MessageFilterDisplay<T>::reset();
resetOutlines();
resetFillers();
}
protected:
template <typename RECEIVER_TYPE>
void connectProperties(RECEIVER_TYPE receiver, const char* changed_slot)
{
mode_property_->connectProperties(receiver, changed_slot);
zoffset_property_->connect(zoffset_property_, SIGNAL(changed()), receiver, changed_slot);
outline_color_property_->connect(outline_color_property_, SIGNAL(changed()), receiver, changed_slot);
filler_color_property_->connect(filler_color_property_, SIGNAL(changed()), receiver, changed_slot);
filler_color_property_->connect(filler_color_property_, SIGNAL(changed()), receiver, changed_slot);
}
void resetOutlines()
{
for (auto& outline_object : outline_objects_)
{
outline_object->reset();
}
}
void resetFillers()
{
for (auto filler_object : filler_objects_)
{
filler_object->reset();
}
}
void setPolygons(rviz_common::DisplayContext* context, Ogre::SceneManager* scene_manager, Ogre::SceneNode* scene_node,
std::vector<polygon_msgs::msg::Polygon2D>& outlines,
std::vector<polygon_msgs::msg::ComplexPolygon2D>& fillers, const std::string& frame_id,
const rclcpp::Time& time)
{
saved_outlines_.swap(outlines);
saved_fillers_.swap(fillers);
Ogre::Vector3 position;
Ogre::Quaternion orientation;
if (!context->getFrameManager()->getTransform(frame_id, time, position, orientation))
{
RVIZ_COMMON_LOG_DEBUG_STREAM("Error transforming from frame '" << frame_id << "'");
}
scene_node->setPosition(position);
scene_node->setOrientation(orientation);
unsigned int num_outlines = saved_outlines_.size();
while (outline_objects_.size() > num_outlines)
{
delete outline_objects_.back();
outline_objects_.pop_back();
}
while (outline_objects_.size() < num_outlines)
{
outline_objects_.push_back(new PolygonOutline(*scene_manager, *scene_node));
}
unsigned int num_fillers = saved_fillers_.size();
while (filler_objects_.size() > num_fillers)
{
delete filler_objects_.back();
filler_objects_.pop_back();
}
while (filler_objects_.size() < num_fillers)
{
filler_objects_.push_back(new PolygonFill(*scene_manager, *scene_node, polygon_material_.getName()));
}
}
void setFillColors(std::vector<std_msgs::msg::ColorRGBA>& filler_colors)
{
filler_colors_.swap(filler_colors);
updateProperties();
}
void updateProperties()
{
double z_offset = zoffset_property_->getFloat();
resetOutlines();
if (mode_property_->shouldDrawOutlines())
{
Ogre::ColourValue outline_color = rviz_common::properties::qtToOgre(outline_color_property_->getColor());
for (unsigned int i = 0; i < saved_outlines_.size(); ++i)
{
outline_objects_[i]->setPolygon(saved_outlines_[i], outline_color, z_offset);
}
}
if (!mode_property_->shouldDrawFiller() || saved_fillers_.empty())
{
resetFillers();
}
else
{
for (unsigned int i = 0; i < saved_fillers_.size(); ++i)
{
filler_objects_[i]->setPolygon(saved_fillers_[i], filler_colors_[i % filler_colors_.size()], z_offset);
}
}
}
std_msgs::msg::ColorRGBA getFillerColor() const
{
return getColor(filler_color_property_, filler_alpha_property_);
}
void updateVisibility()
{
updateOutlineVisibility();
setFillerPropertyVisibility(mode_property_->shouldDrawFiller());
}
void updateOutlineVisibility()
{
if (mode_property_->shouldDrawOutlines())
{
outline_color_property_->show();
}
else
{
outline_color_property_->hide();
}
}
void setFillerPropertyVisibility(bool visible)
{
if (visible)
{
filler_color_property_->show();
filler_alpha_property_->show();
}
else
{
filler_color_property_->hide();
filler_alpha_property_->hide();
}
}
std::vector<PolygonOutline*> outline_objects_;
std::vector<polygon_msgs::msg::Polygon2D> saved_outlines_;
std::vector<PolygonFill*> filler_objects_;
std::vector<polygon_msgs::msg::ComplexPolygon2D> saved_fillers_;
std::vector<std_msgs::msg::ColorRGBA> filler_colors_;
PolygonMaterial polygon_material_;
PolygonDisplayModeProperty* mode_property_;
rviz_common::properties::FloatProperty* zoffset_property_;
rviz_common::properties::ColorProperty* outline_color_property_;
rviz_common::properties::ColorProperty* filler_color_property_;
rviz_common::properties::FloatProperty* filler_alpha_property_;
};
template <typename T>
class PolygonsBase : public PolygonBase<T>
{
public:
PolygonsBase() : PolygonBase<T>()
{
color_mode_property_ = new rviz_common::properties::EnumProperty("Fill Color Mode", "Single Color",
"Color scheme for coloring each polygon", this);
color_mode_property_->addOption("Single Color", static_cast<int>(FillColorMode::SINGLE));
color_mode_property_->addOption("From Message", static_cast<int>(FillColorMode::FROM_MSG));
color_mode_property_->addOption("Unique", static_cast<int>(FillColorMode::UNIQUE));
for (const auto& color : color_util::getNamedColors())
{
if (color.a == 0.0)
continue;
unique_colors_.push_back(color_util::toMsg(color));
}
}
protected:
enum struct FillColorMode { SINGLE, FROM_MSG, UNIQUE };
FillColorMode getFillColorMode() const
{
return static_cast<FillColorMode>(color_mode_property_->getOptionInt());
}
void updateMenuVisibility()
{
this->updateOutlineVisibility();
if (this->mode_property_->shouldDrawFiller())
{
color_mode_property_->show();
FillColorMode coloring = getFillColorMode();
if (coloring == FillColorMode::SINGLE)
{
this->setFillerPropertyVisibility(true);
}
else
{
this->setFillerPropertyVisibility(false);
}
}
else
{
color_mode_property_->hide();
this->setFillerPropertyVisibility(false);
}
updateColors();
}
void updateColors()
{
if (this->mode_property_->shouldDrawFiller())
{
std::vector<std_msgs::msg::ColorRGBA> filler_colors;
FillColorMode coloring = getFillColorMode();
if (coloring == FillColorMode::SINGLE)
{
filler_colors.push_back(this->getFillerColor());
}
else if (coloring == FillColorMode::UNIQUE)
{
filler_colors = unique_colors_;
}
else // coloring == FillColorMode::FROM_MSG
{
filler_colors = saved_colors_;
}
this->setFillColors(filler_colors);
}
else
{
this->updateProperties();
}
this->queueRender();
}
rviz_common::properties::EnumProperty* color_mode_property_;
std::vector<std_msgs::msg::ColorRGBA> unique_colors_;
std::vector<std_msgs::msg::ColorRGBA> saved_colors_;
};
} // namespace polygon_rviz_plugins