DisparityPlugin::DisparityPlugin() :
config_widget_(new QWidget()),
anchor_(TOP_LEFT),
units_(PIXELS),
offset_x_(0),
offset_y_(0),
width_(320),
height_(240),
has_image_(false),
last_width_(0),
last_height_(0)
{
ui_.setupUi(config_widget_);
// Set background white
QPalette p(config_widget_->palette());
p.setColor(QPalette::Background, Qt::white);
config_widget_->setPalette(p);
// Set status text red
QPalette p3(ui_.status->palette());
p3.setColor(QPalette::Text, Qt::red);
ui_.status->setPalette(p3);
QObject::connect(ui_.selecttopic, SIGNAL(clicked()), this, SLOT(SelectTopic()));
QObject::connect(ui_.topic, SIGNAL(editingFinished()), this, SLOT(TopicEdited()));
QObject::connect(ui_.anchor, SIGNAL(activated(QString)), this, SLOT(SetAnchor(QString)));
QObject::connect(ui_.units, SIGNAL(activated(QString)), this, SLOT(SetUnits(QString)));
QObject::connect(ui_.offsetx, SIGNAL(valueChanged(int)), this, SLOT(SetOffsetX(int)));
QObject::connect(ui_.offsety, SIGNAL(valueChanged(int)), this, SLOT(SetOffsetY(int)));
QObject::connect(ui_.width, SIGNAL(valueChanged(int)), this, SLOT(SetWidth(int)));
QObject::connect(ui_.height, SIGNAL(valueChanged(int)), this, SLOT(SetHeight(int)));
}
void DisparityPlugin::SelectTopic()
{
QDialog dialog;
Ui::topicselect ui;
ui.setupUi(&dialog);
std::vector<ros::master::TopicInfo> topics;
ros::master::getTopics(topics);
for (unsigned int i = 0; i < topics.size(); i++)
{
if (topics[i].datatype == "stereo_msgs/DisparityImage")
{
ui.displaylist->addItem(topics[i].name.c_str());
}
}
ui.displaylist->setCurrentRow(0);
dialog.exec();
if (dialog.result() == QDialog::Accepted && ui.displaylist->selectedItems().count() == 1)
{
ui_.topic->setText(ui.displaylist->selectedItems().first()->text());
TopicEdited();
}
}
void DisparityPlugin::LoadConfig(const YAML::Node& node, const std::string& path)
{
std::string topic;
node["topic"] >> topic;
ui_.topic->setText(topic.c_str());
TopicEdited();
std::string anchor;
node["anchor"] >> anchor;
ui_.anchor->setCurrentIndex(ui_.anchor->findText(anchor.c_str()));
SetAnchor(anchor.c_str());
std::string units;
node["units"] >> units;
ui_.units->setCurrentIndex(ui_.units->findText(units.c_str()));
SetUnits(units.c_str());
node["offset_x"] >> offset_x_;
ui_.offsetx->setValue(offset_x_);
node["offset_y"] >> offset_y_;
ui_.offsety->setValue(offset_y_);
node["width"] >> width_;
ui_.width->setValue(width_);
node["height"] >> height_;
ui_.height->setValue(height_);
}
void LaserScanPlugin::LoadConfig(const YAML::Node& node, const std::string& path)
{
std::string topic;
node["topic"] >> topic;
ui_.topic->setText(boost::trim_copy(topic).c_str());
std::string min_color;
node["min_color"] >> min_color;
min_color_ = QColor(min_color.c_str());
ui_.selectMinColor->setStyleSheet("background: " + min_color_.name() + ";");
std::string max_color;
node["max_color"] >> max_color;
max_color_ = QColor(max_color.c_str());
ui_.selectMaxColor->setStyleSheet("background: " + max_color_.name() + ";");
node["min_intensity"] >> min_intensity_;
ui_.minIntensity->setValue(min_intensity_);
node["max_intensity"] >> max_intensity_;
ui_.maxIntensity->setValue(max_intensity_);
node["point_size"] >> point_size_;
ui_.pointSize->setValue(point_size_);
node["buffer_size"] >> buffer_size_;
ui_.bufferSize->setValue(buffer_size_);
TopicEdited();
}
LaserScanPlugin::LaserScanPlugin() :
config_widget_(new QWidget()),
min_color_(Qt::white),
max_color_(Qt::white),
min_intensity_(0.0),
max_intensity_(100.0),
point_size_(3),
buffer_size_(1)
{
ui_.setupUi(config_widget_);
// Set background white
QPalette p(config_widget_->palette());
p.setColor(QPalette::Background, Qt::white);
config_widget_->setPalette(p);
// Set status text red
QPalette p3(ui_.status->palette());
p3.setColor(QPalette::Text, Qt::red);
ui_.status->setPalette(p3);
// Initialize color selector colors
ui_.selectMinColor->setStyleSheet("background: " + min_color_.name() + ";");
ui_.selectMaxColor->setStyleSheet("background: " + max_color_.name() + ";");
QObject::connect(ui_.selecttopic, SIGNAL(clicked()), this, SLOT(SelectTopic()));
QObject::connect(ui_.topic, SIGNAL(editingFinished()), this, SLOT(TopicEdited()));
QObject::connect(ui_.selectMinColor, SIGNAL(clicked()), this, SLOT(SelectMinColor()));
QObject::connect(ui_.selectMaxColor, SIGNAL(clicked()), this, SLOT(SelectMaxColor()));
QObject::connect(ui_.minIntensity, SIGNAL(valueChanged(double)), this, SLOT(MinIntensityChanged(double)));
QObject::connect(ui_.maxIntensity, SIGNAL(valueChanged(double)), this, SLOT(MaxIntensityChanged(double)));
QObject::connect(ui_.bufferSize, SIGNAL(valueChanged(int)), this, SLOT(BufferSizeChanged(int)));
QObject::connect(ui_.pointSize, SIGNAL(valueChanged(int)), this, SLOT(PointSizeChanged(int)));
}
AttitudeIndicatorPlugin::AttitudeIndicatorPlugin() :
config_widget_(new QWidget())
{
ui_.setupUi(config_widget_);
// Set background white
QPalette p(config_widget_->palette());
p.setColor(QPalette::Background, Qt::white);
config_widget_->setPalette(p);
roll_ = pitch_ = yaw_ = 0;
topics_.push_back("nav_msgs/Odometry");
topics_.push_back("geometry_msgs/Pose");
topics_.push_back("sensor_msgs/Imu");
// Set status text red
QPalette p3(ui_.status->palette());
p3.setColor(QPalette::Text, Qt::red);
ui_.status->setPalette(p3);
placer_.setRect(QRect(0, 0, 100, 100));
QObject::connect(this, SIGNAL(VisibleChanged(bool)),
&placer_, SLOT(setVisible(bool)));
QObject::connect(ui_.selecttopic, SIGNAL(clicked()), this, SLOT(SelectTopic()));
QObject::connect(ui_.topic, SIGNAL(editingFinished()), this, SLOT(TopicEdited()));
}
RoutePlugin::RoutePlugin() : config_widget_(new QWidget()), draw_style_(LINES)
{
ui_.setupUi(config_widget_);
ui_.color->setColor(Qt::green);
// Set background white
QPalette p(config_widget_->palette());
p.setColor(QPalette::Background, Qt::white);
config_widget_->setPalette(p);
// Set status text red
QPalette p3(ui_.status->palette());
p3.setColor(QPalette::Text, Qt::red);
ui_.status->setPalette(p3);
QObject::connect(ui_.selecttopic, SIGNAL(clicked()), this,
SLOT(SelectTopic()));
QObject::connect(ui_.topic, SIGNAL(editingFinished()), this,
SLOT(TopicEdited()));
QObject::connect(ui_.selectpositiontopic, SIGNAL(clicked()), this,
SLOT(SelectPositionTopic()));
QObject::connect(ui_.positiontopic, SIGNAL(editingFinished()), this,
SLOT(PositionTopicEdited()));
QObject::connect(ui_.drawstyle, SIGNAL(activated(QString)), this,
SLOT(SetDrawStyle(QString)));
QObject::connect(ui_.color, SIGNAL(colorEdited(const QColor&)), this,
SLOT(DrawIcon()));
}
void AttitudeIndicatorPlugin::SelectTopic()
{
ros::master::TopicInfo topic = mapviz::SelectTopicDialog::selectTopic(
topics_);
if (topic.name.empty())
{
return;
}
ui_.topic->setText(QString::fromStdString(topic.name));
TopicEdited();
}
void RoutePlugin::SelectTopic()
{
ros::master::TopicInfo topic =
mapviz::SelectTopicDialog::selectTopic("marti_nav_msgs/Route");
if (topic.name.empty())
{
return;
}
ui_.topic->setText(QString::fromStdString(topic.name));
TopicEdited();
}
void RoutePlugin::LoadConfig(const YAML::Node& node, const std::string& path)
{
if (node["topic"])
{
std::string route_topic;
node["topic"] >> route_topic;
ui_.topic->setText(route_topic.c_str());
}
if (node["color"])
{
std::string color;
node["color"] >> color;
ui_.color->setColor(QColor(color.c_str()));
}
if (node["postopic"])
{
std::string pos_topic;
node["postopic"] >> pos_topic;
ui_.positiontopic->setText(pos_topic.c_str());
}
if (node["poscolor"])
{
std::string poscolor;
node["poscolor"] >> poscolor;
ui_.positioncolor->setColor(QColor(poscolor.c_str()));
}
if (node["draw_style"])
{
std::string draw_style;
node["draw_style"] >> draw_style;
if (draw_style == "lines")
{
draw_style_ = LINES;
ui_.drawstyle->setCurrentIndex(0);
}
else if (draw_style == "points")
{
draw_style_ = POINTS;
ui_.drawstyle->setCurrentIndex(1);
}
}
TopicEdited();
PositionTopicEdited();
}
