void MarkerDisplay::failedMarker(const ros::MessageEvent<visualization_msgs::Marker>& marker_evt, tf::FilterFailureReason reason)
{
visualization_msgs::Marker::ConstPtr marker = marker_evt.getConstMessage();
std::string authority = marker_evt.getPublisherName();
std::string error = context_->getFrameManager()->discoverFailureReason(marker->header.frame_id, marker->header.stamp, authority, reason);
setMarkerStatus(MarkerID(marker->ns, marker->id), StatusProperty::Error, error);
}
void MarkerDisplayCustom::failedMarker(const ros::MessageEvent<visualization_msgs::Marker>& marker_evt, tf::FilterFailureReason reason)
{
/// Changed in indigo
// std::string error = context_->getFrameManager()->discoverFailureReason(marker->header.frame_id, marker->header.stamp, marker->__connection_header ? (*marker->__connection_header)["callerid"] : "unknown", reason);
// setMarkerStatus(MarkerID(marker->ns, marker->id), StatusProperty::Error, error);
visualization_msgs::Marker::ConstPtr marker = marker_evt.getConstMessage();
std::string authority = marker_evt.getPublisherName();
std::string error = context_->getFrameManager()->discoverFailureReason(marker->header.frame_id, marker->header.stamp, authority, reason);
setMarkerStatus(MarkerID(marker->ns, marker->id), StatusProperty::Error, error);
}
void ShapeMarker::onNewMessage( const MarkerConstPtr& old_message,
const MarkerConstPtr& new_message )
{
if (!shape_ || old_message->type != new_message->type)
{
delete shape_;
shape_ = 0;
Shape::Type shape_type = Shape::Cube;
switch( new_message->type )
{
case visualization_msgs::Marker::CUBE: shape_type = Shape::Cube; break;
case visualization_msgs::Marker::CYLINDER: shape_type = Shape::Cylinder; break;
case visualization_msgs::Marker::SPHERE: shape_type = Shape::Sphere; break;
default:
ROS_BREAK();
break;
}
shape_ = new Shape( shape_type, context_->getSceneManager(), scene_node_ );
handler_.reset( new MarkerSelectionHandler( this, MarkerID( new_message->ns, new_message->id ), context_ ));
handler_->addTrackedObjects( shape_->getRootNode() );
}
Ogre::Vector3 pos, scale, scale_correct;
Ogre::Quaternion orient;
transform(new_message, pos, orient, scale);
if (owner_ && (new_message->scale.x * new_message->scale.y
* new_message->scale.z == 0.0f))
{
owner_->setMarkerStatus(getID(), StatusProperty::Warn,
"Scale of 0 in one of x/y/z");
}
setPosition(pos);
setOrientation( orient * Ogre::Quaternion( Ogre::Degree(90), Ogre::Vector3(1,0,0) ) );
scale_correct = Ogre::Quaternion( Ogre::Degree(90), Ogre::Vector3(1,0,0) ) * scale;
shape_->setScale(scale_correct);
shape_->setColor(new_message->color.r, new_message->color.g,
new_message->color.b, new_message->color.a);
}
void MarkerDisplay::processMessage( const visualization_msgs::Marker::ConstPtr& message )
{
if (!validateFloats(*message))
{
setMarkerStatus(MarkerID(message->ns, message->id), StatusProperty::Error, "Contains invalid floating point values (nans or infs)");
return;
}
switch ( message->action )
{
case visualization_msgs::Marker::ADD:
processAdd( message );
break;
case visualization_msgs::Marker::DELETE:
processDelete( message );
break;
default:
ROS_ERROR( "Unknown marker action: %d\n", message->action );
}
}
void LineListMarker::onNewMessage(const MarkerConstPtr& old_message, const MarkerConstPtr& new_message)
{
ROS_ASSERT(new_message->type == visualization_msgs::Marker::LINE_LIST);
if (!lines_)
{
lines_ = new BillboardLine(context_->getSceneManager(), scene_node_);
}
Ogre::Vector3 pos, scale;
Ogre::Quaternion orient;
transform(new_message, pos, orient, scale);
setPosition(pos);
setOrientation(orient);
lines_->setScale(scale);
lines_->setColor(new_message->color.r, new_message->color.g, new_message->color.b, new_message->color.a);
lines_->clear();
if (new_message->points.empty())
{
return;
}
bool has_per_point_color = new_message->colors.size() == new_message->points.size();
if (new_message->points.size() % 2 == 0)
{
lines_->setLineWidth( new_message->scale.x );
lines_->setMaxPointsPerLine(2);
lines_->setNumLines(new_message->points.size() / 2);
size_t i = 0;
std::vector<geometry_msgs::Point>::const_iterator it = new_message->points.begin();
std::vector<geometry_msgs::Point>::const_iterator end = new_message->points.end();
for ( ; it != end; )
{
if (it != new_message->points.begin())
{
lines_->newLine();
}
for (uint32_t j = 0; j < 2; ++j, ++it, ++i)
{
const geometry_msgs::Point& p = *it;
Ogre::ColourValue c;
if (has_per_point_color)
{
const std_msgs::ColorRGBA& color = new_message->colors[i];
c.r = color.r;
c.g = color.g;
c.b = color.b;
c.a = color.a;
}
else
{
c.r = new_message->color.r;
c.g = new_message->color.g;
c.b = new_message->color.b;
c.a = new_message->color.a;
}
Ogre::Vector3 v( p.x, p.y, p.z );
lines_->addPoint( v, c );
}
}
handler_.reset( new MarkerSelectionHandler( this, MarkerID( new_message->ns, new_message->id ), context_ ));
handler_->addTrackedObjects( lines_->getSceneNode() );
}
else
{
std::stringstream ss;
ss << "Line list marker [" << getStringID() << "] has an odd number of points.";
if ( owner_ )
{
owner_->setMarkerStatus(getID(), StatusProperty::Error, ss.str());
}
ROS_DEBUG("%s", ss.str().c_str());
}
}
void MarkerDisplay::processDelete( const visualization_msgs::Marker::ConstPtr& message )
{
deleteMarker(MarkerID(message->ns, message->id));
context_->queueRender();
}
void MarkerDisplay::processAdd( const visualization_msgs::Marker::ConstPtr& message )
{
QString namespace_name = QString::fromStdString( message->ns );
M_Namespace::iterator ns_it = namespaces_.find( namespace_name );
if( ns_it == namespaces_.end() )
{
ns_it = namespaces_.insert( namespace_name, new MarkerNamespace( namespace_name, namespaces_category_, this ));
}
if( !ns_it.value()->isEnabled() )
{
return;
}
deleteMarkerStatus( MarkerID( message->ns, message->id ));
bool create = true;
MarkerBasePtr marker;
M_IDToMarker::iterator it = markers_.find( MarkerID(message->ns, message->id) );
if ( it != markers_.end() )
{
marker = it->second;
markers_with_expiration_.erase(marker);
if ( message->type == marker->getMessage()->type )
{
create = false;
}
else
{
markers_.erase( it );
}
}
if ( create )
{
switch ( message->type )
{
case visualization_msgs::Marker::CUBE:
case visualization_msgs::Marker::CYLINDER:
case visualization_msgs::Marker::SPHERE:
{
marker.reset(new ShapeMarker(this, context_, scene_node_));
}
break;
case visualization_msgs::Marker::ARROW:
{
marker.reset(new ArrowMarker(this, context_, scene_node_));
}
break;
case visualization_msgs::Marker::LINE_STRIP:
{
marker.reset(new LineStripMarker(this, context_, scene_node_));
}
break;
case visualization_msgs::Marker::LINE_LIST:
{
marker.reset(new LineListMarker(this, context_, scene_node_));
}
break;
case visualization_msgs::Marker::SPHERE_LIST:
case visualization_msgs::Marker::CUBE_LIST:
case visualization_msgs::Marker::POINTS:
{
marker.reset(new PointsMarker(this, context_, scene_node_));
}
break;
case visualization_msgs::Marker::TEXT_VIEW_FACING:
{
marker.reset(new TextViewFacingMarker(this, context_, scene_node_));
}
break;
case visualization_msgs::Marker::MESH_RESOURCE:
{
marker.reset(new MeshResourceMarker(this, context_, scene_node_));
}
break;
case visualization_msgs::Marker::TRIANGLE_LIST:
{
marker.reset(new TriangleListMarker(this, context_, scene_node_));
}
break;
default:
ROS_ERROR( "Unknown marker type: %d", message->type );
}
markers_.insert(std::make_pair(MarkerID(message->ns, message->id), marker));
}
if (marker)
{
marker->setMessage(message);
if (message->lifetime.toSec() > 0.0001f)
{
markers_with_expiration_.insert(marker);
}
if (message->frame_locked)
{
frame_locked_markers_.insert(marker);
}
context_->queueRender();
}
}
void MeshResourceMarker::onNewMessage(const MarkerConstPtr& old_message, const MarkerConstPtr& new_message)
{
ROS_ASSERT(new_message->type == visualization_msgs::Marker::MESH_RESOURCE);
bool need_color = false;
scene_node_->setVisible(false);
if( !entity_ ||
old_message->mesh_resource != new_message->mesh_resource ||
old_message->mesh_use_embedded_materials != new_message->mesh_use_embedded_materials )
{
reset();
if (new_message->mesh_resource.empty())
{
return;
}
if (loadMeshFromResource(new_message->mesh_resource).isNull())
{
std::stringstream ss;
ss << "Mesh resource marker [" << getStringID() << "] could not load [" << new_message->mesh_resource << "]";
if ( owner_ )
{
owner_->setMarkerStatus(getID(), StatusProperty::Error, ss.str());
}
ROS_DEBUG("%s", ss.str().c_str());
return;
}
static uint32_t count = 0;
std::stringstream ss;
ss << "mesh_resource_marker_" << count++;
std::string id = ss.str();
entity_ = context_->getSceneManager()->createEntity(id, new_message->mesh_resource);
scene_node_->attachObject(entity_);
need_color = true;
// create a default material for any sub-entities which don't have their own.
ss << "Material";
Ogre::MaterialPtr default_material = Ogre::MaterialManager::getSingleton().create( ss.str(), ROS_PACKAGE_NAME );
default_material->setReceiveShadows(false);
default_material->getTechnique(0)->setLightingEnabled(true);
default_material->getTechnique(0)->setAmbient( 0.5, 0.5, 0.5 );
materials_.insert( default_material );
if ( new_message->mesh_use_embedded_materials )
{
// make clones of all embedded materials so selection works correctly
S_MaterialPtr materials = getMaterials();
S_MaterialPtr::iterator it;
for ( it = materials.begin(); it!=materials.end(); it++ )
{
if( (*it)->getName() != "BaseWhiteNoLighting" )
{
Ogre::MaterialPtr new_material = (*it)->clone( id + (*it)->getName() );
materials_.insert( new_material );
}
}
// make sub-entities use cloned materials
for (uint32_t i = 0; i < entity_->getNumSubEntities(); ++i)
{
std::string mat_name = entity_->getSubEntity(i)->getMaterialName();
if( mat_name != "BaseWhiteNoLighting" )
{
entity_->getSubEntity(i)->setMaterialName( id + mat_name );
}
else
{
// BaseWhiteNoLighting is the default material Ogre uses
// when it sees a mesh with no material. Here we replace
// that with our default_material which gets colored with
// new_message->color.
entity_->getSubEntity(i)->setMaterial( default_material );
}
}
}
else
{
entity_->setMaterial( default_material );
}
context_->getSelectionManager()->removeObject(coll_);
coll_ = context_->getSelectionManager()->createCollisionForEntity(entity_, SelectionHandlerPtr(new MarkerSelectionHandler(this, MarkerID(new_message->ns, new_message->id))), coll_);
}
if( need_color ||
old_message->color.r != new_message->color.r ||
old_message->color.g != new_message->color.g ||
old_message->color.b != new_message->color.b ||
old_message->color.a != new_message->color.a )
{
float r = new_message->color.r;
float g = new_message->color.g;
float b = new_message->color.b;
float a = new_message->color.a;
// Old way was to ignore the color and alpha when using embedded
// materials, which meant you could leave them unset, which means
// 0. Since we now USE the color and alpha values, leaving them
// all 0 will mean the object will be invisible. Therefore detect
// the situation where RGBA are all 0 and treat that the same as
// all 1 (full white).
if( new_message->mesh_use_embedded_materials && r == 0 && g == 0 && b == 0 && a == 0 )
{
r = 1; g = 1; b = 1; a = 1;
}
Ogre::SceneBlendType blending;
bool depth_write;
if ( a < 0.9998 )
{
blending = Ogre::SBT_TRANSPARENT_ALPHA;
depth_write = false;
}
else
{
blending = Ogre::SBT_REPLACE;
depth_write = true;
}
S_MaterialPtr::iterator it;
for( it = materials_.begin(); it != materials_.end(); it++ )
{
Ogre::Technique* technique = (*it)->getTechnique( 0 );
technique->setAmbient( r*0.5, g*0.5, b*0.5 );
technique->setDiffuse( r, g, b, a );
technique->setSceneBlending( blending );
technique->setDepthWriteEnabled( depth_write );
}
}
Ogre::Vector3 pos, scale;
Ogre::Quaternion orient;
transform(new_message, pos, orient, scale);
scene_node_->setVisible(true);
setPosition(pos);
setOrientation(orient);
// In Ogre, mesh surface normals are not normalized if object is not
// scaled. This forces the surface normals to be renormalized by
// invisibly tweaking the scale.
if( scale.x == 1.0 && scale.y == 1.0 && scale.z == 1.0 )
{
scale.z = 1.0001;
}
scene_node_->setScale(scale);
}
void MeshResourceMarker::onNewMessage(const MarkerConstPtr& old_message, const MarkerConstPtr& new_message)
{
ROS_ASSERT(new_message->type == visualization_msgs::Marker::MESH_RESOURCE);
// flag indicating if the mesh material color needs to be updated
bool update_color = false;
scene_node_->setVisible(false);
if (!entity_ ||
old_message->mesh_resource != new_message->mesh_resource ||
old_message->mesh_use_embedded_materials != new_message->mesh_use_embedded_materials)
{
reset();
if (new_message->mesh_resource.empty())
{
return;
}
if (loadMeshFromResource(new_message->mesh_resource).isNull())
{
std::stringstream ss;
ss << "Mesh resource marker [" << getStringID() << "] could not load [" << new_message->mesh_resource << "]";
if (owner_)
{
owner_->setMarkerStatus(getID(), StatusProperty::Error, ss.str());
}
ROS_DEBUG("%s", ss.str().c_str());
return;
}
static uint32_t count = 0;
std::stringstream ss;
ss << "mesh_resource_marker_" << count++;
std::string id = ss.str();
entity_ = context_->getSceneManager()->createEntity(id, new_message->mesh_resource);
scene_node_->attachObject(entity_);
// create a default material for any sub-entities which don't have their own.
ss << "Material";
Ogre::MaterialPtr default_material = Ogre::MaterialManager::getSingleton().create(ss.str(), ROS_PACKAGE_NAME);
default_material->setReceiveShadows(false);
default_material->getTechnique(0)->setLightingEnabled(true);
default_material->getTechnique(0)->setAmbient(0.5, 0.5, 0.5);
materials_.insert(default_material);
if (new_message->mesh_use_embedded_materials)
{
// make clones of all embedded materials so selection works correctly
S_MaterialPtr materials = getMaterials();
S_MaterialPtr::iterator it;
for (it = materials.begin(); it != materials.end(); it++)
{
if ((*it)->getName() != "BaseWhiteNoLighting")
{
Ogre::MaterialPtr new_material = (*it)->clone(id + (*it)->getName());
materials_.insert(new_material);
}
}
// make sub-entities use cloned materials
for (uint32_t i = 0; i < entity_->getNumSubEntities(); ++i)
{
std::string mat_name = entity_->getSubEntity(i)->getMaterialName();
if (mat_name != "BaseWhiteNoLighting")
{
entity_->getSubEntity(i)->setMaterialName(id + mat_name);
}
else
{
// BaseWhiteNoLighting is the default material Ogre uses
// when it sees a mesh with no material. Here we replace
// that with our default_material which gets colored with
// new_message->color.
entity_->getSubEntity(i)->setMaterial(default_material);
}
}
}
else
{
entity_->setMaterial(default_material);
}
// add a pass to every material to perform the color tinting
S_MaterialPtr::iterator material_it;
for (material_it = materials_.begin(); material_it != materials_.end(); material_it++)
{
Ogre::Technique* technique = (*material_it)->getTechnique(0);
color_tint_passes_.push_back(technique->createPass());
}
// always update color on resource change
update_color = true;
handler_.reset(new MarkerSelectionHandler(this, MarkerID(new_message->ns, new_message->id), context_));
handler_->addTrackedObject(entity_);
}
else
{
// underlying mesh resource has not changed but if the color has
// then we need to update the materials color
if (!old_message
|| old_message->color.r != new_message->color.r
|| old_message->color.g != new_message->color.g
|| old_message->color.b != new_message->color.b
|| old_message->color.a != new_message->color.a)
{
update_color = true;
}
}
// update material color
// if the mesh_use_embedded_materials is true and color is non-zero
// then the color will be used to tint the embedded materials
if (update_color)
{
float r = new_message->color.r;
float g = new_message->color.g;
float b = new_message->color.b;
float a = new_message->color.a;
Ogre::SceneBlendType blending;
bool depth_write;
if (a < 0.9998)
{
blending = Ogre::SBT_TRANSPARENT_ALPHA;
depth_write = false;
}
else
{
blending = Ogre::SBT_REPLACE;
depth_write = true;
}
for (std::vector<Ogre::Pass*>::iterator it = color_tint_passes_.begin();
it != color_tint_passes_.end();
++it)
{
(*it)->setAmbient(0.5 * r, 0.5 * g, 0.5 * b);
(*it)->setDiffuse(r, g, b, a);
(*it)->setSceneBlending(blending);
(*it)->setDepthWriteEnabled(depth_write);
(*it)->setLightingEnabled(true);
}
}
Ogre::Vector3 pos, scale;
Ogre::Quaternion orient;
transform(new_message, pos, orient, scale);
scene_node_->setVisible(true);
setPosition(pos);
setOrientation(orient);
scene_node_->setScale(scale);
}
void PointsMarkerCustom::onNewMessage(const MarkerConstPtr& old_message, const MarkerConstPtr& new_message)
{
ROS_ASSERT(new_message->type == visualization_msgs::Marker::POINTS ||
new_message->type == visualization_msgs::Marker::CUBE_LIST ||
new_message->type == visualization_msgs::Marker::SPHERE_LIST);
if (!points_)
{
points_ = new PointCloudCustom();
scene_node_->attachObject(points_);
}
Ogre::Vector3 pos, scale;
Ogre::Quaternion orient;
transform(new_message, pos, orient, scale);
switch (new_message->type)
{
case visualization_msgs::Marker::POINTS:
points_->setRenderMode(PointCloudCustom::RM_SQUARES);
points_->setDimensions(new_message->scale.x, new_message->scale.y, 0.0f);
break;
case visualization_msgs::Marker::CUBE_LIST:
points_->setRenderMode(PointCloudCustom::RM_BOXES);
points_->setDimensions(scale.x, scale.y, scale.z);
break;
case visualization_msgs::Marker::SPHERE_LIST:
points_->setRenderMode(PointCloudCustom::RM_SPHERES);
points_->setDimensions(scale.x, scale.y, scale.z);
break;
}
setPosition(pos);
setOrientation(orient);
points_->clear();
if (new_message->points.empty())
{
return;
}
float r = new_message->color.r;
float g = new_message->color.g;
float b = new_message->color.b;
float a = new_message->color.a;
bool has_per_point_color = new_message->colors.size() == new_message->points.size();
bool has_nonzero_alpha = false;
bool has_per_point_alpha = false;
typedef std::vector< PointCloudCustom::Point > V_Point;
V_Point points;
points.resize(new_message->points.size());
std::vector<geometry_msgs::Point>::const_iterator it = new_message->points.begin();
std::vector<geometry_msgs::Point>::const_iterator end = new_message->points.end();
for (int i = 0; it != end; ++it, ++i)
{
const geometry_msgs::Point& p = *it;
PointCloudCustom::Point& point = points[i];
Ogre::Vector3 v(p.x, p.y, p.z);
point.position.x = v.x;
point.position.y = v.y;
point.position.z = v.z;
if (has_per_point_color)
{
const std_msgs::ColorRGBA& color = new_message->colors[i];
r = color.r;
g = color.g;
b = color.b;
a = color.a;
has_nonzero_alpha = has_nonzero_alpha || a != 0.0;
has_per_point_alpha = has_per_point_alpha || a != 1.0;
}
point.setColor(r, g, b, a);
}
if (has_per_point_color)
{
if (!has_nonzero_alpha )
{
owner_->setMarkerStatus(getID(), StatusProperty::Warn, "All points have a zero alpha value.");
}
points_->setAlpha(1.0, has_per_point_alpha);
}
else
{
points_->setAlpha(a);
}
points_->addPoints(&points.front(), points.size());
handler_.reset( new MarkerSelectionHandlerCustom( this, MarkerID( new_message->ns, new_message->id ), context_ ));
points_->setPickColor( SelectionManager::handleToColor( handler_->getHandle() ));
}
void MarkerDisplay::failedMarker(const visualization_msgs::Marker::ConstPtr& marker, tf::FilterFailureReason reason)
{
std::string error = context_->getFrameManager()->discoverFailureReason(marker->header.frame_id, marker->header.stamp, marker->__connection_header ? (*marker->__connection_header)["callerid"] : "unknown", reason);
setMarkerStatus(MarkerID(marker->ns, marker->id), StatusProperty::Error, error);
}