polygon_display.cpp
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00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #include <OgreSceneNode.h>
00031 #include <OgreSceneManager.h>
00032 #include <OgreManualObject.h>
00033 #include <OgreBillboardSet.h>
00034 
00035 #include "rviz/display_context.h"
00036 #include "rviz/frame_manager.h"
00037 #include "rviz/properties/color_property.h"
00038 #include "rviz/properties/float_property.h"
00039 #include "rviz/properties/parse_color.h"
00040 #include "rviz/validate_floats.h"
00041 
00042 #include "polygon_display.h"
00043 
00044 namespace rviz
00045 {
00046 
00047 PolygonDisplay::PolygonDisplay()
00048 {
00049   color_property_ = new ColorProperty( "Color", QColor( 25, 255, 0 ),
00050                                        "Color to draw the polygon.", this, SLOT( queueRender() ));
00051   alpha_property_ = new FloatProperty( "Alpha", 1.0,
00052                                        "Amount of transparency to apply to the polygon.", this, SLOT( queueRender() ));
00053   alpha_property_->setMin( 0 );
00054   alpha_property_->setMax( 1 );
00055 }
00056 
00057 PolygonDisplay::~PolygonDisplay()
00058 {
00059   if ( initialized() )
00060   {
00061     scene_manager_->destroyManualObject( manual_object_ );
00062   }
00063 }
00064 
00065 void PolygonDisplay::onInitialize()
00066 {
00067   MFDClass::onInitialize();
00068 
00069   manual_object_ = scene_manager_->createManualObject();
00070   manual_object_->setDynamic( true );
00071   scene_node_->attachObject( manual_object_ );
00072 }
00073 
00074 void PolygonDisplay::reset()
00075 {
00076   MFDClass::reset();
00077   manual_object_->clear();
00078 }
00079 
00080 bool validateFloats( const geometry_msgs::PolygonStamped& msg )
00081 {
00082   return validateFloats(msg.polygon.points);
00083 }
00084 
00085 void PolygonDisplay::processMessage(const geometry_msgs::PolygonStamped::ConstPtr& msg)
00086 {
00087   if( !validateFloats( *msg ))
00088   {
00089     setStatus( StatusProperty::Error, "Topic", "Message contained invalid floating point values (nans or infs)" );
00090     return;
00091   }
00092 
00093   Ogre::Vector3 position;
00094   Ogre::Quaternion orientation;
00095   if( !context_->getFrameManager()->getTransform( msg->header, position, orientation ))
00096   {
00097     ROS_DEBUG( "Error transforming from frame '%s' to frame '%s'",
00098                msg->header.frame_id.c_str(), qPrintable( fixed_frame_ ));
00099   }
00100 
00101   scene_node_->setPosition( position );
00102   scene_node_->setOrientation( orientation );
00103 
00104   manual_object_->clear();
00105 
00106   Ogre::ColourValue color = qtToOgre( color_property_->getColor() );
00107   color.a = alpha_property_->getFloat();
00108   // TODO: this does not actually support alpha as-is.  The
00109   // "BaseWhiteNoLighting" material ends up ignoring the alpha
00110   // component of the color values we set at each point.  Need to make
00111   // a material and do the whole setSceneBlending() rigamarole.
00112 
00113   uint32_t num_points = msg->polygon.points.size();
00114   if( num_points > 0 )
00115   {
00116     manual_object_->estimateVertexCount( num_points );
00117     manual_object_->begin( "BaseWhiteNoLighting", Ogre::RenderOperation::OT_LINE_STRIP );
00118     for( uint32_t i=0; i < num_points + 1; ++i )
00119     {
00120       const geometry_msgs::Point32& msg_point = msg->polygon.points[ i % num_points ];
00121       manual_object_->position( msg_point.x, msg_point.y, msg_point.z );
00122       manual_object_->colour( color );
00123     }
00124 
00125     manual_object_->end();
00126   }
00127 }
00128 
00129 } // namespace rviz
00130 
00131 #include <pluginlib/class_list_macros.h>
00132 PLUGINLIB_EXPORT_CLASS( rviz::PolygonDisplay, rviz::Display )


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Thu Jun 6 2019 18:02:15