BoundingBoxDisplay::BoundingBoxDisplay()
{
coloring_property_ = new rviz::EnumProperty(
"coloring", "Flat color",
"coloring method",
this, SLOT(updateColoring()));
coloring_property_->addOption("Flat color", 0);
coloring_property_->addOption("Label", 1);
coloring_property_->addOption("Value", 2);
color_property_ = new rviz::ColorProperty(
"color", QColor(25, 255, 0),
"color to draw the bounding boxes",
this, SLOT(updateColor()));
alpha_property_ = new rviz::FloatProperty(
"alpha", 0.8,
"alpha value to draw the bounding boxes",
this, SLOT(updateAlpha()));
only_edge_property_ = new rviz::BoolProperty(
"only edge", false,
"show only the edges of the boxes",
this, SLOT(updateOnlyEdge()));
line_width_property_ = new rviz::FloatProperty(
"line width", 0.005,
"line width of the edges",
this, SLOT(updateLineWidth()));
show_coords_property_ = new rviz::BoolProperty(
"show coords", false,
"show coordinate of bounding box",
this, SLOT(updateShowCoords()));
}
void OverlayTextDisplay::updateOvertakeColorProperties()
{
if (!overtake_color_properties_ &&
overtake_color_properties_property_->getBool()) {
// read all the parameters from properties
updateFGColor();
updateFGAlpha();
updateBGColor();
updateBGAlpha();
updateFont();
updateLineWidth();
require_update_texture_ = true;
}
overtake_color_properties_ = overtake_color_properties_property_->getBool();
if (overtake_color_properties_) {
fg_color_property_->show();
fg_alpha_property_->show();
bg_color_property_->show();
bg_alpha_property_->show();
line_width_property_->show();
font_property_->show();
}
else {
fg_color_property_->hide();
fg_alpha_property_->hide();
bg_color_property_->hide();
bg_alpha_property_->hide();
line_width_property_->hide();
font_property_->hide();
}
}
PathDisplay::PathDisplay()
{
style_property_ = new EnumProperty( "Line Style", "Lines",
"The rendering operation to use to draw the grid lines.",
this, SLOT( updateStyle() ));
style_property_->addOption( "Lines", LINES );
style_property_->addOption( "Billboards", BILLBOARDS );
line_width_property_ = new FloatProperty( "Line Width", 0.03,
"The width, in meters, of each path line."
"Only works with the 'Billboards' style.",
this, SLOT( updateLineWidth() ), this );
line_width_property_->setMin( 0.001 );
line_width_property_->hide();
color_property_ = new ColorProperty( "Color", QColor( 25, 255, 0 ),
"Color to draw the path.", this );
alpha_property_ = new FloatProperty( "Alpha", 1.0,
"Amount of transparency to apply to the path.", this );
buffer_length_property_ = new IntProperty( "Buffer Length", 1,
"Number of paths to display.",
this, SLOT( updateBufferLength() ));
buffer_length_property_->setMin( 1 );
offset_property_ = new VectorProperty( "Offset", Ogre::Vector3::ZERO,
"Allows you to offset the path from the origin of the reference frame. In meters.",
this, SLOT( updateOffset() ));
}
void Plotter2DDisplay::onInitialize()
{
static int count = 0;
rviz::UniformStringStream ss;
ss << "Plotter2DDisplayObject" << count++;
overlay_.reset(new OverlayObject(ss.str()));
updateBufferSize();
onEnable();
updateShowValue();
updateWidth();
updateHeight();
updateLeft();
updateTop();
updateFGColor();
updateBGColor();
updateFGAlpha();
updateBGAlpha();
updateLineWidth();
updateUpdateInterval();
updateShowBorder();
updateAutoColorChange();
updateMaxColor();
updateShowCaption();
updateTextSize();
updateAutoScale();
updateMinValue();
updateMaxValue();
overlay_->updateTextureSize(width_property_->getInt(),
height_property_->getInt() + caption_offset_);
}
GridDisplay::GridDisplay()
: Display()
{
frame_property_ = new TfFrameProperty( "Reference Frame", TfFrameProperty::FIXED_FRAME_STRING,
"The TF frame this grid will use for its origin.",
this, 0, true );
cell_count_property_ = new IntProperty( "Plane Cell Count", 10,
"The number of cells to draw in the plane of the grid.",
this, SLOT( updateCellCount() ));
cell_count_property_->setMin( 1 );
height_property_ = new IntProperty( "Normal Cell Count", 0,
"The number of cells to draw along the normal vector of the grid. "
" Setting to anything but 0 makes the grid 3D.",
this, SLOT( updateHeight() ));
height_property_->setMin( 0 );
cell_size_property_ = new FloatProperty( "Cell Size", 1.0f,
"The length, in meters, of the side of each cell.",
this, SLOT( updateCellSize() ));
cell_size_property_->setMin( 0.0001 );
style_property_ = new EnumProperty( "Line Style", "Lines",
"The rendering operation to use to draw the grid lines.",
this, SLOT( updateStyle() ));
style_property_->addOption( "Lines", Grid::Lines );
style_property_->addOption( "Billboards", Grid::Billboards );
line_width_property_ = new FloatProperty( "Line Width", 0.03,
"The width, in meters, of each grid line.",
style_property_, SLOT( updateLineWidth() ), this );
line_width_property_->setMin( 0.001 );
line_width_property_->hide();
color_property_ = new ColorProperty( "Color", Qt::gray,
"The color of the grid lines.",
this, SLOT( updateColor() ));
alpha_property_ = new FloatProperty( "Alpha", 0.5f,
"The amount of transparency to apply to the grid lines.",
this, SLOT( updateColor() ));
alpha_property_->setMin( 0.0f );
alpha_property_->setMax( 1.0f );
plane_property_ = new EnumProperty( "Plane", "XY",
"The plane to draw the grid along.",
this, SLOT( updatePlane() ));
plane_property_->addOption( "XY", XY );
plane_property_->addOption( "XZ", XZ );
plane_property_->addOption( "YZ", YZ );
offset_property_ = new VectorProperty( "Offset", Ogre::Vector3::ZERO,
"Allows you to offset the grid from the origin of the reference frame. In meters.",
this, SLOT( updateOffset() ));
}
void BoundingBoxDisplay::onInitialize()
{
MFDClass::onInitialize();
scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode();
updateColor();
updateAlpha();
updateOnlyEdge();
updateColoring();
updateLineWidth();
updateShowCoords();
}
void updateCTM(GfxState *state,
double m11, double m12,
double m21, double m22,
double m31, double m32)
{
double *ctm = getDefCTM();
updateLineDash(state);
updateLineJoin(state);
updateLineCap(state);
updateLineWidth(state);
}
//! Change back to the old state
void restoreState(GfxState *state)
{
g_print ("restoreState\n");
// should contain all of our update*() methods?
updateLineWidth(state);
updateLineDash(state);
updateLineJoin(state);
updateLineCap(state);
updateStrokeColor(state);
updateStrokeOpacity(state);
updateFillColor(state);
updateFillOpacity(state);
updateFont(state);
}
void OverlayTextDisplay::updateOvertakeColorProperties()
{
if (!overtake_color_properties_ &&
overtake_color_properties_property_->getBool()) {
// read all the parameters from properties
updateFGColor();
updateFGAlpha();
updateBGColor();
updateBGAlpha();
updateFont();
updateLineWidth();
require_update_texture_ = true;
}
overtake_color_properties_ = overtake_color_properties_property_->getBool();
}
//! Change back to the old state
void restoreState(GfxState *state)
{
// just restore the matrix for now
this->matrices.pop_back();
this->matrix = this->matrices.back();
// should contain all of our update*() methods?
updateLineWidth(state);
updateLineDash(state);
updateLineJoin(state);
updateLineCap(state);
updateStrokeColor(state);
updateStrokeOpacity(state);
updateFillColor(state);
updateFillOpacity(state);
updateFont(state);
}
// only the first time
void OverlayTextDisplay::onInitialize()
{
onEnable();
updateTopic();
updateOvertakePositionProperties();
updateOvertakeColorProperties();
updateTop();
updateLeft();
updateWidth();
updateHeight();
updateTextSize();
updateFGColor();
updateFGAlpha();
updateBGColor();
updateBGAlpha();
updateFont();
updateLineWidth();
require_update_texture_ = true;
}
void DiagnosticsDisplay::onInitialize()
{
static int counter = 0;
scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode();
orbit_node_ = scene_node_->createChildSceneNode(); // ??
line_ = new rviz::BillboardLine(context_->getSceneManager(), scene_node_);
msg_ = new rviz::MovableText("not initialized", "Liberation Sans", 0.05);
msg_->setTextAlignment(rviz::MovableText::H_CENTER,
rviz::MovableText::V_ABOVE);
frame_id_property_->setFrameManager(context_->getFrameManager());
orbit_node_->attachObject(msg_);
msg_->setVisible(false);
orbit_theta_ = M_PI * 2.0 / 6 * counter++;
updateLineWidth();
updateAxis();
updateDiagnosticsNamespace();
updateRadius();
updateRosTopic();
updateFontSize();
}
void updateCTM(GfxState *state,
double m11, double m12,
double m21, double m22,
double m31, double m32)
{
DiaMatrix mat;
mat.xx = m11;
mat.yx = m12;
mat.xy = m21;
mat.yy = m22;
mat.x0 = m31 * scale;
mat.y0 = m32 * scale;
//this->matrix = mat;
dia_matrix_multiply (&this->matrix, &mat, &this->matrix);
updateLineDash(state);
updateLineJoin(state);
updateLineCap(state);
updateLineWidth(state);
}
DiagnosticsDisplay::DiagnosticsDisplay()
: rviz::Display(), msg_(0)
{
ros_topic_property_
= new rviz::RosTopicProperty(
"Topic", "/diagnostics_agg",
ros::message_traits::datatype<diagnostic_msgs::DiagnosticArray>(),
"diagnostic_msgs::DiagnosticArray topic to subscribe to.",
this, SLOT( updateRosTopic() ));
frame_id_property_ = new rviz::TfFrameProperty(
"frame_id", rviz::TfFrameProperty::FIXED_FRAME_STRING,
"the parent frame_id to visualize diagnostics",
this, 0, true);
diagnostics_namespace_property_ = new rviz::EditableEnumProperty(
"diagnostics namespace", "/",
"diagnostics namespace to visualize diagnostics",
this, SLOT(updateDiagnosticsNamespace()));
radius_property_ = new rviz::FloatProperty(
"radius", 1.0,
"radius of diagnostics circle",
this, SLOT(updateRadius()));
line_width_property_ = new rviz::FloatProperty(
"line width", 0.03,
"line width",
this, SLOT(updateLineWidth()));
axis_property_ = new rviz::EnumProperty(
"axis", "x",
"axis",
this, SLOT(updateAxis()));
axis_property_->addOption("x", 0);
axis_property_->addOption("y", 1);
axis_property_->addOption("z", 2);
font_size_property_ = new rviz::FloatProperty(
"font size", 0.05,
"font size",
this, SLOT(updateFontSize()));
}
OverlayTextDisplay::OverlayTextDisplay() : Display(),
texture_width_(0), texture_height_(0),
text_size_(14),
line_width_(2),
text_(""), font_(""),
bg_color_(0, 0, 0, 0),
fg_color_(255, 255, 255, 255.0),
require_update_texture_(false)
{
update_topic_property_ = new rviz::RosTopicProperty(
"Topic", "",
ros::message_traits::datatype<jsk_rviz_plugins::OverlayText>(),
"jsk_rviz_plugins::OverlayText topic to subscribe to.",
this, SLOT( updateTopic() ));
overtake_position_properties_property_ = new rviz::BoolProperty(
"Overtake Position Properties", false,
"overtake position properties specified by message such as left, top and font",
this, SLOT(updateOvertakePositionProperties()));
overtake_color_properties_property_ = new rviz::BoolProperty(
"Overtake Color Properties", false,
"overtake color properties specified by message such as left, top and font",
this, SLOT(updateOvertakeColorProperties()));
top_property_ = new rviz::IntProperty(
"top", 0,
"top position",
this, SLOT(updateTop()));
top_property_->setMin(0);
left_property_ = new rviz::IntProperty(
"left", 0,
"left position",
this, SLOT(updateLeft()));
left_property_->setMin(0);
width_property_ = new rviz::IntProperty(
"width", 128,
"width position",
this, SLOT(updateWidth()));
width_property_->setMin(0);
height_property_ = new rviz::IntProperty(
"height", 128,
"height position",
this, SLOT(updateHeight()));
height_property_->setMin(0);
text_size_property_ = new rviz::IntProperty(
"text size", 12,
"text size",
this, SLOT(updateTextSize()));
text_size_property_->setMin(0);
line_width_property_ = new rviz::IntProperty(
"line width", 2,
"line width",
this, SLOT(updateLineWidth()));
line_width_property_->setMin(0);
fg_color_property_ = new rviz::ColorProperty(
"Foreground Color", QColor(25, 255, 240),
"Foreground Color",
this, SLOT(updateFGColor()));
fg_alpha_property_ = new rviz::FloatProperty(
"Foreground Alpha", 0.8, "Foreground Alpha",
this, SLOT(updateFGAlpha()));
fg_alpha_property_->setMin(0.0);
fg_alpha_property_->setMax(1.0);
bg_color_property_ = new rviz::ColorProperty(
"Background Color", QColor(0, 0, 0),
"Background Color",
this, SLOT(updateBGColor()));
bg_alpha_property_ = new rviz::FloatProperty(
"Background Alpha", 0.8, "Background Alpha",
this, SLOT(updateBGAlpha()));
bg_alpha_property_->setMin(0.0);
bg_alpha_property_->setMax(1.0);
QFontDatabase database;
font_families_ = database.families();
font_property_ = new rviz::EnumProperty(
"font", "DejaVu Sans Mono",
"font", this,
SLOT(updateFont()));
for (size_t i = 0; i < font_families_.size(); i++) {
font_property_->addOption(font_families_[i], (int)i);
}
}
Plotter2DDisplay::Plotter2DDisplay()
: rviz::Display(), min_value_(0.0), max_value_(0.0)
{
update_topic_property_ = new rviz::RosTopicProperty(
"Topic", "",
ros::message_traits::datatype<std_msgs::Float32>(),
"std_msgs::Float32 topic to subscribe to.",
this, SLOT(updateTopic()));
show_value_property_ = new rviz::BoolProperty(
"Show Value", true,
"Show value on plotter",
this, SLOT(updateShowValue()));
buffer_length_property_ = new rviz::IntProperty(
"Buffer length", 100,
ros::message_traits::datatype<std_msgs::Float32>(),
this, SLOT(updateBufferSize()));
width_property_ = new rviz::IntProperty("width", 128,
"width of the plotter window",
this, SLOT(updateWidth()));
width_property_->setMin(1);
width_property_->setMax(2000);
height_property_ = new rviz::IntProperty("height", 128,
"height of the plotter window",
this, SLOT(updateHeight()));
height_property_->setMin(1);
height_property_->setMax(2000);
left_property_ = new rviz::IntProperty("left", 128,
"left of the plotter window",
this, SLOT(updateLeft()));
left_property_->setMin(0);
top_property_ = new rviz::IntProperty("top", 128,
"top of the plotter window",
this, SLOT(updateTop()));
top_property_->setMin(0);
auto_scale_property_ = new rviz::BoolProperty(
"auto scale", true,
"enable auto scale",
this, SLOT(updateAutoScale()));
max_value_property_ = new rviz::FloatProperty(
"max value", 1.0,
"max value, used only if auto scale is disabled",
this, SLOT(updateMaxValue()));
min_value_property_ = new rviz::FloatProperty(
"min value", -1.0,
"min value, used only if auto scale is disabled",
this, SLOT(updateMinValue()));
fg_color_property_ = new rviz::ColorProperty(
"foreground color", QColor(25, 255, 240),
"color to draw line",
this, SLOT(updateFGColor()));
fg_alpha_property_ = new rviz::FloatProperty(
"foreground alpha", 0.7,
"alpha belnding value for foreground",
this, SLOT(updateFGAlpha()));
fg_alpha_property_->setMin(0);
fg_alpha_property_->setMax(1.0);
bg_color_property_ = new rviz::ColorProperty(
"background color", QColor(0, 0, 0),
"background color",
this, SLOT(updateBGColor()));
bg_alpha_property_ = new rviz::FloatProperty(
"backround alpha", 0.0,
"alpha belnding value for background",
this, SLOT(updateBGAlpha()));
bg_alpha_property_->setMin(0);
bg_alpha_property_->setMax(1.0);
line_width_property_ = new rviz::IntProperty("linewidth", 1,
"linewidth of the plot",
this, SLOT(updateLineWidth()));
line_width_property_->setMin(1);
line_width_property_->setMax(1000);
show_border_property_ = new rviz::BoolProperty(
"border", true,
"show border or not",
this, SLOT(updateShowBorder()));
text_size_property_ = new rviz::IntProperty("text size", 12,
"text size of the caption",
this, SLOT(updateTextSize()));
text_size_property_->setMin(1);
text_size_property_->setMax(1000);
show_caption_property_ = new rviz::BoolProperty(
"caption", true,
"show caption or not",
this, SLOT(updateShowCaption()));
update_interval_property_ = new rviz::FloatProperty(
"update interval", 0.04,
"update interval of the plotter",
this, SLOT(updateUpdateInterval()));
update_interval_property_->setMin(0.0);
update_interval_property_->setMax(100);
auto_color_change_property_
= new rviz::BoolProperty("auto color change",
false,
"change the color automatically",
this, SLOT(updateAutoColorChange()));
max_color_property_
= new rviz::ColorProperty(
"max color",
QColor(255, 0, 0),
"only used if auto color change is set to True.",
this, SLOT(updateMaxColor()));
}
