polygon_display.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include <OgreSceneNode.h>
#include <OgreSceneManager.h>
#include <OgreManualObject.h>

#include "rviz/display_context.h"
#include "rviz/frame_manager.h"
#include "rviz/properties/color_property.h"
#include "rviz/properties/float_property.h"
#include "rviz/properties/parse_color.h"
#include "rviz/validate_floats.h"

#include "polygon_display.h"

namespace rviz
{
PolygonDisplay::PolygonDisplay()
{
  color_property_ = new ColorProperty("Color", QColor(25, 255, 0), "Color to draw the polygon.", this,
                                      SLOT(queueRender()));
  alpha_property_ = new FloatProperty("Alpha", 1.0, "Amount of transparency to apply to the polygon.",
                                      this, SLOT(queueRender()));
  alpha_property_->setMin(0);
  alpha_property_->setMax(1);
}

PolygonDisplay::~PolygonDisplay()
{
  if (initialized())
  {
    scene_manager_->destroyManualObject(manual_object_);
  }
}

void PolygonDisplay::onInitialize()
{
  MFDClass::onInitialize();

  manual_object_ = scene_manager_->createManualObject();
  manual_object_->setDynamic(true);
  scene_node_->attachObject(manual_object_);
}

void PolygonDisplay::reset()
{
  MFDClass::reset();
  manual_object_->clear();
}

bool validateFloats(const geometry_msgs::PolygonStamped& msg)
{
  return validateFloats(msg.polygon.points);
}

void PolygonDisplay::processMessage(const geometry_msgs::PolygonStamped::ConstPtr& msg)
{
  if (!validateFloats(*msg))
  {
    setStatus(StatusProperty::Error, "Topic",
              "Message contained invalid floating point values (nans or infs)");
    return;
  }

  Ogre::Vector3 position;
  Ogre::Quaternion orientation;
  if (!context_->getFrameManager()->getTransform(msg->header, position, orientation))
  {
    ROS_DEBUG("Error transforming from frame '%s' to frame '%s'", msg->header.frame_id.c_str(),
              qPrintable(fixed_frame_));
  }

  scene_node_->setPosition(position);
  scene_node_->setOrientation(orientation);

  manual_object_->clear();

  Ogre::ColourValue color = qtToOgre(color_property_->getColor());
  color.a = alpha_property_->getFloat();
  // TODO: this does not actually support alpha as-is.  The
  // "BaseWhiteNoLighting" material ends up ignoring the alpha
  // component of the color values we set at each point.  Need to make
  // a material and do the whole setSceneBlending() rigamarole.

  uint32_t num_points = msg->polygon.points.size();
  if (num_points > 0)
  {
    manual_object_->estimateVertexCount(num_points);
    manual_object_->begin("BaseWhiteNoLighting", Ogre::RenderOperation::OT_LINE_STRIP);
    for (uint32_t i = 0; i < num_points + 1; ++i)
    {
      const geometry_msgs::Point32& msg_point = msg->polygon.points[i % num_points];
      manual_object_->position(msg_point.x, msg_point.y, msg_point.z);
      manual_object_->colour(color);
    }

    manual_object_->end();
  }
}

} // namespace rviz

#include <pluginlib/class_list_macros.hpp>
PLUGINLIB_EXPORT_CLASS(rviz::PolygonDisplay, rviz::Display)