void RvizLogo::onDisable()
{
if (frame_)
{
frame_->Show(false);
}
else
{
WindowManagerInterface* wm = vis_manager_->getWindowManager();
wm->closePane(panel_);
}
}
void RvizLogo::onEnable()
{
if (frame_)
{
frame_->Show(true);
}
else
{
WindowManagerInterface* wm = vis_manager_->getWindowManager();
wm->showPane(panel_);
}
}
void CameraDisplaySave::onEnable()
{
subscribe();
if (frame_)
{
frame_->Show(true);
}
else
{
WindowManagerInterface* wm = vis_manager_->getWindowManager();
wm->showPane(render_panel_);
}
render_panel_->getRenderWindow()->setActive(true);
}
void CameraDisplaySave::onDisable()
{
render_panel_->getRenderWindow()->setActive(false);
if (frame_)
{
frame_->Show(false);
}
else
{
WindowManagerInterface* wm = vis_manager_->getWindowManager();
wm->closePane(render_panel_);
}
unsubscribe();
clear();
}
CameraDisplaySave::~CameraDisplaySave()
{
unsubscribe();
caminfo_tf_filter_.clear();
if (frame_)
{
frame_->Destroy();
}
else
{
WindowManagerInterface* wm = vis_manager_->getWindowManager();
wm->removePane(render_panel_);
render_panel_->Destroy();
}
delete screen_rect_;
scene_node_->getParentSceneNode()->removeAndDestroyChild(scene_node_->getName());
}
/**
Constructor
*/
RvizLogo::RvizLogo(const std::string& name, VisualizationManager* manager/*wxWindow *parent, const wxString& title, rviz::WindowManagerInterface * wmi */)
: Display( "logo", manager ),
frame_(0)
//: wxPanel( parent, wxID_ANY, wxDefaultPosition, wxSize(280, 180), wxTAB_TRAVERSAL, title)
//, m_wmi( wmi )
{
string path = ros::package::getPath("cob_3d_mapping_demonstrator") + "/ros/files/logo_title.jpg";
// Create controls
//m_button = new wxButton(this, ID_RESET_BUTTON, wxT("Reset map"));
wxWindow* parent = 0;
WindowManagerInterface* wm = vis_manager_->getWindowManager();
if (wm)
{
parent = wm->getParentWindow();
}
else
{
frame_ = new wxFrame(0, wxID_ANY, wxString::FromAscii(""), wxDefaultPosition, wxDefaultSize, wxMINIMIZE_BOX | wxMAXIMIZE_BOX | wxRESIZE_BORDER | wxCAPTION | wxCLIP_CHILDREN);
parent = frame_;
}
panel_ = new wxImagePanel(parent, wxString::FromAscii(path.c_str()),wxBITMAP_TYPE_JPEG);
//if (!pic_.LoadFile(wxT("/home/goa/git/cob_environment_perception_intern/cob_3d_mapping_demonstrator/lib/logo.jpg"),wxBITMAP_TYPE_JPEG)) ROS_ERROR("Image file not found!");
//logo_ = new wxStaticBitmap(panel_, wxID_ANY, pic_);
//wxSizer *vsizer = new wxBoxSizer(wxVERTICAL);
//vsizer->Add(logo_, 1, wxALIGN_CENTER);
//vsizer->SetSizeHints(panel_);
//panel_->SetSizerAndFit(vsizer);
if (wm)
{
wm->addPane(name, panel_);
}
}
void ImageDisplay::onInitialize()
{
{
static uint32_t count = 0;
std::stringstream ss;
ss << "ImageDisplay" << count++;
img_scene_manager_ = Ogre::Root::getSingleton().createSceneManager(Ogre::ST_GENERIC, ss.str());
}
img_scene_node_ = img_scene_manager_->getRootSceneNode()->createChildSceneNode();
{
static int count = 0;
std::stringstream ss;
ss << "ImageDisplayObject" << count++;
screen_rect_ = new Ogre::Rectangle2D(true);
screen_rect_->setRenderQueueGroup(Ogre::RENDER_QUEUE_OVERLAY - 1);
screen_rect_->setCorners(-1.0f, 1.0f, 1.0f, -1.0f);
ss << "Material";
material_ = Ogre::MaterialManager::getSingleton().create( ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME );
material_->setSceneBlending( Ogre::SBT_REPLACE );
material_->setDepthWriteEnabled(false);
material_->setReceiveShadows(false);
material_->setDepthCheckEnabled(false);
material_->getTechnique(0)->setLightingEnabled(false);
Ogre::TextureUnitState* tu = material_->getTechnique(0)->getPass(0)->createTextureUnitState();
tu->setTextureName(texture_.getTexture()->getName());
tu->setTextureFiltering( Ogre::TFO_NONE );
material_->setCullingMode(Ogre::CULL_NONE);
Ogre::AxisAlignedBox aabInf;
aabInf.setInfinite();
screen_rect_->setBoundingBox(aabInf);
screen_rect_->setMaterial(material_->getName());
img_scene_node_->attachObject(screen_rect_);
}
render_panel_ = new RenderPanel();
render_panel_->getRenderWindow()->setAutoUpdated(false);
render_panel_->getRenderWindow()->setActive( false );
render_panel_->resize( 640, 480 );
render_panel_->initialize(img_scene_manager_, context_);
WindowManagerInterface* wm = context_->getWindowManager();
if (wm)
{
panel_container_ = wm->addPane( getName(), render_panel_);
}
render_panel_->setAutoRender(false);
render_panel_->setOverlaysEnabled(false);
render_panel_->getCamera()->setNearClipDistance( 0.01f );
if( panel_container_ )
{
connect( panel_container_, SIGNAL( visibilityChanged( bool ) ), this, SLOT( setEnabled( bool )));
}
}
void CameraDisplay::onInitialize()
{
caminfo_tf_filter_ = new tf::MessageFilter<sensor_msgs::CameraInfo>(*vis_manager_->getTFClient(), "", 2, update_nh_);
bg_scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode();
fg_scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode();
{
static int count = 0;
UniformStringStream ss;
ss << "CameraDisplayObject" << count++;
//background rectangle
bg_screen_rect_ = new Ogre::Rectangle2D(true);
bg_screen_rect_->setCorners(-1.0f, 1.0f, 1.0f, -1.0f);
ss << "Material";
bg_material_ = Ogre::MaterialManager::getSingleton().create( ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME );
bg_material_->setDepthWriteEnabled(false);
bg_material_->setReceiveShadows(false);
bg_material_->setDepthCheckEnabled(false);
bg_material_->getTechnique(0)->setLightingEnabled(false);
Ogre::TextureUnitState* tu = bg_material_->getTechnique(0)->getPass(0)->createTextureUnitState();
tu->setTextureName(texture_.getTexture()->getName());
tu->setTextureFiltering( Ogre::TFO_NONE );
tu->setAlphaOperation( Ogre::LBX_SOURCE1, Ogre::LBS_MANUAL, Ogre::LBS_CURRENT, 0.0 );
bg_material_->setCullingMode(Ogre::CULL_NONE);
bg_material_->setSceneBlending( Ogre::SBT_REPLACE );
Ogre::AxisAlignedBox aabInf;
aabInf.setInfinite();
bg_screen_rect_->setRenderQueueGroup(Ogre::RENDER_QUEUE_BACKGROUND);
bg_screen_rect_->setBoundingBox(aabInf);
bg_screen_rect_->setMaterial(bg_material_->getName());
bg_scene_node_->attachObject(bg_screen_rect_);
bg_scene_node_->setVisible(false);
//overlay rectangle
fg_screen_rect_ = new Ogre::Rectangle2D(true);
fg_screen_rect_->setCorners(-1.0f, 1.0f, 1.0f, -1.0f);
fg_material_ = bg_material_->clone( ss.str()+"fg" );
fg_screen_rect_->setBoundingBox(aabInf);
fg_screen_rect_->setMaterial(fg_material_->getName());
fg_material_->setSceneBlending( Ogre::SBT_TRANSPARENT_ALPHA );
fg_screen_rect_->setRenderQueueGroup(Ogre::RENDER_QUEUE_OVERLAY - 1);
fg_scene_node_->attachObject(fg_screen_rect_);
fg_scene_node_->setVisible(false);
}
setAlpha( 0.5f );
render_panel_ = new RenderPanel();
render_panel_->getRenderWindow()->addListener( this );
render_panel_->getRenderWindow()->setAutoUpdated(false);
render_panel_->getRenderWindow()->setActive( false );
render_panel_->resize( 640, 480 );
render_panel_->initialize(vis_manager_->getSceneManager(), vis_manager_);
WindowManagerInterface* wm = vis_manager_->getWindowManager();
if( wm )
{
panel_container_ = wm->addPane(name_, render_panel_);
}
render_panel_->setAutoRender(false);
render_panel_->setOverlaysEnabled(false);
render_panel_->getCamera()->setNearClipDistance( 0.01f );
caminfo_tf_filter_->connectInput(caminfo_sub_);
caminfo_tf_filter_->registerCallback(boost::bind(&CameraDisplay::caminfoCallback, this, _1));
vis_manager_->getFrameManager()->registerFilterForTransformStatusCheck(caminfo_tf_filter_, this);
if( panel_container_ )
{
// TODO: wouldn't it be better to connect this straight to the wrapper?
connect( panel_container_, SIGNAL( visibilityChanged( bool ) ), this, SLOT( setWrapperEnabled( bool )));
}
}
CameraDisplaySave::CameraDisplaySave( const std::string& name, VisualizationManager* manager )
: Display( name, manager )
, transport_("raw")
, caminfo_tf_filter_(*manager->getTFClient(), "", 2, update_nh_)
, new_caminfo_(false)
, texture_(update_nh_)
, frame_(0)
, force_render_(false)
, render_listener_(this)
{
scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode();
{
static int count = 0;
std::stringstream ss;
ss << "CameraDisplaySaveObject" << count++;
screen_rect_ = new Ogre::Rectangle2D(true);
screen_rect_->setRenderQueueGroup(Ogre::RENDER_QUEUE_OVERLAY - 1);
screen_rect_->setCorners(-1.0f, 1.0f, 1.0f, -1.0f);
ss << "Material";
material_ = Ogre::MaterialManager::getSingleton().create( ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME );
material_->setSceneBlending( Ogre::SBT_TRANSPARENT_ALPHA );
material_->setDepthWriteEnabled(false);
material_->setReceiveShadows(false);
material_->setDepthCheckEnabled(false);
#if 1
material_->getTechnique(0)->setLightingEnabled(false);
Ogre::TextureUnitState* tu = material_->getTechnique(0)->getPass(0)->createTextureUnitState();
tu->setTextureName(texture_.getTexture()->getName());
tu->setTextureFiltering( Ogre::TFO_NONE );
tu->setAlphaOperation( Ogre::LBX_SOURCE1, Ogre::LBS_MANUAL, Ogre::LBS_CURRENT, 0.0 );
#else
material_->getTechnique(0)->setLightingEnabled(true);
material_->setAmbient(Ogre::ColourValue(0.0f, 1.0f, 1.0f, 1.0f));
#endif
material_->setCullingMode(Ogre::CULL_NONE);
Ogre::AxisAlignedBox aabInf;
aabInf.setInfinite();
screen_rect_->setBoundingBox(aabInf);
screen_rect_->setMaterial(material_->getName());
scene_node_->attachObject(screen_rect_);
}
setAlpha( 0.5f );
wxWindow* parent = 0;
WindowManagerInterface* wm = vis_manager_->getWindowManager();
if (wm)
{
parent = wm->getParentWindow();
}
else
{
frame_ = new wxFrame(0, wxID_ANY, wxString::FromAscii(name.c_str()), wxPoint(100,100), wxDefaultSize, wxMINIMIZE_BOX | wxMAXIMIZE_BOX | wxRESIZE_BORDER | wxCAPTION | wxCLIP_CHILDREN);
parent = frame_;
}
render_panel_ = new RenderPanel(parent, false);
render_panel_->SetSize(wxSize(640, 480));
if (wm)
{
wm->addPane(name, render_panel_);
}
render_panel_->createRenderWindow();
render_panel_->initialize(vis_manager_->getSceneManager(), vis_manager_);
render_panel_->setAutoRender(false);
render_panel_->getRenderWindow()->addListener(&render_listener_);
render_panel_->getViewport()->setOverlaysEnabled(false);
render_panel_->getViewport()->setClearEveryFrame(true);
render_panel_->getRenderWindow()->setActive(false);
render_panel_->getRenderWindow()->setAutoUpdated(false);
render_panel_->getCamera()->setNearClipDistance( 0.1f );
caminfo_tf_filter_.connectInput(caminfo_sub_);
caminfo_tf_filter_.registerCallback(boost::bind(&CameraDisplaySave::caminfoCallback, this, _1));
vis_manager_->getFrameManager()->registerFilterForTransformStatusCheck(caminfo_tf_filter_, this);
}
