12345qiupeng
/
cartographer_ros
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

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
gaschler 2017-10-09 05:48:51 -07:00 committed by Wolfgang Hess
parent b2a2ac4912
commit e117b13ea7
4 changed files with 24 additions and 24 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
cartographer_rviz/cartographer_rviz/drawable_submap.cc
View File

@ -58,7 +58,7 @@ DrawableSubmap::DrawableSubmap(const ::cartographer::mapping::SubmapId& id,
display_context_(display_context),
submap_node_(map_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_length, pose_axes_radius),
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) {
current_alpha_ = target_alpha;
}
ogre_submap_.SetAlpha(current_alpha_);
ogre_slice_.SetAlpha(current_alpha_);
display_context_->queueRender();
}
void DrawableSubmap::UpdateSceneNode() {
::cartographer::common::MutexLocker locker(&mutex_);
// 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();
}

4
cartographer_rviz/cartographer_rviz/drawable_submap.h
View File

@ -30,7 +30,7 @@
#include "cartographer_ros/submap.h"
#include "cartographer_ros_msgs/SubmapEntry.h"
#include "cartographer_ros_msgs/SubmapQuery.h"
#include "cartographer_rviz/ogre_submap.h"
#include "cartographer_rviz/ogre_slice.h"
#include "ros/ros.h"
#include "rviz/display_context.h"
#include "rviz/frame_manager.h"
@ -93,7 +93,7 @@ class DrawableSubmap : public QObject {
::rviz::DisplayContext* const display_context_;
Ogre::SceneNode* const submap_node_;
Ogre::SceneNode* const submap_id_text_node_;
OgreSubmap ogre_submap_;
OgreSlice ogre_slice_;
::cartographer::transform::Rigid3d pose_ GUARDED_BY(mutex_);
::rviz::Axes pose_axes_;
::rviz::MovableText submap_id_text_;

14
cartographer_rviz/cartographer_rviz/ogre_submap.cc → cartographer_rviz/cartographer_rviz/ogre_slice.cc
View File

@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer_rviz/ogre_submap.h"
#include "cartographer_rviz/ogre_slice.h"
#include <string>
#include <vector>
@ -48,9 +48,9 @@ Ogre::Quaternion ToOgre(const Eigen::Quaterniond& q) {
return Ogre::Quaternion(q.w(), q.x(), q.y(), q.z());
}
OgreSubmap::OgreSubmap(const ::cartographer::mapping::SubmapId& id,
Ogre::SceneManager* const scene_manager,
Ogre::SceneNode* const submap_node)
OgreSlice::OgreSlice(const ::cartographer::mapping::SubmapId& id,
Ogre::SceneManager* const scene_manager,
Ogre::SceneNode* const submap_node)
: id_(id),
scene_manager_(scene_manager),
submap_node_(submap_node),
@ -69,7 +69,7 @@ OgreSubmap::OgreSubmap(const ::cartographer::mapping::SubmapId& id,
slice_node_->attachObject(manual_object_);
}
OgreSubmap::~OgreSubmap() {
OgreSlice::~OgreSlice() {
Ogre::MaterialManager::getSingleton().remove(material_->getHandle());
if (!texture_.isNull()) {
Ogre::TextureManager::getSingleton().remove(texture_->getHandle());
@ -79,7 +79,7 @@ OgreSubmap::~OgreSubmap() {
scene_manager_->destroyManualObject(manual_object_);
}
void OgreSubmap::Update(
void OgreSlice::Update(
const ::cartographer_ros::SubmapTexture& submap_texture) {
slice_node_->setPosition(ToOgre(submap_texture.slice_pose.translation()));
slice_node_->setOrientation(ToOgre(submap_texture.slice_pose.rotation()));
@ -136,7 +136,7 @@ void OgreSubmap::Update(
texture_unit->setTextureFiltering(Ogre::TFO_NONE);
}
void OgreSubmap::SetAlpha(const float alpha) {
void OgreSlice::SetAlpha(const float alpha) {
const Ogre::GpuProgramParametersSharedPtr parameters =
material_->getTechnique(0)->getPass(0)->getFragmentProgramParameters();
parameters->setNamedConstant("u_alpha", alpha);

24
cartographer_rviz/cartographer_rviz/ogre_submap.h → cartographer_rviz/cartographer_rviz/ogre_slice.h
View File

@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_RVIZ_SRC_OGRE_SUBMAP_H_
#define CARTOGRAPHER_RVIZ_SRC_OGRE_SUBMAP_H_
#ifndef CARTOGRAPHER_RVIZ_SRC_OGRE_SLICE_H_
#define CARTOGRAPHER_RVIZ_SRC_OGRE_SLICE_H_
#include "Eigen/Core"
#include "Eigen/Geometry"
@ -34,19 +34,19 @@ namespace cartographer_rviz {
Ogre::Vector3 ToOgre(const Eigen::Vector3d& v);
Ogre::Quaternion ToOgre(const Eigen::Quaterniond& q);
// A class containing the Ogre code to visualize submap data. Member functions
// are expected to be called from the Ogre thread.
class OgreSubmap {
// A class containing the Ogre code to visualize a slice texture of a submap.
// Member functions are expected to be called from the Ogre thread.
class OgreSlice {
public:
// Attaches a node visualizing the submap 'id' to the 'submap_node' which is
// expected to represent the submap frame.
OgreSubmap(const ::cartographer::mapping::SubmapId& id,
Ogre::SceneManager* const scene_manager,
Ogre::SceneNode* const submap_node);
~OgreSubmap();
OgreSlice(const ::cartographer::mapping::SubmapId& id,
Ogre::SceneManager* const scene_manager,
Ogre::SceneNode* const submap_node);
~OgreSlice();
OgreSubmap(const OgreSubmap&) = delete;
OgreSubmap& operator=(const OgreSubmap&) = delete;
OgreSlice(const OgreSlice&) = delete;
OgreSlice& operator=(const OgreSlice&) = delete;
// Updates the texture and pose of the submap using new data from
// 'submap_texture'.
@ -67,4 +67,4 @@ class OgreSubmap {
} // namespace cartographer_rviz
#endif // CARTOGRAPHER_RVIZ_SRC_OGRE_SUBMAP_H_
#endif // CARTOGRAPHER_RVIZ_SRC_OGRE_SLICE_H_