TargetVisualizerDisplay::TargetVisualizerDisplay():
message_recieved_(false)
{
target_name_property_ = new rviz::StringProperty(
"target name", "target",
"name of the target",
this, SLOT(updateTargetName())
);
radius_property_ = new rviz::FloatProperty(
"radius", 1.0,
"radius of the target mark",
this, SLOT(updateRadius()));
radius_property_->setMin(0.0);
alpha_property_ = new rviz::FloatProperty(
"alpha", 0.8,
"0 is fully transparent, 1.0 is fully opaque.",
this, SLOT(updateAlpha()));
alpha_property_->setMin(0.0);
alpha_property_->setMax(1.0);
color_property_ = new rviz::ColorProperty(
"color", QColor(25, 255, 240),
"color of the target",
this, SLOT(updateColor()));
shape_type_property_ = new rviz::EnumProperty(
"type", "Simple Circle",
"Shape to display the pose as",
this, SLOT(updateShapeType()));
shape_type_property_->addOption("Simple Circle", SimpleCircle);
shape_type_property_->addOption("Decoreted Circle", GISCircle);
}
RobotModelDisplay::RobotModelDisplay()
: Display()
, has_new_transforms_( false )
, time_since_last_transform_( 0.0f )
{
visual_enabled_property_ = new Property( "Visual Enabled", true,
"Whether to display the visual representation of the robot.",
this, SLOT( updateVisualVisible() ));
collision_enabled_property_ = new Property( "Collision Enabled", false,
"Whether to display the collision representation of the robot.",
this, SLOT( updateCollisionVisible() ));
update_rate_property_ = new FloatProperty( "Update Interval", 0,
"Interval at which to update the links, in seconds. "
" 0 means to update every update cycle.",
this );
update_rate_property_->setMin( 0 );
alpha_property_ = new FloatProperty( "Alpha", 1,
"Amount of transparency to apply to the links.",
this, SLOT( updateAlpha() ));
alpha_property_->setMin( 0.0 );
alpha_property_->setMax( 1.0 );
robot_description_property_ = new StringProperty( "Robot Description", "robot_description",
"Name of the parameter to search for to load the robot description.",
this, SLOT( updateRobotDescription() ));
tf_prefix_property_ = new StringProperty( "TF Prefix", "",
"Robot Model normally assumes the link name is the same as the tf frame name. "
" This option allows you to set a prefix. Mainly useful for multi-robot situations.",
this, SLOT( updateTfPrefix() ));
}
void TargetVisualizerDisplay::updateShapeType()
{
if (current_type_ != shape_type_property_->getOptionInt()) {
{
boost::mutex::scoped_lock lock(mutex_);
if (shape_type_property_->getOptionInt() == SimpleCircle) {
current_type_ = SimpleCircle;
// simple circle
visualizer_.reset(new SimpleCircleFacingVisualizer(
scene_manager_,
scene_node_,
context_,
radius_));
}
else {
current_type_ = GISCircle;
// GIS
GISCircleVisualizer* v = new GISCircleVisualizer(
scene_manager_,
scene_node_,
radius_);
v->setAnonymous(false);
visualizer_.reset(v);
}
}
updateTargetName();
updateColor();
updateAlpha();
}
}
DynamicRobotModel::DynamicRobotModel()
: rviz::Display()
, time_since_last_transform_( 0.0f )
{
visual_enabled_property_ = new rviz::Property( "Visual Enabled", true,
"Whether to display the visual representation of the robot.",
this, SLOT( updateVisualVisible() ));
collision_enabled_property_ = new rviz::Property( "Collision Enabled", false,
"Whether to display the collision representation of the robot.",
this, SLOT( updateCollisionVisible() ));
update_rate_property_ = new rviz::FloatProperty( "Update Interval", 0,
"Interval at which to update the links, in seconds. "
" 0 means to update every update cycle.",
this );
update_rate_property_->setMin( 0 );
alpha_property_ = new rviz::FloatProperty( "Alpha", 1,
"Amount of transparency to apply to the links.",
this, SLOT( updateAlpha() ));
alpha_property_->setMin( 0.0 );
alpha_property_->setMax( 1.0 );
robot_description_topic_property_ = new rviz::RosTopicProperty( "Robot description topic", "dynamic_robot_description",
QString::fromStdString( ros::message_traits::datatype<std_msgs::String>() ),
"std_msgs::String topic to subscribe to.",
this, SLOT( updateTopic() ));
tf_prefix_property_ = new rviz::StringProperty( "TF Prefix", "",
"Robot Model normally assumes the link name is the same as the tf frame name. "
" This option allows you to set a prefix. Mainly useful for multi-robot situations.",
this, SLOT( updateTfPrefix() ));
}
void Slider::init()
{
mAllowLogic = false;
setFocusable(true);
setFrameSize(1);
addMouseListener(this);
addKeyListener(this);
setFrameSize(0);
// Load resources
if (mInstances == 0)
{
if (theme)
{
for (int mode = 0; mode < 2; mode ++)
theme->loadRect(buttons[mode], data[mode], "slider.xml", 0, 8);
}
updateAlpha();
}
mInstances++;
if (buttons[0].grid[HGRIP])
setMarkerLength(buttons[0].grid[HGRIP]->getWidth());
}
void Button::init()
{
setFrameSize(0);
if (mInstances == 0)
{
// Load the skin
ResourceManager *resman = ResourceManager::getInstance();
Image *btn[BUTTON_COUNT];
int a, x, y, mode;
for (mode = 0; mode < BUTTON_COUNT; mode++)
{
btn[mode] = resman->getImage(data[mode].file);
a = 0;
for (y = 0; y < 3; y++)
{
for (x = 0; x < 3; x++)
{
button[mode].grid[a] = btn[mode]->getSubImage(
data[x].gridX, data[y].gridY,
data[x + 1].gridX - data[x].gridX + 1,
data[y + 1].gridY - data[y].gridY + 1);
a++;
}
}
btn[mode]->decRef();
}
updateAlpha();
}
mInstances++;
}
BoundingBoxDisplay::BoundingBoxDisplay()
{
coloring_property_ = new rviz::EnumProperty(
"coloring", "Flat color",
"coloring method",
this, SLOT(updateColoring()));
coloring_property_->addOption("Flat color", 0);
coloring_property_->addOption("Label", 1);
coloring_property_->addOption("Value", 2);
color_property_ = new rviz::ColorProperty(
"color", QColor(25, 255, 0),
"color to draw the bounding boxes",
this, SLOT(updateColor()));
alpha_property_ = new rviz::FloatProperty(
"alpha", 0.8,
"alpha value to draw the bounding boxes",
this, SLOT(updateAlpha()));
only_edge_property_ = new rviz::BoolProperty(
"only edge", false,
"show only the edges of the boxes",
this, SLOT(updateOnlyEdge()));
line_width_property_ = new rviz::FloatProperty(
"line width", 0.005,
"line width of the edges",
this, SLOT(updateLineWidth()));
show_coords_property_ = new rviz::BoolProperty(
"show coords", false,
"show coordinate of bounding box",
this, SLOT(updateShowCoords()));
}
void QSkinObject::paintEvent(QPaintEvent *event)
{
if(skinWidget)
{
updateStyle();
QPainter p(&widgetMask);
QObjectList ol = skinWidget->children();
foreach(QObject *o, ol)
{
if(o->isWidgetType())
{
QWidget* child = dynamic_cast<QWidget*>(o);
p.drawPixmap(child->geometry(),drawCtrl(child ));
}
}
p.end();
#ifdef WIN32
updateAlpha();
#else
p.begin(skinWidget);
p.setRenderHint(QPainter::Antialiasing);
p.drawPixmap(0,0,widgetMask);
p.end();
#endif
}
}
RadioButton::RadioButton(const Widget2 *const widget,
const std::string &caption, const std::string &group,
const bool marked):
gcn::RadioButton(caption, group, marked),
Widget2(widget),
mHasMouse(false),
mPadding(0),
mImagePadding(0),
mImageSize(9),
mSpacing(2),
mForegroundColor2(getThemeColor(Theme::RADIOBUTTON_OUTLINE))
{
mForegroundColor = getThemeColor(Theme::RADIOBUTTON);
if (instances == 0)
{
if (Theme::instance())
{
mSkin = Theme::instance()->load("radio.xml", "");
updateAlpha();
}
}
instances++;
if (mSkin)
{
mPadding = mSkin->getPadding();
mImagePadding = mSkin->getOption("imagePadding");
mImageSize = mSkin->getOption("imageSize");
mSpacing = mSkin->getOption("spacing");
}
adjustSize();
}
void Tab::init()
{
addMouseListener(this);
setFocusable(false);
setFrameSize(0);
mFlash = 0;
addWidgetListener(this);
if (mInstances == 0)
{
// Load the skin
Theme *const theme = Theme::instance();
if (theme)
{
for (int mode = 0; mode < TAB_COUNT; mode ++)
tabImg[mode] = theme->load(data[mode], "tab.xml");
}
updateAlpha();
}
mInstances++;
add(mLabel);
const Skin *const skin = tabImg[TAB_STANDARD];
if (!skin)
return;
const int padding = skin->getPadding();
mLabel->setPosition(padding, padding);
}
void Tab::draw(gcn::Graphics *graphics)
{
int mode = TAB_STANDARD;
// check which type of tab to draw
if (mTabbedArea)
{
mLabel->setForegroundColor(*mTabColor);
if (mTabbedArea->isTabSelected(this))
{
mode = TAB_SELECTED;
// if tab is selected, it doesnt need to highlight activity
mFlash = false;
}
else if (mHasMouse)
{
mode = TAB_HIGHLIGHTED;
}
if (mFlash)
{
mLabel->setForegroundColor(Theme::getThemeColor(Theme::TAB_FLASH));
}
}
updateAlpha();
// draw tab
static_cast<Graphics*>(graphics)->
drawImageRect(0, 0, getWidth(), getHeight(), tabImg[mode]);
// draw label
drawChildren(graphics);
}
void NumberAnimation::update()
{
if (m_bRunning)
{
if (m_currentParam != "")
{
if (m_currentParam == "scale")
{
updateScale();
}
if (m_currentParam == "alpha")
{
updateAlpha();
}
if (m_currentParam == "angle")
{
updateAngle();
}
if (m_currentParam == "width")
{
updateWidth();
}
}
}
}
FootstepDisplay::FootstepDisplay()
{
alpha_property_ = new rviz::FloatProperty( "Alpha", 0.5,
"0 is fully transparent, 1.0 is fully opaque.",
this, SLOT( updateAlpha() ));
show_name_property_ = new rviz::BoolProperty(
"Show Name", true,
"Show name of each footstep",
this, SLOT(updateShowName()));
use_group_coloring_property_ = new rviz::BoolProperty(
"Use Group Coloring", false,
"Use footstep_group field to colorize footsteps",
this, SLOT(updateUseGroupColoring()));
width_property_ = new rviz::FloatProperty(
"Width", 0.15,
"width of the footstep, it's not used if the dimensions is specified in Footstep message.",
this, SLOT( updateWidth() ));
height_property_ = new rviz::FloatProperty(
"height", 0.01,
"height of the footstep, it's not used if the dimensions is specified in Footstep message.",
this, SLOT( updateHeight() ));
depth_property_ = new rviz::FloatProperty(
"depth", 0.3,
"depth of the footstep, it's not used if the dimensions is specified in Footstep message.",
this, SLOT( updateDepth() ));
}
bool Image::load(File* file)
{
initTable();
_width = 0;
_height = 0;
_bits = NULL;
_flags = 0xFFFFFF;
if (file)
{
bool loaded = false;
file->seek(0, SEEK_SET); if (!loaded) loaded = loadGIF(file);
file->seek(0, SEEK_SET); if (!loaded) loaded = loadPNG(file);
file->seek(0, SEEK_SET); if (!loaded) loaded = loadTGA(file);
file->seek(0, SEEK_SET); if (!loaded) loaded = loadBIN(file);
file->seek(0, SEEK_SET); if (!loaded) loaded = loadBLP(file);
file->seek(0, SEEK_SET); if (!loaded) loaded = loadBLP2(file);
if (!loaded)
{
delete[] _bits;
_bits = NULL;
_width = 0;
_height = 0;
_flags = 0;
}
else
updateAlpha();
return loaded;
}
return false;
}
void Sbs2SourceReconstrucionLoreta::updateModel()
{
if(!modelUpdateReady)
return;
modelUpdateReady = 0;
//TODO: signal when new beta and alpha are ready
//qDebug() << "****";
//we collect only raw values and weight them right before updating the model
w->multiply(currentModelUpdateValues,currentModelUpdateValuesVertices);
//Sbs2Timer::tic("updateAlpha()");
updateAlpha();
//Sbs2Timer::toc();
//Sbs2Timer::tic("updateBeta()");
updateBeta();
//Sbs2Timer::toc();
//Sbs2Timer::tic("updateW()");
updateW();
//Sbs2Timer::toc();
modelUpdateReady = 1;
tempModelUpdatedReady = 1;
}
CameraDisplay::CameraDisplay()
: ImageDisplayBase()
, caminfo_tf_filter_( 0 )
, new_caminfo_( false )
, texture_()
, render_panel_( 0 )
, force_render_( false )
, panel_container_( 0 )
{
image_position_property_ = new EnumProperty( "Image Rendering", BOTH,
"Render the image behind all other geometry or overlay it on top, or both.",
this, SLOT( forceRender() ));
image_position_property_->addOption( BACKGROUND );
image_position_property_->addOption( OVERLAY );
image_position_property_->addOption( BOTH );
alpha_property_ = new FloatProperty( "Overlay Alpha", 0.5,
"The amount of transparency to apply to the camera image when rendered as overlay.",
this, SLOT( updateAlpha() ));
alpha_property_->setMin( 0 );
alpha_property_->setMax( 1 );
zoom_property_ = new FloatProperty( "Zoom Factor", 1.0,
"Set a zoom factor below 1 to see a larger part of the world, above 1 to magnify the image.",
this, SLOT( forceRender() ));
zoom_property_->setMin( 0.00001 );
zoom_property_->setMax( 100000 );
}
void SparseOccupancyGridArrayDisplay::onInitialize()
{
MFDClass::onInitialize();
updateAlpha();
updateMaxColor();
updateMinColor();
}
OverlayImageDisplay::OverlayImageDisplay()
: Display(), width_(128), height_(128), left_(128), top_(128), alpha_(0.8),
is_msg_available_(false), require_update_(false)
{
// setup properties
update_topic_property_ = new rviz::RosTopicProperty(
"Topic", "",
ros::message_traits::datatype<sensor_msgs::Image>(),
"sensor_msgs::Image topic to subscribe to.",
this, SLOT( updateTopic() ));
keep_aspect_ratio_property_ = new rviz::BoolProperty("keep aspect ratio", false,
"keep aspect ratio of original image",
this, SLOT(updateKeepAspectRatio()));
width_property_ = new rviz::IntProperty("width", 128,
"width of the image window",
this, SLOT(updateWidth()));
height_property_ = new rviz::IntProperty("height", 128,
"height of the image window",
this, SLOT(updateHeight()));
left_property_ = new rviz::IntProperty("left", 128,
"left of the image window",
this, SLOT(updateLeft()));
top_property_ = new rviz::IntProperty("top", 128,
"top of the image window",
this, SLOT(updateTop()));
alpha_property_ = new rviz::FloatProperty("alpha", 0.8,
"alpha belnding value",
this, SLOT(updateAlpha()));
}
void Window::onKeyChangeRootFocus(bool _focus)
{
mKeyRootFocus = _focus;
updateAlpha();
Base::onKeyChangeRootFocus(_focus);
}
void CheckBox::drawBox(gcn::Graphics* graphics)
{
Image *box;
if (isEnabled())
{
if (isSelected())
{
if (mHasMouse)
box = checkBoxCheckedHi;
else
box = checkBoxChecked;
}
else
{
if (mHasMouse)
box = checkBoxNormalHi;
else
box = checkBoxNormal;
}
}
else
{
if (isSelected())
box = checkBoxDisabledChecked;
else
box = checkBoxDisabled;
}
updateAlpha();
static_cast<Graphics*>(graphics)->drawImage(box, 2, 2);
}
void Window::onMouseChangeRootFocus(bool _focus)
{
mMouseRootFocus = _focus;
updateAlpha();
Base::onMouseChangeRootFocus(_focus);
}
void ScrollArea::draw(gcn::Graphics *graphics)
{
if (mVBarVisible)
{
drawUpButton(graphics);
drawDownButton(graphics);
drawVBar(graphics);
drawVMarker(graphics);
}
if (mHBarVisible)
{
drawLeftButton(graphics);
drawRightButton(graphics);
drawHBar(graphics);
drawHMarker(graphics);
}
if (mHBarVisible && mVBarVisible)
{
graphics->setColor(getBaseColor());
graphics->fillRectangle(gcn::Rectangle(getWidth() - mScrollbarWidth,
getHeight() - mScrollbarWidth,
mScrollbarWidth,
mScrollbarWidth));
}
updateAlpha();
drawChildren(graphics);
}
void RobotModelDisplay::onInitialize()
{
robot_ = new Robot( scene_node_, context_, "Robot: " + getName().toStdString(), this );
updateVisualVisible();
updateCollisionVisible();
updateAlpha();
}
AerialMapDisplay::AerialMapDisplay()
: Display(), map_id_(0), scene_id_(0), dirty_(false),
received_msg_(false), loader_(0) {
static unsigned int map_ids = 0;
map_id_ = map_ids++; // global counter of map ids
topic_property_ = new RosTopicProperty(
"Topic", "", QString::fromStdString(
ros::message_traits::datatype<sensor_msgs::NavSatFix>()),
"nav_msgs::Odometry topic to subscribe to.", this, SLOT(updateTopic()));
alpha_property_ = new FloatProperty(
"Alpha", 0.7, "Amount of transparency to apply to the map.", this,
SLOT(updateAlpha()));
alpha_ = alpha_property_->getValue().toFloat();
alpha_property_->setMin(0);
alpha_property_->setMax(1);
alpha_property_->setShouldBeSaved(true);
draw_under_property_ =
new Property("Draw Behind", false,
"Rendering option, controls whether or not the map is always"
" drawn behind everything else.",
this, SLOT(updateDrawUnder()));
draw_under_property_->setShouldBeSaved(true);
draw_under_ = draw_under_property_->getValue().toBool();
// output, resolution of the map in meters/pixel
resolution_property_ = new FloatProperty(
"Resolution", 0, "Resolution of the map. (Read only)", this);
resolution_property_->setReadOnly(true);
// properties for map
object_uri_property_ = new StringProperty(
"Object URI", "http://otile1.mqcdn.com/tiles/1.0.0/sat/{z}/{x}/{y}.jpg",
"URL from which to retrieve map tiles.", this, SLOT(updateObjectURI()));
object_uri_property_->setShouldBeSaved(true);
object_uri_ = object_uri_property_->getStdString();
zoom_property_ = new IntProperty("Zoom", 16, "Zoom level (0 - 19 usually)",
this, SLOT(updateZoom()));
zoom_property_->setShouldBeSaved(true);
zoom_ = zoom_property_->getInt();
blocks_property_ =
new IntProperty("Blocks", 3, "Number of adjacent blocks (6 max)", this,
SLOT(updateBlocks()));
blocks_property_->setShouldBeSaved(true);
// updating one triggers reload
updateBlocks();
}
void BoundingBoxDisplay::onInitialize()
{
MFDClass::onInitialize();
scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode();
updateColor();
updateAlpha();
updateOnlyEdge();
updateColoring();
updateLineWidth();
updateShowCoords();
}
void FootstepDisplay::onInitialize()
{
MFDClass::onInitialize();
scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode();
line_ = new rviz::BillboardLine(context_->getSceneManager(), scene_node_);
updateShowName();
updateWidth();
updateHeight();
updateDepth();
updateAlpha();
updateUseGroupColoring();
}
MapDisplay::MapDisplay()
: Display()
, manual_object_( NULL )
, loaded_( false )
, resolution_( 0.0f )
, width_( 0 )
, height_( 0 )
{
connect(this, SIGNAL( mapUpdated() ), this, SLOT( showMap() ));
topic_property_ = new RosTopicProperty( "Topic", "",
QString::fromStdString( ros::message_traits::datatype<nav_msgs::OccupancyGrid>() ),
"nav_msgs::OccupancyGrid topic to subscribe to.",
this, SLOT( updateTopic() ));
alpha_property_ = new FloatProperty( "Alpha", 0.7,
"Amount of transparency to apply to the map.",
this, SLOT( updateAlpha() ));
alpha_property_->setMin( 0 );
alpha_property_->setMax( 1 );
color_scheme_property_ = new EnumProperty( "Color Scheme", "map", "How to color the occupancy values.",
this, SLOT( updatePalette() ));
// Option values here must correspond to indices in palette_textures_ array in onInitialize() below.
color_scheme_property_->addOption( "map", 0 );
color_scheme_property_->addOption( "costmap", 1 );
draw_under_property_ = new Property( "Draw Behind", false,
"Rendering option, controls whether or not the map is always"
" drawn behind everything else.",
this, SLOT( updateDrawUnder() ));
resolution_property_ = new FloatProperty( "Resolution", 0,
"Resolution of the map. (not editable)", this );
resolution_property_->setReadOnly( true );
width_property_ = new IntProperty( "Width", 0,
"Width of the map, in meters. (not editable)", this );
width_property_->setReadOnly( true );
height_property_ = new IntProperty( "Height", 0,
"Height of the map, in meters. (not editable)", this );
height_property_->setReadOnly( true );
position_property_ = new VectorProperty( "Position", Ogre::Vector3::ZERO,
"Position of the bottom left corner of the map, in meters. (not editable)",
this );
position_property_->setReadOnly( true );
orientation_property_ = new QuaternionProperty( "Orientation", Ogre::Quaternion::IDENTITY,
"Orientation of the map. (not editable)",
this );
orientation_property_->setReadOnly( true );
}
void draw(gcn::Graphics *graphics)
{
if (!mListModel)
return;
ServersListModel *model = static_cast<ServersListModel*>(mListModel);
updateAlpha();
graphics->setColor(Theme::getThemeColor(Theme::HIGHLIGHT,
(int) (mAlpha * 255.0f)));
graphics->setFont(getFont());
const int height = getRowHeight();
const gcn::Color unsupported =
Theme::getThemeColor(Theme::SERVER_VERSION_NOT_SUPPORTED,
(int) (mAlpha * 255.0f));
// Draw filled rectangle around the selected list element
if (mSelected >= 0)
graphics->fillRectangle(gcn::Rectangle(0, height * mSelected,
getWidth(), height));
// Draw the list elements
for (int i = 0, y = 0; i < model->getNumberOfElements();
++i, y += height)
{
ServerInfo info = model->getServer(i);
graphics->setColor(Theme::getThemeColor(Theme::TEXT));
if (!info.name.empty())
{
graphics->setFont(boldFont);
graphics->drawText(info.name, 2, y);
}
graphics->setFont(getFont());
int top = y + height / 2;
graphics->drawText(model->getElementAt(i), 2, top);
if (info.version.first > 0)
{
graphics->setColor(unsupported);
graphics->drawText(info.version.second,
getWidth() - info.version.first - 2, top);
}
}
}
void ProgressBar::draw(gcn::Graphics *graphics)
{
updateAlpha();
mColor.a = static_cast<int>(mAlpha * 255);
gcn::Rectangle rect = getDimension();
rect.x = 0;
rect.y = 0;
render(static_cast<Graphics*>(graphics), rect, mColor,
mProgress, mText, mVertexes, &mRedraw);
}
void MapCloudDisplay::onInitialize()
{
MFDClass::onInitialize();
transformer_class_loader_ = new pluginlib::ClassLoader<rviz::PointCloudTransformer>( "rviz", "rviz::PointCloudTransformer" );
loadTransformers();
updateStyle();
updateBillboardSize();
updateAlpha();
spinner_.start();
}
