コード例 #1
0
ファイル: Button.cpp プロジェクト: dawidvd/Projekt-PO
Button::Button(Point position,  int width,  int high) : Element(position, width, high)
{
    unHighlight();
}
コード例 #2
0
CameraView::CameraView( QWidget* parent, Base3DView* copy_from )
    : Base3DView( copy_from, "/world", "CameraView", parent )
    , camera_frame_topic_("")
    , feed_rate_(0)
    , feed_resolution_(4)
    , area_rate_(0)
    , area_resolution_(0)
    , setting_pose_(false)
    , selection_made_(false)
    , initialized_(false)
    , selection_tool_enabled_( true )
    , current_pitch_(0)
{
    this->setMouseTracking(true);

    // Load camera topics from parameter server
    loadCameraTopics("/flor/ocs/camera/atlas");
    loadCameraTopics("/flor/ocs/camera/left_hand");
    loadCameraTopics("/flor/ocs/camera/right_hand");

    // Make sure we have camera topics
    if(!camera_.size())
    {
        ROS_ERROR("Need to load camera topics in the parameter server. Try using:\n\troslaunch vigir_ocs vigir_ocs.launch\t\t- for the OCS UI\n\troslaunch vigir_ocs vigir_ocs_camera.launch\t- for the camera widgets standalone");
        exit(1);
    }

    // Create a camera/image display.
    camera_viewer_ = manager_->createDisplay( "rviz/CameraDisplayCustom", "Camera image", true ); // this would use the plugin instead of manually adding the display object to the manager
    ROS_ASSERT( camera_viewer_ != NULL );

    ((rviz::CameraDisplayCustom*)camera_viewer_)->setRenderPanel( render_panel_ );
    ((rviz::CameraDisplayCustom*)camera_viewer_)->setup();
    ((rviz::CameraDisplayCustom*)camera_viewer_)->setViewID(view_id_);

    // Add support for selection
    selection_tool_ = manager_->getToolManager()->addTool( "rviz/ImageSelectionToolCustom" );

    std::bitset<32> y(camera_viewer_->getVisibilityBits());
    std::cout << "camera vis bit: " << y << std::endl;
    uint32_t vis_bit = 0xFFFFFFFF;
    for(int i = 0; i < 4; i++)
    {
        std::bitset<32> a((uint32_t)pow(2,i));
        std::cout << "\tsetting: " << a << std::endl;

        if(view_id_ == i)
            vis_bit |= (uint32_t)pow(2,i); // send the viewport visilibity bit to the display and display will know if it should render there or not.
        else
            vis_bit &= ~(uint32_t)pow(2,i);
    }

    std::bitset<32> x(vis_bit);
    std::cout << "tool vis bit:   " << x << std::endl;
    ((rviz::ImageSelectionToolCustom*)selection_tool_)->setVisibilityBits(vis_bit);
    ((rviz::CameraDisplayCustom*)camera_viewer_)->setVisibilityBits(vis_bit);

    // connect the selection tool select signal to this
    QObject::connect(selection_tool_, SIGNAL(select(int,int,int,int)), this, SLOT(select(int,int,int,int)));
    manager_->getToolManager()->setCurrentTool( selection_tool_ );

    if(!copy_from)
    {
        robot_model_->setEnabled(false);
        ghost_robot_model_->setEnabled(false);
    }

    QObject::connect(this, SIGNAL(setFullImageResolution(int)), camera_viewer_, SLOT(changeFullImageResolution(int)));
    QObject::connect(this, SIGNAL(setCropImageResolution(int)), camera_viewer_, SLOT(changeCropImageResolution(int)));
    QObject::connect(this, SIGNAL(setCameraSpeed(int)), camera_viewer_, SLOT(changeCameraSpeed(int)));
    QObject::connect(this, SIGNAL(setCropCameraSpeed(int)), camera_viewer_, SLOT(changeCropCameraSpeed(int)));
    QObject::connect(this, SIGNAL(publishCropImageRequest()), camera_viewer_, SLOT(publishCropImageRequest()));
    QObject::connect(this, SIGNAL(publishFullImageRequest()), camera_viewer_, SLOT(publishFullImageRequest()));

    QObject::connect(this, SIGNAL(unHighlight()), selection_tool_, SLOT(unHighlight()));

    QObject::connect(camera_viewer_, SIGNAL(updateFrameID(std::string)), this, SLOT(updateImageFrame(std::string)));

    Q_EMIT unHighlight();

    if(!nh_.getParam("pitch_joint", joint_name_))
    {
        joint_name_ = "neck_ry";
    }
    // and advertise the head pitch update function
    //head_pitch_update_pub_ = nh_.advertise<std_msgs::Float64>( "/atlas/pos_cmd/neck_ry", 1, false );
    head_pitch_update_traj_pub_ = nh_.advertise<trajectory_msgs::JointTrajectory > ("/trajectory_controllers/neck_traj_controller/command",1,false);

    rviz::EmptyViewController* camera_controller = new rviz::EmptyViewController();
    camera_controller->initialize( render_panel_->getManager() );
    render_panel_->setViewController( camera_controller );

    close_area_button_ = new QPushButton("X",this);
    QObject::connect(close_area_button_, SIGNAL(clicked()), this, SLOT(closeSelectedArea()));
    close_area_button_->hide();
    close_area_button_->setStyleSheet(QString("QPushButton  { ") +
                                      " background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:0, y2:1, stop:0 rgba(240, 240, 240, 255), stop:1 rgba(222, 222, 222, 255));" +
                                      " border-style: solid;" +
                                      " border-width: 1px;" +
                                      " border-radius: 1px;" +
                                      " border-color: gray;" +
                                      " padding: 0px;" +
                                      " font: \"Ubuntu\";"
                                      " font-size: 9px;"
                                      "}" +
                                      "QPushButton:pressed  {" +
                                      " padding-top:1px; padding-left:1px;" +
                                      " background-color: rgb(180,180,180);" +
                                      " border-style: inset;" +
                                      "}");
    QObject::connect((selection_tool_), SIGNAL(mouseHasMoved(int,int)), this, SLOT(mouseMoved(int,int)));

    // set scale of the selection marker
    selection_3d_display_->subProp("Scale")->setValue(0.001f);
    selection_3d_display_->subProp("Constant Visual Size")->setValue(false);

    // advertise pointcloud request
    pointcloud_request_frame_pub_ = nh_.advertise<geometry_msgs::PointStamped>( "/flor/worldmodel/ocs/dist_query_pointcloud_request_frame", 1, false );

    //reset_view_button_->setParent(0);
    //delete reset_view_button_;
    //reset_view_button_ = NULL;
    reset_view_button_->hide();

    // make sure we're still able to cancel set goal pose
    QObject::connect(render_panel_, SIGNAL(signalKeyPressEvent(QKeyEvent*)), this, SLOT(keyPressEvent(QKeyEvent*)));

    QObject::connect(render_panel_, SIGNAL(signalMouseEnterEvent(QEvent*)), this, SLOT(mouseEnterEvent(QEvent*)));
    QObject::connect(render_panel_, SIGNAL(signalMouseMoveEvent(QMouseEvent*)), this, SLOT(mouseMoveEvent(QMouseEvent*)));

    Q_FOREACH( QWidget* sp, findChildren<QWidget*>() ) {
        sp->installEventFilter( this );
        sp->setMouseTracking( true );
    }
コード例 #3
0
ファイル: MSPrimitive.C プロジェクト: PlanetAPL/a-plus
void MSPrimitive::focusOut(void)     
{ unHighlight(); }
コード例 #4
0
ファイル: MSComposite.C プロジェクト: seanstickle/aplus
void MSComposite::focusOut(void)
{
    unHighlight();
}