void GridDisplay::updateColor()
{
QColor color = color_property_->getColor();
color.setAlphaF( alpha_property_->getFloat() );
grid_->setColor( qtToOgre( color ));
context_->queueRender();
}
void GridDisplay::onInitialize()
{
QColor color = color_property_->getColor();
color.setAlphaF( alpha_property_->getFloat() );
frame_property_->setFrameManager( context_->getFrameManager() );
grid_ = new Grid( scene_manager_, scene_node_,
(Grid::Style) style_property_->getOptionInt(),
cell_count_property_->getInt(),
cell_size_property_->getFloat(),
line_width_property_->getFloat(),
qtToOgre( color ));
grid_->getSceneNode()->setVisible( false );
updatePlane();
}
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();
}
}
void VisualizationManager::updateBackgroundColor()
{
render_panel_->setBackgroundColor( qtToOgre( background_color_property_->getColor() ));
queueRender();
}
