bool Dip::changePinLabels(bool singleRow, bool sip) {
if (m_viewID != ViewLayer::SchematicView) return true;
bool hasLocal = false;
QStringList labels = getPinLabels(hasLocal);
if (labels.count() == 0) return true;
QString svg;
if (singleRow) {
svg = MysteryPart::makeSchematicSvg(labels, sip);
}
else {
svg = Dip::makeSchematicSvg(labels);
}
QString chipLabel = modelPart()->localProp("chip label").toString();
if (!chipLabel.isEmpty()) {
svg =TextUtils::replaceTextElement(svg, "label", chipLabel);
}
QTransform transform = untransform();
resetLayerKin(svg);
resetConnectors();
retransform(transform);
return true;
}
/*!
sets the position without undo/redo-stuff
*/
void TextLabel::setPosition(const QPointF& point) {
Q_D(TextLabel);
if (point != d->position.point) {
d->position.point = point;
retransform();
}
}
void CartesianPlotLegend::init(){
Q_D(CartesianPlotLegend);
KConfig config;
KConfigGroup group = config.group( "CartesianPlotLegend" );
d->labelFont = group.readEntry("LabelsFont", QFont());
d->labelFont.setPixelSize( Worksheet::convertToSceneUnits( 10, Worksheet::Point ) );
d->labelColor = Qt::black;
d->labelColumnMajor = true;
d->lineSymbolWidth = group.readEntry("LineSymbolWidth", Worksheet::convertToSceneUnits(1, Worksheet::Centimeter));
d->rowCount = 0;
d->columnCount = 0;
d->position.horizontalPosition = CartesianPlotLegend::hPositionRight;
d->position.verticalPosition = CartesianPlotLegend::vPositionBottom;
//Title
d->title = new TextLabel(this->name(), TextLabel::PlotLegendTitle);
d->title->setText(this->name());
addChild(d->title);
d->title->setHidden(true);
d->title->setParentGraphicsItem(graphicsItem());
d->title->graphicsItem()->setFlag(QGraphicsItem::ItemIsMovable, false);
connect(d->title, SIGNAL(changed()), this, SLOT(retransform()));
//Background
d->backgroundType = (PlotArea::BackgroundType) group.readEntry("BackgroundType", (int) PlotArea::Color);
d->backgroundColorStyle = (PlotArea::BackgroundColorStyle) group.readEntry("BackgroundColorStyle", (int) PlotArea::SingleColor);
d->backgroundImageStyle = (PlotArea::BackgroundImageStyle) group.readEntry("BackgroundImageStyle", (int) PlotArea::Scaled);
d->backgroundBrushStyle = (Qt::BrushStyle) group.readEntry("BackgroundBrushStyle", (int) Qt::SolidPattern);
d->backgroundFileName = group.readEntry("BackgroundFileName", QString());
d->backgroundFirstColor = group.readEntry("BackgroundFirstColor", QColor(Qt::white));
d->backgroundSecondColor = group.readEntry("BackgroundSecondColor", QColor(Qt::black));
d->backgroundOpacity = group.readEntry("BackgroundOpacity", 1.0);
//Border
d->borderPen = QPen(group.readEntry("BorderColor", QColor(Qt::black)),
group.readEntry("BorderWidth", Worksheet::convertToSceneUnits(1.0, Worksheet::Point)),
(Qt::PenStyle) group.readEntry("BorderStyle", (int)Qt::SolidLine));
d->borderCornerRadius = group.readEntry("BorderCornerRadius", 0.0);
d->borderOpacity = group.readEntry("BorderOpacity", 1.0);
//Layout
d->layoutTopMargin = group.readEntry("LayoutTopMargin", Worksheet::convertToSceneUnits(0.2, Worksheet::Centimeter));
d->layoutBottomMargin = group.readEntry("LayoutBottomMargin", Worksheet::convertToSceneUnits(0.2, Worksheet::Centimeter));
d->layoutLeftMargin = group.readEntry("LayoutLeftMargin", Worksheet::convertToSceneUnits(0.2, Worksheet::Centimeter));
d->layoutRightMargin = group.readEntry("LayoutRightMargin", Worksheet::convertToSceneUnits(0.2, Worksheet::Centimeter));
d->layoutVerticalSpacing = group.readEntry("LayoutVerticalSpacing", Worksheet::convertToSceneUnits(0.1, Worksheet::Centimeter));
d->layoutHorizontalSpacing = group.readEntry("LayoutHorizontalSpacing", Worksheet::convertToSceneUnits(0.1, Worksheet::Centimeter));
d->layoutColumnCount = group.readEntry("LayoutColumnCount", 1);
graphicsItem()->setFlag(QGraphicsItem::ItemIsSelectable, true);
graphicsItem()->setFlag(QGraphicsItem::ItemIsMovable);
graphicsItem()->setFlag(QGraphicsItem::ItemSendsGeometryChanges);
this->initActions();
}
void CartesianPlotLegend::handlePageResize(double horizontalRatio, double verticalRatio){
//TODO
Q_UNUSED(horizontalRatio);
Q_UNUSED(verticalRatio);
// Q_D(const CartesianPlotLegend);
retransform();
}
void TextLabelPrivate::updateTeXImage() {
QImage resultImage = teXImageFutureWatcher.result();
if (!resultImage.isNull()) {
teXImage = resultImage;
//the size of the tex image was most probably changed.
//call retransform() to recalculate the position and the bounding box of the label
retransform();
emit q->teXImageUpdated(true);
} else {
emit q->teXImageUpdated(false);
}
}
/*!
updates the static text.
*/
void TextLabelPrivate::updateText() {
if (textWrapper.teXUsed) {
QFuture<QImage> future = QtConcurrent::run(TeXRenderer::renderImageLaTeX, textWrapper.text, teXFontColor, teXFontSize, teXImageResolution);
teXImageFutureWatcher.setFuture(future);
//don't need to call retransorm() here since it is done in updateTeXImage
//when the asynchronous rendering of the image is finished.
} else {
staticText.setText(textWrapper.text);
//the size of the label was most probably changed.
//call retransform() to recalculate the position and the bounding box of the label
retransform();
}
}
void saveTGA(struct biqstruct * biq, struct targa * tga, char filename[]) {
uint i;
int x,y;
uchar * src;
FILE * file = fopen(filename,"wb");
/* Type conversion table */
const uchar tgatypes[4] = { 0x03, 0x01, 0x02, 0x02 };
const uchar biqbpp[4] = { 8, 8, 24, 24 };
if (file==NULL) {
printf("Failed to create %s.\n",filename);
return;
}
memset(tga, 0 , sizeof(struct targa)-2*sizeof(void *)-2);
tga->type = tgatypes[biq->type];
/* Bugfix: set CLUT properties */
if (tga->type==0x01) {
tga->hasclut = 0x01;
tga->clutstart = 0x0000;
tga->clutlen = 0x1801; /* This is very weird, but it seems to work */
}
tga->width = biq->width;
tga->height = biq->height;
tga->bits = biqbpp[biq->type];
#ifdef BIGENDIAN
/* tga->clutstart = BYTESWAP(tga->clutstart); /* = 0, either way */
tga->clutlen = BYTESWAP(tga->clutlen);
tga->width = BYTESWAP(tga->width);
tga->height = BYTESWAP(tga->height);
#endif
/* Write file header, this works on both big and little endian machines */
fwrite(tga, 1, sizeof(struct targa)-2*sizeof(void *)-2, file);
/* Color mapped filetype? */
if (tga->type==0x01) {
/* Write out color map to file */
for (i=0;i<NUM_COLORS;i++) {
putc(biq->clut[i].b,file);
putc(biq->clut[i].g,file);
putc(biq->clut[i].r,file);
}
}
/* Perform inverse Wavelet transform */
retransform(biq,tga,L);
/* Save image (bottom to top)*/
/* 24bpp */
if (tga->bits==24) {
for (y=biq->height-1;y>=0;y--) {
src = &biq->coeff[y*biq->width*sizeof(uchar)];
for (x=0;x<biq->width;x++) {
/* Write B, G and R layers in interlaved order*/
putc(src[2*biq->height*biq->width*sizeof(uchar)],file);
putc(src[biq->height*biq->width*sizeof(uchar)],file);
putc(*src++,file);
}
}
}
/* 8bpp */
else {
src=&biq->coeff[biq->width*sizeof(uchar)*(biq->height-1)];
do {
fwrite(src,biq->width*sizeof(uchar),sizeof(uchar),file);
} while ((src -= biq->width*sizeof(uchar)) >= biq->coeff);
}
fclose(file);
}
void MapCloudDisplay::update( float wall_dt, float ros_dt )
{
rviz::PointCloud::RenderMode mode = (rviz::PointCloud::RenderMode) style_property_->getOptionInt();
if (needs_retransform_)
{
retransform();
needs_retransform_ = false;
}
{
boost::mutex::scoped_lock lock(new_clouds_mutex_);
if( !new_cloud_infos_.empty() )
{
float size;
if( mode == rviz::PointCloud::RM_POINTS ) {
size = point_pixel_size_property_->getFloat();
} else {
size = point_world_size_property_->getFloat();
}
std::map<int, CloudInfoPtr>::iterator it = new_cloud_infos_.begin();
std::map<int, CloudInfoPtr>::iterator end = new_cloud_infos_.end();
for (; it != end; ++it)
{
CloudInfoPtr cloud_info = it->second;
cloud_info->cloud_.reset( new rviz::PointCloud() );
cloud_info->cloud_->addPoints( &(cloud_info->transformed_points_.front()), cloud_info->transformed_points_.size() );
cloud_info->cloud_->setRenderMode( mode );
cloud_info->cloud_->setAlpha( alpha_property_->getFloat() );
cloud_info->cloud_->setDimensions( size, size, size );
cloud_info->cloud_->setAutoSize(false);
cloud_info->manager_ = context_->getSceneManager();
cloud_info->scene_node_ = scene_node_->createChildSceneNode();
cloud_info->scene_node_->attachObject( cloud_info->cloud_.get() );
cloud_info->scene_node_->setVisible(false);
cloud_infos_.insert(*it);
}
new_cloud_infos_.clear();
}
}
{
boost::recursive_mutex::scoped_try_lock lock( transformers_mutex_ );
if( lock.owns_lock() )
{
if( new_xyz_transformer_ || new_color_transformer_ )
{
M_TransformerInfo::iterator it = transformers_.begin();
M_TransformerInfo::iterator end = transformers_.end();
for (; it != end; ++it)
{
const std::string& name = it->first;
TransformerInfo& info = it->second;
setPropertiesHidden( info.xyz_props, name != xyz_transformer_property_->getStdString() );
setPropertiesHidden( info.color_props, name != color_transformer_property_->getStdString() );
}
}
}
new_xyz_transformer_ = false;
new_color_transformer_ = false;
}
int totalPoints = 0;
int totalNodesShown = 0;
{
// update poses
boost::mutex::scoped_lock lock(current_map_mutex_);
if(!current_map_.empty())
{
for (std::map<int, rtabmap::Transform>::iterator it=current_map_.begin(); it != current_map_.end(); ++it)
{
std::map<int, CloudInfoPtr>::iterator cloudInfoIt = cloud_infos_.find(it->first);
if(cloudInfoIt != cloud_infos_.end())
{
totalPoints += cloudInfoIt->second->transformed_points_.size();
cloudInfoIt->second->pose_ = it->second;
Ogre::Vector3 framePosition;
Ogre::Quaternion frameOrientation;
if (context_->getFrameManager()->getTransform(cloudInfoIt->second->message_->header, framePosition, frameOrientation))
{
// Multiply frame with pose
Ogre::Matrix4 frameTransform;
frameTransform.makeTransform( framePosition, Ogre::Vector3(1,1,1), frameOrientation);
const rtabmap::Transform & p = cloudInfoIt->second->pose_;
Ogre::Matrix4 pose(p[0], p[1], p[2], p[3],
p[4], p[5], p[6], p[7],
p[8], p[9], p[10], p[11],
0, 0, 0, 1);
frameTransform = frameTransform * pose;
Ogre::Vector3 posePosition = frameTransform.getTrans();
Ogre::Quaternion poseOrientation = frameTransform.extractQuaternion();
poseOrientation.normalise();
cloudInfoIt->second->scene_node_->setPosition(posePosition);
cloudInfoIt->second->scene_node_->setOrientation(poseOrientation);
cloudInfoIt->second->scene_node_->setVisible(true);
++totalNodesShown;
}
else
{
ROS_ERROR("MapCloudDisplay: Could not update pose of node %d", it->first);
}
}
}
//hide not used clouds
for(std::map<int, CloudInfoPtr>::iterator iter = cloud_infos_.begin(); iter!=cloud_infos_.end(); ++iter)
{
if(current_map_.find(iter->first) == current_map_.end())
{
iter->second->scene_node_->setVisible(false);
}
}
}
}
this->setStatusStd(rviz::StatusProperty::Ok, "Points", tr("%1").arg(totalPoints).toStdString());
this->setStatusStd(rviz::StatusProperty::Ok, "Nodes", tr("%1 shown of %2").arg(totalNodesShown).arg(cloud_infos_.size()).toStdString());
}
