81 lines
2.6 KiB
C++
81 lines
2.6 KiB
C++
/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_RVIZ_SRC_OGRE_SLICE_H_
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#define CARTOGRAPHER_RVIZ_SRC_OGRE_SLICE_H_
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#include "Eigen/Core"
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#include "Eigen/Geometry"
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#include "OgreManualObject.h"
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#include "OgreMaterial.h"
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#include "OgreQuaternion.h"
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#include "OgreSceneManager.h"
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#include "OgreSceneNode.h"
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#include "OgreTexture.h"
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#include "OgreVector3.h"
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#include "cartographer/io/submap_painter.h"
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#include "cartographer/mapping/id.h"
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namespace cartographer_rviz {
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Ogre::Vector3 ToOgre(const Eigen::Vector3d& v);
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Ogre::Quaternion ToOgre(const Eigen::Quaterniond& q);
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// A class containing the Ogre code to visualize a slice texture of a submap.
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// Member functions are expected to be called from the Ogre thread.
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class OgreSlice {
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public:
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// Attaches a node visualizing the submap 'id' to the 'submap_node' which is
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// expected to represent the submap frame.
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OgreSlice(const ::cartographer::mapping::SubmapId& id, int slice_id,
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Ogre::SceneManager* const scene_manager,
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Ogre::SceneNode* const submap_node);
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~OgreSlice();
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OgreSlice(const OgreSlice&) = delete;
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OgreSlice& operator=(const OgreSlice&) = delete;
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// Updates the texture and pose of the submap using new data from
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// 'submap_texture'.
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void Update(const ::cartographer::io::SubmapTexture& submap_texture);
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// Changes the opacity of the submap to 'alpha'.
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void SetAlpha(float alpha);
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// Sets the local visibility of this slice.
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void SetVisibility(bool visibility);
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// Updates the SceneNode to be visible if the submap and this slice are
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// visible.
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void UpdateOgreNodeVisibility(bool submap_visibility);
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private:
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// TODO(gaschler): Pack both ids into a struct.
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const ::cartographer::mapping::SubmapId id_;
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const int slice_id_;
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Ogre::SceneManager* const scene_manager_;
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Ogre::SceneNode* const submap_node_;
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Ogre::SceneNode* const slice_node_;
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Ogre::ManualObject* const manual_object_;
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Ogre::TexturePtr texture_;
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Ogre::MaterialPtr material_;
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bool visibility_ = true;
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};
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} // namespace cartographer_rviz
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#endif // CARTOGRAPHER_RVIZ_SRC_OGRE_SLICE_H_
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