Rename to OgreSlice. (#530)
Renames OgreSubmap to OgreSlice in preparation for that a DrawableSubmap should hold multiple OgreSlices, so multiple types of slices for one submap can be visualized.master
parent
b2a2ac4912
commit
e117b13ea7
|
@ -58,7 +58,7 @@ DrawableSubmap::DrawableSubmap(const ::cartographer::mapping::SubmapId& id,
|
||||||
display_context_(display_context),
|
display_context_(display_context),
|
||||||
submap_node_(map_node->createChildSceneNode()),
|
submap_node_(map_node->createChildSceneNode()),
|
||||||
submap_id_text_node_(submap_node_->createChildSceneNode()),
|
submap_id_text_node_(submap_node_->createChildSceneNode()),
|
||||||
ogre_submap_(id, display_context->getSceneManager(), submap_node_),
|
ogre_slice_(id, display_context->getSceneManager(), submap_node_),
|
||||||
pose_axes_(display_context->getSceneManager(), submap_node_,
|
pose_axes_(display_context->getSceneManager(), submap_node_,
|
||||||
pose_axes_length, pose_axes_radius),
|
pose_axes_length, pose_axes_radius),
|
||||||
submap_id_text_(QString("(%1,%2)")
|
submap_id_text_(QString("(%1,%2)")
|
||||||
|
@ -162,14 +162,14 @@ void DrawableSubmap::SetAlpha(const double current_tracking_z) {
|
||||||
target_alpha == 0.f || target_alpha == 1.f) {
|
target_alpha == 0.f || target_alpha == 1.f) {
|
||||||
current_alpha_ = target_alpha;
|
current_alpha_ = target_alpha;
|
||||||
}
|
}
|
||||||
ogre_submap_.SetAlpha(current_alpha_);
|
ogre_slice_.SetAlpha(current_alpha_);
|
||||||
display_context_->queueRender();
|
display_context_->queueRender();
|
||||||
}
|
}
|
||||||
|
|
||||||
void DrawableSubmap::UpdateSceneNode() {
|
void DrawableSubmap::UpdateSceneNode() {
|
||||||
::cartographer::common::MutexLocker locker(&mutex_);
|
::cartographer::common::MutexLocker locker(&mutex_);
|
||||||
// TODO(gaschler): Add UI feature to show all textures.
|
// TODO(gaschler): Add UI feature to show all textures.
|
||||||
ogre_submap_.Update(submap_textures_->textures[0]);
|
ogre_slice_.Update(submap_textures_->textures[0]);
|
||||||
display_context_->queueRender();
|
display_context_->queueRender();
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
|
@ -30,7 +30,7 @@
|
||||||
#include "cartographer_ros/submap.h"
|
#include "cartographer_ros/submap.h"
|
||||||
#include "cartographer_ros_msgs/SubmapEntry.h"
|
#include "cartographer_ros_msgs/SubmapEntry.h"
|
||||||
#include "cartographer_ros_msgs/SubmapQuery.h"
|
#include "cartographer_ros_msgs/SubmapQuery.h"
|
||||||
#include "cartographer_rviz/ogre_submap.h"
|
#include "cartographer_rviz/ogre_slice.h"
|
||||||
#include "ros/ros.h"
|
#include "ros/ros.h"
|
||||||
#include "rviz/display_context.h"
|
#include "rviz/display_context.h"
|
||||||
#include "rviz/frame_manager.h"
|
#include "rviz/frame_manager.h"
|
||||||
|
@ -93,7 +93,7 @@ class DrawableSubmap : public QObject {
|
||||||
::rviz::DisplayContext* const display_context_;
|
::rviz::DisplayContext* const display_context_;
|
||||||
Ogre::SceneNode* const submap_node_;
|
Ogre::SceneNode* const submap_node_;
|
||||||
Ogre::SceneNode* const submap_id_text_node_;
|
Ogre::SceneNode* const submap_id_text_node_;
|
||||||
OgreSubmap ogre_submap_;
|
OgreSlice ogre_slice_;
|
||||||
::cartographer::transform::Rigid3d pose_ GUARDED_BY(mutex_);
|
::cartographer::transform::Rigid3d pose_ GUARDED_BY(mutex_);
|
||||||
::rviz::Axes pose_axes_;
|
::rviz::Axes pose_axes_;
|
||||||
::rviz::MovableText submap_id_text_;
|
::rviz::MovableText submap_id_text_;
|
||||||
|
|
|
@ -14,7 +14,7 @@
|
||||||
* limitations under the License.
|
* limitations under the License.
|
||||||
*/
|
*/
|
||||||
|
|
||||||
#include "cartographer_rviz/ogre_submap.h"
|
#include "cartographer_rviz/ogre_slice.h"
|
||||||
|
|
||||||
#include <string>
|
#include <string>
|
||||||
#include <vector>
|
#include <vector>
|
||||||
|
@ -48,7 +48,7 @@ Ogre::Quaternion ToOgre(const Eigen::Quaterniond& q) {
|
||||||
return Ogre::Quaternion(q.w(), q.x(), q.y(), q.z());
|
return Ogre::Quaternion(q.w(), q.x(), q.y(), q.z());
|
||||||
}
|
}
|
||||||
|
|
||||||
OgreSubmap::OgreSubmap(const ::cartographer::mapping::SubmapId& id,
|
OgreSlice::OgreSlice(const ::cartographer::mapping::SubmapId& id,
|
||||||
Ogre::SceneManager* const scene_manager,
|
Ogre::SceneManager* const scene_manager,
|
||||||
Ogre::SceneNode* const submap_node)
|
Ogre::SceneNode* const submap_node)
|
||||||
: id_(id),
|
: id_(id),
|
||||||
|
@ -69,7 +69,7 @@ OgreSubmap::OgreSubmap(const ::cartographer::mapping::SubmapId& id,
|
||||||
slice_node_->attachObject(manual_object_);
|
slice_node_->attachObject(manual_object_);
|
||||||
}
|
}
|
||||||
|
|
||||||
OgreSubmap::~OgreSubmap() {
|
OgreSlice::~OgreSlice() {
|
||||||
Ogre::MaterialManager::getSingleton().remove(material_->getHandle());
|
Ogre::MaterialManager::getSingleton().remove(material_->getHandle());
|
||||||
if (!texture_.isNull()) {
|
if (!texture_.isNull()) {
|
||||||
Ogre::TextureManager::getSingleton().remove(texture_->getHandle());
|
Ogre::TextureManager::getSingleton().remove(texture_->getHandle());
|
||||||
|
@ -79,7 +79,7 @@ OgreSubmap::~OgreSubmap() {
|
||||||
scene_manager_->destroyManualObject(manual_object_);
|
scene_manager_->destroyManualObject(manual_object_);
|
||||||
}
|
}
|
||||||
|
|
||||||
void OgreSubmap::Update(
|
void OgreSlice::Update(
|
||||||
const ::cartographer_ros::SubmapTexture& submap_texture) {
|
const ::cartographer_ros::SubmapTexture& submap_texture) {
|
||||||
slice_node_->setPosition(ToOgre(submap_texture.slice_pose.translation()));
|
slice_node_->setPosition(ToOgre(submap_texture.slice_pose.translation()));
|
||||||
slice_node_->setOrientation(ToOgre(submap_texture.slice_pose.rotation()));
|
slice_node_->setOrientation(ToOgre(submap_texture.slice_pose.rotation()));
|
||||||
|
@ -136,7 +136,7 @@ void OgreSubmap::Update(
|
||||||
texture_unit->setTextureFiltering(Ogre::TFO_NONE);
|
texture_unit->setTextureFiltering(Ogre::TFO_NONE);
|
||||||
}
|
}
|
||||||
|
|
||||||
void OgreSubmap::SetAlpha(const float alpha) {
|
void OgreSlice::SetAlpha(const float alpha) {
|
||||||
const Ogre::GpuProgramParametersSharedPtr parameters =
|
const Ogre::GpuProgramParametersSharedPtr parameters =
|
||||||
material_->getTechnique(0)->getPass(0)->getFragmentProgramParameters();
|
material_->getTechnique(0)->getPass(0)->getFragmentProgramParameters();
|
||||||
parameters->setNamedConstant("u_alpha", alpha);
|
parameters->setNamedConstant("u_alpha", alpha);
|
|
@ -14,8 +14,8 @@
|
||||||
* limitations under the License.
|
* limitations under the License.
|
||||||
*/
|
*/
|
||||||
|
|
||||||
#ifndef CARTOGRAPHER_RVIZ_SRC_OGRE_SUBMAP_H_
|
#ifndef CARTOGRAPHER_RVIZ_SRC_OGRE_SLICE_H_
|
||||||
#define CARTOGRAPHER_RVIZ_SRC_OGRE_SUBMAP_H_
|
#define CARTOGRAPHER_RVIZ_SRC_OGRE_SLICE_H_
|
||||||
|
|
||||||
#include "Eigen/Core"
|
#include "Eigen/Core"
|
||||||
#include "Eigen/Geometry"
|
#include "Eigen/Geometry"
|
||||||
|
@ -34,19 +34,19 @@ namespace cartographer_rviz {
|
||||||
Ogre::Vector3 ToOgre(const Eigen::Vector3d& v);
|
Ogre::Vector3 ToOgre(const Eigen::Vector3d& v);
|
||||||
Ogre::Quaternion ToOgre(const Eigen::Quaterniond& q);
|
Ogre::Quaternion ToOgre(const Eigen::Quaterniond& q);
|
||||||
|
|
||||||
// A class containing the Ogre code to visualize submap data. Member functions
|
// A class containing the Ogre code to visualize a slice texture of a submap.
|
||||||
// are expected to be called from the Ogre thread.
|
// Member functions are expected to be called from the Ogre thread.
|
||||||
class OgreSubmap {
|
class OgreSlice {
|
||||||
public:
|
public:
|
||||||
// Attaches a node visualizing the submap 'id' to the 'submap_node' which is
|
// Attaches a node visualizing the submap 'id' to the 'submap_node' which is
|
||||||
// expected to represent the submap frame.
|
// expected to represent the submap frame.
|
||||||
OgreSubmap(const ::cartographer::mapping::SubmapId& id,
|
OgreSlice(const ::cartographer::mapping::SubmapId& id,
|
||||||
Ogre::SceneManager* const scene_manager,
|
Ogre::SceneManager* const scene_manager,
|
||||||
Ogre::SceneNode* const submap_node);
|
Ogre::SceneNode* const submap_node);
|
||||||
~OgreSubmap();
|
~OgreSlice();
|
||||||
|
|
||||||
OgreSubmap(const OgreSubmap&) = delete;
|
OgreSlice(const OgreSlice&) = delete;
|
||||||
OgreSubmap& operator=(const OgreSubmap&) = delete;
|
OgreSlice& operator=(const OgreSlice&) = delete;
|
||||||
|
|
||||||
// Updates the texture and pose of the submap using new data from
|
// Updates the texture and pose of the submap using new data from
|
||||||
// 'submap_texture'.
|
// 'submap_texture'.
|
||||||
|
@ -67,4 +67,4 @@ class OgreSubmap {
|
||||||
|
|
||||||
} // namespace cartographer_rviz
|
} // namespace cartographer_rviz
|
||||||
|
|
||||||
#endif // CARTOGRAPHER_RVIZ_SRC_OGRE_SUBMAP_H_
|
#endif // CARTOGRAPHER_RVIZ_SRC_OGRE_SLICE_H_
|
Loading…
Reference in New Issue