Class MapCanvas

Defined in File map_canvas.h

Inheritance Relationships

Base Type

public QGLWidget

Class Documentation

class MapCanvas : public QGLWidget

Public Functions

explicit MapCanvas(QWidget *parent = nullptr)

~MapCanvas() override

void InitializeTf(std::shared_ptr<tf2_ros::Buffer> tf)

void AddPlugin(MapvizPluginPtr plugin, int order)

void RemovePlugin(MapvizPluginPtr plugin)

void SetFixedFrame(const std::string &frame)

void SetTargetFrame(const std::string &frame)

void ToggleFixOrientation(bool on)

void ToggleRotate90(bool on)

void ToggleEnableAntialiasing(bool on)

void ToggleUseLatestTransforms(bool on)

void UpdateView()

void ReorderDisplays()

void ResetLocation()

QPointF MapGlCoordToFixedFrame(const QPointF &point)

QPointF FixedFrameToMapGlCoord(const QPointF &point)

double frameRate() const

inline float ViewScale() const

inline float OffsetX() const

inline float OffsetY() const

inline void setCanvasAbleToMove(bool assigning)

void leaveEvent(QEvent *e) override

inline void SetViewScale(float scale)

inline void SetOffsetX(float x)

inline void SetOffsetY(float y)

inline void SetBackground(const QColor &color)

inline void CaptureFrames(bool enabled)

inline bool CopyCaptureBuffer(uchar *buffer)

Copies the current capture buffer into the target buffer. The target buffer must already be initialized to a size of: height * width * 4

Parameters:: buffer – An initialize buffer to copy data into
Returns:: false if the current capture buffer is empty

inline bool CopyCaptureBuffer(std::vector<uint8_t> &buffer)

Resizes a vector to be large enough to hold the current capture buffer and then copies the capture buffer into it.

Parameters:: buffer – A vector to copy the capture buffer into.
Returns:: false if the current capture buffer is empty

void CaptureFrame(bool force = false)

Public Slots

void setFrameRate(const double fps)

Signals

void Hover(double x, double y, double scale)

Protected Functions

void initializeGL() override

void initGlBlending()

void pushGlMatrices()

void popGlMatrices()

void resizeGL(int w, int h) override

void paintEvent(QPaintEvent *event) override

void wheelEvent(QWheelEvent *e) override

void mousePressEvent(QMouseEvent *e) override

void mouseReleaseEvent(QMouseEvent *e) override

void mouseMoveEvent(QMouseEvent *e) override

void keyPressEvent(QKeyEvent *e) override

void Recenter()

void TransformTarget(QPainter *painter)

void Zoom(float factor)

void InitializePixelBuffers()

Protected Attributes

bool canvas_able_to_move_ = true

bool has_pixel_buffers_

int32_t pixel_buffer_size_

GLuint pixel_buffer_ids_[2]

int32_t pixel_buffer_index_

bool capture_frames_

bool initialized_

bool fix_orientation_

bool rotate_90_

bool enable_antialiasing_

QTimer frame_rate_timer_

QColor bg_color_

Qt::MouseButton mouse_button_

bool mouse_pressed_

int mouse_x_

int mouse_y_

int mouse_previous_y_

bool mouse_hovering_

int mouse_hover_x_

int mouse_hover_y_

double offset_x_

double offset_y_

double drag_x_

double drag_y_

float view_center_x_

float view_center_y_

float view_scale_

float view_left_

float view_right_

float view_top_

float view_bottom_

float scene_left_

float scene_right_

float scene_top_

float scene_bottom_

std::string fixed_frame_

std::string target_frame_

std::shared_ptr<tf2_ros::Buffer> tf_buf_

tf2::Stamped<tf2::Transform> transform_

QTransform qtransform_

std::list<MapvizPluginPtr> plugins_

std::vector<uint8_t> capture_buffer_