From b87ace6995c09aac88899541eacb5df298f0d794 Mon Sep 17 00:00:00 2001 From: Martin Idel Date: Fri, 15 Jun 2018 07:52:57 +0200 Subject: [PATCH] Migrate map display (#267) * Move map display * Make map display compile (without update messages) * Add MapDisplay to default plugins * Move message_conversions to rviz * Make style changes and refactoring of msg_conversions * Use msg_conversions in other displays * Add tests for map display * Extract Swatch into a separate file * Fix tests * Move RosTopicDisplay methods from template class to superclass * Reenable subscription to map update messages * First refactoring of Swatch * Refactor for loops (minor refactoring) * Fix linter in map_display * Unfriend MapDisplay and Swatch * Add visual test * Delete superfluous import * Extracht methods for alpha blending to material_manager * Move palette building out of map_display and refactor * Delete map test (replaced by automated visual test) * Delete superfluous tests - stl_loader tests (see rviz_rendering) - Delete tests for pose, map, image superseded by visual tests * Fix map draw under * Move map headers to include folder * Add map_display.hpp to Q_MOC run * Make rviz_default_plugins independent from rviz_rendering_tests resources * Remove superfluous test resources * Fix includes * REMOVE BEFORE MERGE: Fix moved file includes * Only expose functions (classes not designed for deriving) --- rviz/src/rviz/default_plugin/map_display.cpp | 827 ---- rviz/src/rviz/default_plugin/map_display.h | 174 - rviz/src/test/image_test.cpp | 47 - rviz/src/test/map_test.py | 34 - rviz/src/test/posearray.py | 43 - rviz/src/test/publish_test_map.py | 22 - rviz/src/test/send_path.py | 39 - rviz/src/test/send_point_cloud_2.cpp | 142 - rviz/src/test/send_pose.py | 33 - rviz/src/test/stl_loader_test.cpp | 44 - .../include/rviz_common/msg_conversions.hpp | 78 +- .../include/rviz_common/ros_topic_display.hpp | 56 +- rviz_default_plugins/CMakeLists.txt | 50 + .../displays/map/map_display.hpp | 194 + .../displays/map/palette_builder.hpp | 83 + .../displays/map/swatch.hpp | 128 + .../displays/path/path_display.hpp | 1 - .../displays/polygon/polygon_display.hpp | 3 - .../displays/pose_array/flat_arrows_array.hpp | 1 - .../rviz_default_plugins/robot/robot_link.hpp | 1 - rviz_default_plugins/package.xml | 1 + rviz_default_plugins/plugins_description.xml | 12 +- .../displays/camera/camera_display.cpp | 7 +- .../displays/image/image_display.cpp | 6 +- .../displays/image/ros_image_texture.cpp | 4 +- .../displays/map/map_display.cpp | 581 +++ .../displays/map/palette_builder.cpp | 128 + .../displays/map/swatch.cpp | 265 ++ .../displays/path/path_display.cpp | 47 +- .../displays/polygon/polygon_display.cpp | 22 +- .../pose/pose_display_selection_handler.cpp | 11 +- .../displays/pose_array/flat_arrows_array.cpp | 19 +- .../pose_array/pose_array_display.cpp | 14 +- .../displays/tf/tf_display.cpp | 21 +- .../rviz_default_plugins/robot/robot_link.cpp | 27 +- .../test_meshes/base_color.png | Bin 0 -> 119310 bytes .../test_meshes/base_normals.png | Bin 0 -> 497948 bytes .../test_meshes/pr2-base.dae | 209 + .../test_meshes/pr2-base_large.dae | 152 + .../test_meshes/test.urdf | 70 + .../reference_images/costmap_scheme_ref.png | Bin 0 -> 17960 bytes .../default_color_scheme_ref.png | Bin 0 -> 17789 bytes .../test/reference_images/empty_scene_ref.png | Bin 17687 -> 17789 bytes .../reference_images/map_color_scheme_ref.png | Bin 0 -> 17864 bytes .../map_display_costmap_scheme_ref.png | Bin 0 -> 17921 bytes .../map_display_default_color_scheme_ref.png | Bin 0 -> 17903 bytes .../map_display_map_color_scheme_ref.png | Bin 0 -> 17914 bytes ...splay_rendered_below_other_objects_ref.png | Bin 0 -> 20539 bytes .../displays/map/map_display_test.cpp | 214 + .../displays/map/map_display_visual_test.cpp | 74 + .../displays/map/palette_builder_test.cpp | 94 + .../displays/marker/marker_messages.cpp | 2 +- .../markers/mesh_resource_marker_test.cpp | 4 +- .../page_objects/map_display_page_object.cpp | 65 + .../page_objects/map_display_page_object.hpp | 48 + .../publishers/map_publisher.hpp | 101 + .../publishers/path_publisher.hpp | 1 - .../publishers/single_marker_publisher.hpp | 108 + .../rviz_default_plugins/robot/robot_test.cpp | 2 +- .../rviz_rendering/material_manager.hpp | 14 + .../rviz_rendering/objects/billboard_line.hpp | 1 - .../src/rviz_rendering/material_manager.cpp | 51 +- .../rviz_rendering/objects/billboard_line.cpp | 27 +- .../src/rviz_rendering/objects/grid.cpp | 30 +- .../rviz_rendering/objects/point_cloud.cpp | 4 +- .../src/rviz_rendering/objects/shape.cpp | 21 +- .../test_meshes/kitchen/doc.kml | 58 - .../test_meshes/kitchen/images/texture0.jpg | Bin 14871 -> 0 bytes .../test_meshes/kitchen/images/texture1.jpg | Bin 248716 -> 0 bytes .../test_meshes/kitchen/images/texture2.jpg | Bin 12956 -> 0 bytes .../test_meshes/kitchen/images/texture3.jpg | Bin 4231 -> 0 bytes .../test_meshes/kitchen/images/texture4.jpg | Bin 1591 -> 0 bytes .../test_meshes/kitchen/images/texture5.jpg | Bin 12993 -> 0 bytes .../test_meshes/kitchen/images/texture6.jpg | Bin 12993 -> 0 bytes .../test_meshes/kitchen/models/dada.dae | 4045 ----------------- .../test_meshes/kitchen/textures.txt | 7 - .../src/internal/rviz_scene_test.cpp | 2 +- 77 files changed, 2766 insertions(+), 5803 deletions(-) delete mode 100644 rviz/src/rviz/default_plugin/map_display.cpp delete mode 100644 rviz/src/rviz/default_plugin/map_display.h delete mode 100644 rviz/src/test/image_test.cpp delete mode 100644 rviz/src/test/map_test.py delete mode 100755 rviz/src/test/posearray.py delete mode 100644 rviz/src/test/publish_test_map.py delete mode 100755 rviz/src/test/send_path.py delete mode 100644 rviz/src/test/send_point_cloud_2.cpp delete mode 100755 rviz/src/test/send_pose.py delete mode 100644 rviz/src/test/stl_loader_test.cpp rename rviz/src/rviz/msg_conversions.h => rviz_common/include/rviz_common/msg_conversions.hpp (53%) create mode 100644 rviz_default_plugins/include/rviz_default_plugins/displays/map/map_display.hpp create mode 100644 rviz_default_plugins/include/rviz_default_plugins/displays/map/palette_builder.hpp create mode 100644 rviz_default_plugins/include/rviz_default_plugins/displays/map/swatch.hpp create mode 100644 rviz_default_plugins/src/rviz_default_plugins/displays/map/map_display.cpp create mode 100644 rviz_default_plugins/src/rviz_default_plugins/displays/map/palette_builder.cpp create mode 100644 rviz_default_plugins/src/rviz_default_plugins/displays/map/swatch.cpp create mode 100644 rviz_default_plugins/test/ogre_media_resources/test_meshes/base_color.png create mode 100644 rviz_default_plugins/test/ogre_media_resources/test_meshes/base_normals.png create mode 100644 rviz_default_plugins/test/ogre_media_resources/test_meshes/pr2-base.dae create mode 100644 rviz_default_plugins/test/ogre_media_resources/test_meshes/pr2-base_large.dae create mode 100644 rviz_default_plugins/test/ogre_media_resources/test_meshes/test.urdf create mode 100644 rviz_default_plugins/test/reference_images/costmap_scheme_ref.png create mode 100644 rviz_default_plugins/test/reference_images/default_color_scheme_ref.png create mode 100644 rviz_default_plugins/test/reference_images/map_color_scheme_ref.png create mode 100644 rviz_default_plugins/test/reference_images/map_display_costmap_scheme_ref.png create mode 100644 rviz_default_plugins/test/reference_images/map_display_default_color_scheme_ref.png create mode 100644 rviz_default_plugins/test/reference_images/map_display_map_color_scheme_ref.png create mode 100644 rviz_default_plugins/test/reference_images/map_display_rendered_below_other_objects_ref.png create mode 100644 rviz_default_plugins/test/rviz_default_plugins/displays/map/map_display_test.cpp create mode 100644 rviz_default_plugins/test/rviz_default_plugins/displays/map/map_display_visual_test.cpp create mode 100644 rviz_default_plugins/test/rviz_default_plugins/displays/map/palette_builder_test.cpp create mode 100644 rviz_default_plugins/test/rviz_default_plugins/page_objects/map_display_page_object.cpp create mode 100644 rviz_default_plugins/test/rviz_default_plugins/page_objects/map_display_page_object.hpp create mode 100644 rviz_default_plugins/test/rviz_default_plugins/publishers/map_publisher.hpp create mode 100644 rviz_default_plugins/test/rviz_default_plugins/publishers/single_marker_publisher.hpp delete mode 100644 rviz_rendering_tests/ogre_media_resources/test_meshes/kitchen/doc.kml delete mode 100644 rviz_rendering_tests/ogre_media_resources/test_meshes/kitchen/images/texture0.jpg delete mode 100644 rviz_rendering_tests/ogre_media_resources/test_meshes/kitchen/images/texture1.jpg delete mode 100644 rviz_rendering_tests/ogre_media_resources/test_meshes/kitchen/images/texture2.jpg delete mode 100644 rviz_rendering_tests/ogre_media_resources/test_meshes/kitchen/images/texture3.jpg delete mode 100644 rviz_rendering_tests/ogre_media_resources/test_meshes/kitchen/images/texture4.jpg delete mode 100644 rviz_rendering_tests/ogre_media_resources/test_meshes/kitchen/images/texture5.jpg delete mode 100644 rviz_rendering_tests/ogre_media_resources/test_meshes/kitchen/images/texture6.jpg delete mode 100644 rviz_rendering_tests/ogre_media_resources/test_meshes/kitchen/models/dada.dae delete mode 100644 rviz_rendering_tests/ogre_media_resources/test_meshes/kitchen/textures.txt diff --git a/rviz/src/rviz/default_plugin/map_display.cpp b/rviz/src/rviz/default_plugin/map_display.cpp deleted file mode 100644 index f0ea4adf1..000000000 --- a/rviz/src/rviz/default_plugin/map_display.cpp +++ /dev/null @@ -1,827 +0,0 @@ -/* - * Copyright (c) 2008, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include - -#include -#include -#include -#include -#include -#include -#include - -#include - -#include - -#include "rviz/frame_manager.h" -#include "rviz/ogre_helpers/custom_parameter_indices.h" -#include "rviz/ogre_helpers/grid.h" -#include "rviz/properties/enum_property.h" -#include "rviz/properties/float_property.h" -#include "rviz/properties/int_property.h" -#include "rviz/properties/property.h" -#include "rviz/properties/quaternion_property.h" -#include "rviz/properties/ros_topic_property.h" -#include "rviz/properties/vector_property.h" -#include "rviz/validate_floats.h" -#include "rviz/display_context.h" - -#include "map_display.h" - -namespace rviz -{ - -// helper class to set alpha parameter on all renderables. -class AlphaSetter: public Ogre::Renderable::Visitor -{ -public: - AlphaSetter( float alpha ) - : alpha_vec_( alpha, alpha, alpha, alpha ) - {} - - void visit( Ogre::Renderable *rend, ushort lodIndex, bool isDebug, Ogre::Any *pAny=0) - { - rend->setCustomParameter( ALPHA_PARAMETER, alpha_vec_ ); - } -private: - Ogre::Vector4 alpha_vec_; -}; - - -Swatch::Swatch(MapDisplay* parent, unsigned int x, unsigned int y, unsigned int width, unsigned int height, float resolution) - : parent_(parent), manual_object_( NULL ), x_(x), y_(y), width_(width), height_(height) -{ - // Set up map material - static int material_count = 0; - std::stringstream ss; - ss << "MapMaterial" << material_count++; - material_ = Ogre::MaterialManager::getSingleton().getByName("rviz/Indexed8BitImage"); - material_ = material_->clone( ss.str() ); - - material_->setReceiveShadows(false); - material_->getTechnique(0)->setLightingEnabled(false); - material_->setDepthBias( -16.0f, 0.0f ); - material_->setCullingMode( Ogre::CULL_NONE ); - material_->setDepthWriteEnabled(false); - - static int map_count = 0; - std::stringstream ss2; - ss2 << "MapObject" << map_count++; - manual_object_ = parent_->scene_manager_->createManualObject( ss2.str() ); - - static int node_count = 0; - std::stringstream ss3; - ss3 << "NodeObject" << node_count++; - - scene_node_ = parent_->scene_node_->createChildSceneNode(ss3.str()); - scene_node_->attachObject( manual_object_ ); - - manual_object_->begin(material_->getName(), Ogre::RenderOperation::OT_TRIANGLE_LIST); - { - // First triangle - { - // Bottom left - manual_object_->position( 0.0f, 0.0f, 0.0f ); - manual_object_->textureCoord(0.0f, 0.0f); - manual_object_->normal( 0.0f, 0.0f, 1.0f ); - - // Top right - manual_object_->position( 1.0f, 1.0f, 0.0f ); - manual_object_->textureCoord(1.0f, 1.0f); - manual_object_->normal( 0.0f, 0.0f, 1.0f ); - - // Top left - manual_object_->position( 0.0f, 1.0f, 0.0f ); - manual_object_->textureCoord(0.0f, 1.0f); - manual_object_->normal( 0.0f, 0.0f, 1.0f ); - } - - // Second triangle - { - // Bottom left - manual_object_->position( 0.0f, 0.0f, 0.0f ); - manual_object_->textureCoord(0.0f, 0.0f); - manual_object_->normal( 0.0f, 0.0f, 1.0f ); - - // Bottom right - manual_object_->position( 1.0f, 0.0f, 0.0f ); - manual_object_->textureCoord(1.0f, 0.0f); - manual_object_->normal( 0.0f, 0.0f, 1.0f ); - - // Top right - manual_object_->position( 1.0f, 1.0f, 0.0f ); - manual_object_->textureCoord(1.0f, 1.0f); - manual_object_->normal( 0.0f, 0.0f, 1.0f ); - } - } - manual_object_->end(); - - scene_node_->setPosition( x*resolution, y*resolution, 0 ); - scene_node_->setScale( width*resolution, height*resolution, 1.0 ); - - if( parent_->draw_under_property_->getValue().toBool() ) - { - manual_object_->setRenderQueueGroup(Ogre::RENDER_QUEUE_4); - } - - // don't show map until the plugin is actually enabled - manual_object_->setVisible( false ); - - -} - -Swatch::~Swatch() -{ - parent_->scene_manager_->destroyManualObject(manual_object_); -} - -void Swatch::updateAlpha(const Ogre::SceneBlendType sceneBlending, bool depthWrite, AlphaSetter* alpha_setter) -{ - Ogre::Pass* pass = material_->getTechnique( 0 )->getPass( 0 ); - Ogre::TextureUnitState* tex_unit = NULL; - - material_->setSceneBlending( sceneBlending ); - material_->setDepthWriteEnabled( depthWrite ); - if( manual_object_ ) - { - manual_object_->visitRenderables( alpha_setter ); - } -} - -void Swatch::updateData() -{ - unsigned int pixels_size = width_ * height_; - unsigned char* pixels = new unsigned char[pixels_size]; - memset(pixels, 255, pixels_size); - unsigned char* ptr = pixels; - int N = parent_->current_map_.data.size(); - unsigned int fw = parent_->current_map_.info.width; - - for(unsigned int yy=y_; yycurrent_map_.data[ index ], pixels_to_copy); - ptr+=pixels_to_copy; - if(index+pixels_to_copy>=N) break; - } - - Ogre::DataStreamPtr pixel_stream; - pixel_stream.bind( new Ogre::MemoryDataStream( pixels, pixels_size )); - - if( !texture_.isNull() ) - { - Ogre::TextureManager::getSingleton().remove( texture_->getName() ); - texture_.setNull(); - } - - static int tex_count = 0; - std::stringstream ss; - ss << "MapTexture" << tex_count++; - texture_ = Ogre::TextureManager::getSingleton().loadRawData( ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, - pixel_stream, width_, height_, Ogre::PF_L8, Ogre::TEX_TYPE_2D, - 0); - - delete pixels; -} - - -MapDisplay::MapDisplay() - : Display() - , loaded_( false ) - , resolution_( 0.0f ) - , width_( 0 ) - , height_( 0 ) -{ - connect(this, SIGNAL( mapUpdated() ), this, SLOT( showMap() )); - topic_property_ = new RosTopicProperty( "Topic", "", - QString::fromStdString( ros::message_traits::datatype() ), - "nav_msgs::OccupancyGrid topic to subscribe to.", - this, SLOT( updateTopic() )); - - alpha_property_ = new FloatProperty( "Alpha", 0.7, - "Amount of transparency to apply to the map.", - this, SLOT( updateAlpha() )); - alpha_property_->setMin( 0 ); - alpha_property_->setMax( 1 ); - - color_scheme_property_ = new EnumProperty( "Color Scheme", "map", "How to color the occupancy values.", - this, SLOT( updatePalette() )); - // Option values here must correspond to indices in palette_textures_ array in onInitialize() below. - color_scheme_property_->addOption( "map", 0 ); - color_scheme_property_->addOption( "costmap", 1 ); - color_scheme_property_->addOption( "raw", 2 ); - - draw_under_property_ = new Property( "Draw Behind", false, - "Rendering option, controls whether or not the map is always" - " drawn behind everything else.", - this, SLOT( updateDrawUnder() )); - - resolution_property_ = new FloatProperty( "Resolution", 0, - "Resolution of the map. (not editable)", this ); - resolution_property_->setReadOnly( true ); - - width_property_ = new IntProperty( "Width", 0, - "Width of the map, in meters. (not editable)", this ); - width_property_->setReadOnly( true ); - - height_property_ = new IntProperty( "Height", 0, - "Height of the map, in meters. (not editable)", this ); - height_property_->setReadOnly( true ); - - position_property_ = new VectorProperty( "Position", Ogre::Vector3::ZERO, - "Position of the bottom left corner of the map, in meters. (not editable)", - this ); - position_property_->setReadOnly( true ); - - orientation_property_ = new QuaternionProperty( "Orientation", Ogre::Quaternion::IDENTITY, - "Orientation of the map. (not editable)", - this ); - orientation_property_->setReadOnly( true ); - - unreliable_property_ = new BoolProperty( "Unreliable", false, - "Prefer UDP topic transport", - this, - SLOT( updateTopic() )); - - transform_timestamp_property_ = new BoolProperty( "Use Timestamp", false, - "Use map header timestamp when transforming", - this, - SLOT( transformMap() )); -} - -MapDisplay::~MapDisplay() -{ - unsubscribe(); - clear(); - for (unsigned i=0; i < swatches.size(); i++){ - delete swatches[i]; - } - swatches.clear(); -} - -unsigned char* makeMapPalette() -{ - unsigned char* palette = new unsigned char[256*4]; - unsigned char* palette_ptr = palette; - // Standard gray map palette values - for( int i = 0; i <= 100; i++ ) - { - unsigned char v = 255 - (255 * i) / 100; - *palette_ptr++ = v; // red - *palette_ptr++ = v; // green - *palette_ptr++ = v; // blue - *palette_ptr++ = 255; // alpha - } - // illegal positive values in green - for( int i = 101; i <= 127; i++ ) - { - *palette_ptr++ = 0; // red - *palette_ptr++ = 255; // green - *palette_ptr++ = 0; // blue - *palette_ptr++ = 255; // alpha - } - // illegal negative (char) values in shades of red/yellow - for( int i = 128; i <= 254; i++ ) - { - *palette_ptr++ = 255; // red - *palette_ptr++ = (255*(i-128))/(254-128); // green - *palette_ptr++ = 0; // blue - *palette_ptr++ = 255; // alpha - } - // legal -1 value is tasteful blueish greenish grayish color - *palette_ptr++ = 0x70; // red - *palette_ptr++ = 0x89; // green - *palette_ptr++ = 0x86; // blue - *palette_ptr++ = 255; // alpha - - return palette; -} - -unsigned char* makeCostmapPalette() -{ - unsigned char* palette = new unsigned char[256*4]; - unsigned char* palette_ptr = palette; - - // zero values have alpha=0 - *palette_ptr++ = 0; // red - *palette_ptr++ = 0; // green - *palette_ptr++ = 0; // blue - *palette_ptr++ = 0; // alpha - - // Blue to red spectrum for most normal cost values - for( int i = 1; i <= 98; i++ ) - { - unsigned char v = (255 * i) / 100; - *palette_ptr++ = v; // red - *palette_ptr++ = 0; // green - *palette_ptr++ = 255 - v; // blue - *palette_ptr++ = 255; // alpha - } - // inscribed obstacle values (99) in cyan - *palette_ptr++ = 0; // red - *palette_ptr++ = 255; // green - *palette_ptr++ = 255; // blue - *palette_ptr++ = 255; // alpha - // lethal obstacle values (100) in purple - *palette_ptr++ = 255; // red - *palette_ptr++ = 0; // green - *palette_ptr++ = 255; // blue - *palette_ptr++ = 255; // alpha - // illegal positive values in green - for( int i = 101; i <= 127; i++ ) - { - *palette_ptr++ = 0; // red - *palette_ptr++ = 255; // green - *palette_ptr++ = 0; // blue - *palette_ptr++ = 255; // alpha - } - // illegal negative (char) values in shades of red/yellow - for( int i = 128; i <= 254; i++ ) - { - *palette_ptr++ = 255; // red - *palette_ptr++ = (255*(i-128))/(254-128); // green - *palette_ptr++ = 0; // blue - *palette_ptr++ = 255; // alpha - } - // legal -1 value is tasteful blueish greenish grayish color - *palette_ptr++ = 0x70; // red - *palette_ptr++ = 0x89; // green - *palette_ptr++ = 0x86; // blue - *palette_ptr++ = 255; // alpha - - return palette; -} - -unsigned char* makeRawPalette() -{ - unsigned char* palette = new unsigned char[256*4]; - unsigned char* palette_ptr = palette; - // Standard gray map palette values - for( int i = 0; i < 256; i++ ) - { - *palette_ptr++ = i; // red - *palette_ptr++ = i; // green - *palette_ptr++ = i; // blue - *palette_ptr++ = 255; // alpha - } - - return palette; -} - -Ogre::TexturePtr makePaletteTexture( unsigned char *palette_bytes ) -{ - Ogre::DataStreamPtr palette_stream; - palette_stream.bind( new Ogre::MemoryDataStream( palette_bytes, 256*4 )); - - static int palette_tex_count = 0; - std::stringstream ss; - ss << "MapPaletteTexture" << palette_tex_count++; - return Ogre::TextureManager::getSingleton().loadRawData( ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, - palette_stream, 256, 1, Ogre::PF_BYTE_RGBA, Ogre::TEX_TYPE_1D, 0 ); -} - -void MapDisplay::onInitialize() -{ - // Order of palette textures here must match option indices for color_scheme_property_ above. - palette_textures_.push_back( makePaletteTexture( makeMapPalette() )); - color_scheme_transparency_.push_back( false ); - palette_textures_.push_back( makePaletteTexture( makeCostmapPalette() )); - color_scheme_transparency_.push_back( true ); - palette_textures_.push_back( makePaletteTexture( makeRawPalette() )); - color_scheme_transparency_.push_back( true ); -} - -void MapDisplay::onEnable() -{ - subscribe(); -} - -void MapDisplay::onDisable() -{ - unsubscribe(); - clear(); -} - -void MapDisplay::subscribe() -{ - if ( !isEnabled() ) - { - return; - } - - if( !topic_property_->getTopic().isEmpty() ) - { - try - { - if(unreliable_property_->getBool()) - { - map_sub_ = update_nh_.subscribe( topic_property_->getTopicStd(), 1, &MapDisplay::incomingMap, this, ros::TransportHints().unreliable()); - }else{ - map_sub_ = update_nh_.subscribe( topic_property_->getTopicStd(), 1, &MapDisplay::incomingMap, this, ros::TransportHints().reliable() ); - } - setStatus( StatusProperty::Ok, "Topic", "OK" ); - } - catch( ros::Exception& e ) - { - setStatus( StatusProperty::Error, "Topic", QString( "Error subscribing: " ) + e.what() ); - } - - try - { - update_sub_ = update_nh_.subscribe( topic_property_->getTopicStd() + "_updates", 1, &MapDisplay::incomingUpdate, this ); - setStatus( StatusProperty::Ok, "Update Topic", "OK" ); - } - catch( ros::Exception& e ) - { - setStatus( StatusProperty::Error, "Update Topic", QString( "Error subscribing: " ) + e.what() ); - } - } -} - -void MapDisplay::unsubscribe() -{ - map_sub_.shutdown(); - update_sub_.shutdown(); -} - -void MapDisplay::updateAlpha() -{ - float alpha = alpha_property_->getFloat(); - Ogre::SceneBlendType sceneBlending; - bool depthWrite; - - if( alpha < 0.9998 || color_scheme_transparency_[ color_scheme_property_->getOptionInt() ]) - { - sceneBlending = Ogre::SBT_TRANSPARENT_ALPHA; - depthWrite = false; - } - else - { - sceneBlending = Ogre::SBT_REPLACE; - depthWrite = !draw_under_property_->getValue().toBool(); - } - - AlphaSetter alpha_setter( alpha ); - - for (unsigned i=0; i < swatches.size(); i++) { - swatches[i]->updateAlpha(sceneBlending, depthWrite, &alpha_setter); - } -} - -void MapDisplay::updateDrawUnder() -{ - bool draw_under = draw_under_property_->getValue().toBool(); - - if( alpha_property_->getFloat() >= 0.9998 ) - { - for (unsigned i=0; i < swatches.size(); i++) - swatches[i]->material_->setDepthWriteEnabled( !draw_under ); - } - - int group = draw_under ? Ogre::RENDER_QUEUE_4 : Ogre::RENDER_QUEUE_MAIN; - for (unsigned i=0; i < swatches.size(); i++){ - if( swatches[i]->manual_object_ ) - swatches[i]->manual_object_->setRenderQueueGroup( group ); - } -} - -void MapDisplay::updateTopic() -{ - unsubscribe(); - subscribe(); - clear(); -} - -void MapDisplay::clear() -{ - setStatus( StatusProperty::Warn, "Message", "No map received" ); - - if( !loaded_ ) - { - return; - } - - for (unsigned i=0; i < swatches.size(); i++){ - if( swatches[i]->manual_object_ ) - swatches[i]->manual_object_->setVisible( false ); - - if( !swatches[i]->texture_.isNull() ) - { - Ogre::TextureManager::getSingleton().remove( swatches[i]->texture_->getName() ); - swatches[i]->texture_.setNull(); - } - } - - loaded_ = false; -} - -bool validateFloats(const nav_msgs::OccupancyGrid& msg) -{ - bool valid = true; - valid = valid && validateFloats( msg.info.resolution ); - valid = valid && validateFloats( msg.info.origin ); - return valid; -} - -void MapDisplay::incomingMap(const nav_msgs::OccupancyGrid::ConstPtr& msg) -{ - current_map_ = *msg; - // updated via signal in case ros spinner is in a different thread - Q_EMIT mapUpdated(); - loaded_ = true; -} - - -void MapDisplay::incomingUpdate(const map_msgs::OccupancyGridUpdate::ConstPtr& update) -{ - // Only update the map if we have gotten a full one first. - if( !loaded_ ) - { - return; - } - - // Reject updates which have any out-of-bounds data. - if( update->x < 0 || - update->y < 0 || - current_map_.info.width < update->x + update->width || - current_map_.info.height < update->y + update->height ) - { - setStatus( StatusProperty::Error, "Update", "Update area outside of original map area." ); - return; - } - - // Copy the incoming data into current_map_'s data. - for( size_t y = 0; y < update->height; y++ ) - { - memcpy( ¤t_map_.data[ (update->y + y) * current_map_.info.width + update->x ], - &update->data[ y * update->width ], - update->width ); - } - // updated via signal in case ros spinner is in a different thread - Q_EMIT mapUpdated(); -} - -void MapDisplay::createSwatches() -{ - int width = current_map_.info.width; - int height = current_map_.info.height; - float resolution = current_map_.info.resolution; - - int sw = width; - int sh = height; - int n_swatches = 1; - - for(int i=0;i<4;i++){ - ROS_INFO("Creating %d swatches", n_swatches); - for (unsigned i=0; i < swatches.size(); i++){ - delete swatches[i]; - } - swatches.clear(); - try - { - int x = 0; - int y = 0; - for(int i=0;i= sw) - tw = sw; - else - tw = width - x; - - if(height - y - sh >= sh) - th = sh; - else - th = height - y; - - swatches.push_back(new Swatch(this, x, y, tw, th, resolution)); - swatches[i]->updateData(); - - x += tw; - if(x>=width){ - x = 0; - y += sh; - } - } - updateAlpha(); - return; - }catch(Ogre::RenderingAPIException&) - { - ROS_WARN("Failed to create %d swatches", n_swatches); - if(sw>sh) sw/=2; - else sh/=2; - n_swatches *= 2; - } - } -} - -void MapDisplay::showMap() -{ - if (current_map_.data.empty()) - { - return; - } - - if( !validateFloats( current_map_ )) - { - setStatus( StatusProperty::Error, "Map", "Message contained invalid floating point values (nans or infs)" ); - return; - } - - if( current_map_.info.width * current_map_.info.height == 0 ) - { - std::stringstream ss; - ss << "Map is zero-sized (" << current_map_.info.width << "x" << current_map_.info.height << ")"; - setStatus( StatusProperty::Error, "Map", QString::fromStdString( ss.str() )); - return; - } - - setStatus( StatusProperty::Ok, "Message", "Map received" ); - - ROS_DEBUG( "Received a %d X %d map @ %.3f m/pix\n", - current_map_.info.width, - current_map_.info.height, - current_map_.info.resolution ); - - float resolution = current_map_.info.resolution; - - int width = current_map_.info.width; - int height = current_map_.info.height; - - if(width != width_ || height != height_ || resolution_ != resolution){ - createSwatches(); - width_ = width; - height_ = height; - resolution_ = resolution; - } - - Ogre::Vector3 position( current_map_.info.origin.position.x, - current_map_.info.origin.position.y, - current_map_.info.origin.position.z ); - Ogre::Quaternion orientation( current_map_.info.origin.orientation.w, - current_map_.info.origin.orientation.x, - current_map_.info.origin.orientation.y, - current_map_.info.origin.orientation.z ); - frame_ = current_map_.header.frame_id; - if (frame_.empty()) - { - frame_ = "/map"; - } - - bool map_status_set = false; - if( width * height != current_map_.data.size() ) - { - std::stringstream ss; - ss << "Data size doesn't match width*height: width = " << width - << ", height = " << height << ", data size = " << current_map_.data.size(); - setStatus( StatusProperty::Error, "Map", QString::fromStdString( ss.str() )); - map_status_set = true; - } - - for(int i=0;iupdateData(); - - Ogre::Pass* pass = swatches[i]->material_->getTechnique(0)->getPass(0); - Ogre::TextureUnitState* tex_unit = NULL; - if (pass->getNumTextureUnitStates() > 0) - { - tex_unit = pass->getTextureUnitState(0); - } - else - { - tex_unit = pass->createTextureUnitState(); - } - - tex_unit->setTextureName(swatches[i]->texture_->getName()); - tex_unit->setTextureFiltering( Ogre::TFO_NONE ); - swatches[i]->manual_object_->setVisible( true ); - } - - - if( !map_status_set ) - { - setStatus( StatusProperty::Ok, "Map", "Map OK" ); - } - updatePalette(); - - resolution_property_->setValue( resolution ); - width_property_->setValue( width ); - height_property_->setValue( height ); - position_property_->setVector( position ); - orientation_property_->setQuaternion( orientation ); - - transformMap(); - - context_->queueRender(); -} - -void MapDisplay::updatePalette() -{ - int palette_index = color_scheme_property_->getOptionInt(); - - for (unsigned i=0; i < swatches.size(); i++){ - Ogre::Pass* pass = swatches[i]->material_->getTechnique(0)->getPass(0); - Ogre::TextureUnitState* palette_tex_unit = NULL; - if( pass->getNumTextureUnitStates() > 1 ) - { - palette_tex_unit = pass->getTextureUnitState( 1 ); - } - else - { - palette_tex_unit = pass->createTextureUnitState(); - } - palette_tex_unit->setTextureName( palette_textures_[ palette_index ]->getName() ); - palette_tex_unit->setTextureFiltering( Ogre::TFO_NONE ); - } - - updateAlpha(); -} - -void MapDisplay::transformMap() -{ - if (!loaded_) - { - return; - } - - ros::Time transform_time; - - if (transform_timestamp_property_->getBool()) - { - transform_time = current_map_.header.stamp; - } - - Ogre::Vector3 position; - Ogre::Quaternion orientation; - if (!context_->getFrameManager()->transform(frame_, transform_time, current_map_.info.origin, position, orientation) && - !context_->getFrameManager()->transform(frame_, ros::Time(0), current_map_.info.origin, position, orientation)) - { - ROS_DEBUG( "Error transforming map '%s' from frame '%s' to frame '%s'", - qPrintable( getName() ), frame_.c_str(), qPrintable( fixed_frame_ )); - - setStatus( StatusProperty::Error, "Transform", - "No transform from [" + QString::fromStdString( frame_ ) + "] to [" + fixed_frame_ + "]" ); - } - else - { - setStatus(StatusProperty::Ok, "Transform", "Transform OK"); - } - - scene_node_->setPosition( position ); - scene_node_->setOrientation( orientation ); -} - -void MapDisplay::fixedFrameChanged() -{ - transformMap(); -} - -void MapDisplay::reset() -{ - Display::reset(); - - clear(); - // Force resubscription so that the map will be re-sent - updateTopic(); -} - -void MapDisplay::setTopic( const QString &topic, const QString &datatype ) -{ - topic_property_->setString( topic ); -} - -void MapDisplay::update( float wall_dt, float ros_dt ) { - transformMap(); -} - -} // namespace rviz - -#include -PLUGINLIB_EXPORT_CLASS( rviz::MapDisplay, rviz::Display ) diff --git a/rviz/src/rviz/default_plugin/map_display.h b/rviz/src/rviz/default_plugin/map_display.h deleted file mode 100644 index 1baa9528c..000000000 --- a/rviz/src/rviz/default_plugin/map_display.h +++ /dev/null @@ -1,174 +0,0 @@ -/* - * Copyright (c) 2012, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#ifndef RVIZ_MAP_DISPLAY_H -#define RVIZ_MAP_DISPLAY_H - -#ifndef Q_MOC_RUN -#include - -#include -#include -#include -#include -#endif - -#include -#include - -#include -#include - -#include "rviz/display.h" - -namespace Ogre -{ -class ManualObject; -} - -namespace rviz -{ - -class EnumProperty; -class FloatProperty; -class IntProperty; -class Property; -class QuaternionProperty; -class RosTopicProperty; -class VectorProperty; - -class MapDisplay; -class AlphaSetter; - -class Swatch -{ -friend class MapDisplay; - public: - Swatch(MapDisplay* parent, unsigned int x, unsigned int y, unsigned int width, unsigned int height, float resolution); - ~Swatch(); - void updateAlpha(const Ogre::SceneBlendType sceneBlending, bool depthWrite, AlphaSetter* alpha_setter); - void updateData(); - - protected: - MapDisplay* parent_; - Ogre::ManualObject* manual_object_; - Ogre::TexturePtr texture_; - Ogre::MaterialPtr material_; - Ogre::SceneNode* scene_node_; - unsigned int x_,y_,width_,height_; -}; - - -/** - * \class MapDisplay - * \brief Displays a map along the XY plane. - */ -class MapDisplay: public Display -{ -friend class Swatch; -Q_OBJECT -public: - MapDisplay(); - virtual ~MapDisplay(); - - // Overrides from Display - virtual void onInitialize(); - virtual void fixedFrameChanged(); - virtual void reset(); - - float getResolution() { return resolution_; } - int getWidth() { return width_; } - int getHeight() { return height_; } - - virtual void setTopic( const QString &topic, const QString &datatype ); - -Q_SIGNALS: - /** @brief Emitted when a new map is received*/ - void mapUpdated(); - -protected Q_SLOTS: - void updateAlpha(); - void updateTopic(); - void updateDrawUnder(); - void updatePalette(); - /** @brief Show current_map_ in the scene. */ - void showMap(); - void transformMap(); - -protected: - // overrides from Display - virtual void onEnable(); - virtual void onDisable(); - - virtual void subscribe(); - virtual void unsubscribe(); - virtual void update( float wall_dt, float ros_dt ); - - /** @brief Copy msg into current_map_ and call showMap(). */ - void incomingMap(const nav_msgs::OccupancyGrid::ConstPtr& msg); - - /** @brief Copy update's data into current_map_ and call showMap(). */ - void incomingUpdate(const map_msgs::OccupancyGridUpdate::ConstPtr& update); - - void clear(); - - void createSwatches(); - - std::vector swatches; - std::vector palette_textures_; - std::vector color_scheme_transparency_; - bool loaded_; - - std::string topic_; - float resolution_; - int width_; - int height_; - std::string frame_; - nav_msgs::OccupancyGrid current_map_; - - ros::Subscriber map_sub_; - ros::Subscriber update_sub_; - - RosTopicProperty* topic_property_; - FloatProperty* resolution_property_; - IntProperty* width_property_; - IntProperty* height_property_; - VectorProperty* position_property_; - QuaternionProperty* orientation_property_; - FloatProperty* alpha_property_; - Property* draw_under_property_; - EnumProperty* color_scheme_property_; - - BoolProperty* unreliable_property_; - BoolProperty* transform_timestamp_property_; -}; - -} // namespace rviz - - #endif diff --git a/rviz/src/test/image_test.cpp b/rviz/src/test/image_test.cpp deleted file mode 100644 index bf0fe3f36..000000000 --- a/rviz/src/test/image_test.cpp +++ /dev/null @@ -1,47 +0,0 @@ -#include "ros/ros.h" - -#include "sensor_msgs/Image.h" - -int main( int argc, char** argv ) -{ - ros::init( argc, argv, "image_test" ); - - ros::NodeHandle n; - - ros::Publisher rgb_pub = n.advertise( "red_image", 0 ); - - ros::Duration(0.1).sleep(); - - sensor_msgs::Image red_image; - red_image.header.frame_id = "/base_link"; - red_image.header.stamp = ros::Time::now(); - red_image.height = 100; - red_image.width = 100; - red_image.encoding = "rgb8"; - red_image.step = 3 * red_image.height; - - red_image.data.resize(3 * red_image.height * red_image.width); - for (uint32_t i = 0; i < 3 * red_image.height * red_image.width; ++i) - { - if (i % 3 == 0) - { - red_image.data[i] = 255; - } - else - { - red_image.data[i] = 0; - } - } - - int i = 0; - while (n.ok()) - { - ROS_INFO("Publishing"); - - rgb_pub.publish(red_image); - - ++i; - - ros::Duration(1.0).sleep(); - } -} diff --git a/rviz/src/test/map_test.py b/rviz/src/test/map_test.py deleted file mode 100644 index c46f319df..000000000 --- a/rviz/src/test/map_test.py +++ /dev/null @@ -1,34 +0,0 @@ -#!/usr/bin/env python - -import roslib; roslib.load_manifest('rviz') -from nav_msgs.msg import OccupancyGrid -import rospy -import math - -topic = 'moving_map' -publisher = rospy.Publisher(topic, OccupancyGrid) - -rospy.init_node('map_test') - -grid = OccupancyGrid() - -t = 0 - -while not rospy.is_shutdown(): - - grid.header.frame_id = "/map" - grid.header.stamp = rospy.Time.now() - grid.info.map_load_time = rospy.Time.now() - grid.info.resolution = 1.0 - grid.info.width = 3 - grid.info.height = 3 - grid.info.origin.position.x = math.cos( t ) - grid.info.origin.position.y = math.sin( t ) - grid.info.origin.orientation.w = 1.0 - grid.data = [0, 20, 40, 60, 80, 100, 120, -10, -100] - - # Publish the MarkerArray - publisher.publish( grid ) - - rospy.sleep(.05) - t += .1 diff --git a/rviz/src/test/posearray.py b/rviz/src/test/posearray.py deleted file mode 100755 index 2297671ab..000000000 --- a/rviz/src/test/posearray.py +++ /dev/null @@ -1,43 +0,0 @@ -#!/usr/bin/env python - -import roslib; roslib.load_manifest('rviz') -from geometry_msgs.msg import Pose -from geometry_msgs.msg import PoseArray -import rospy - -topic = 'test_poses' -publisher = rospy.Publisher(topic, PoseArray) - -rospy.init_node('posearray') - -while not rospy.is_shutdown(): - - ps = PoseArray() - ps.header.frame_id = "/base_link" - ps.header.stamp = rospy.Time.now() - - pose = Pose() - pose.position.x = 2 - pose.position.y = 2 - pose.position.z = 0 - pose.orientation.x = 0 - pose.orientation.y = 0 - pose.orientation.z = .7071 - pose.orientation.w = .7071 - - ps.poses.append( pose ) - - pose = Pose() - pose.position.x = 1 - pose.position.y = 1 - pose.position.z = 0 - pose.orientation.x = 0 - pose.orientation.y = 0 - pose.orientation.z = 0 - pose.orientation.w = 1 - - ps.poses.append( pose ) - - publisher.publish( ps ) - - rospy.sleep(0.1) diff --git a/rviz/src/test/publish_test_map.py b/rviz/src/test/publish_test_map.py deleted file mode 100644 index 20197b560..000000000 --- a/rviz/src/test/publish_test_map.py +++ /dev/null @@ -1,22 +0,0 @@ -#!/usr/bin/env python - -import rospy -import numpy - -from nav_msgs.msg import OccupancyGrid - -pub = rospy.Publisher('test_map', OccupancyGrid, latch = True) -rospy.init_node('test_map') - -_map = OccupancyGrid() -_map.header.stamp = rospy.get_rostime() -_map.header.frame_id = '/map' -_map.info.resolution = .1 -_map.info.width = 16 -_map.info.height = 16 -_map.info.origin.orientation.w = 1 -_map.data = [numpy.int8(x) for x in range(256)] - -pub.publish( _map ) - -rospy.spin() diff --git a/rviz/src/test/send_path.py b/rviz/src/test/send_path.py deleted file mode 100755 index 7c4a5cfcd..000000000 --- a/rviz/src/test/send_path.py +++ /dev/null @@ -1,39 +0,0 @@ -#!/usr/bin/env python - -import roslib; roslib.load_manifest('rviz') -from nav_msgs.msg import Path -from geometry_msgs.msg import PoseStamped -import math -import rospy - -topic = 'test_path' -publisher = rospy.Publisher(topic, Path) - -rospy.init_node('send_path') - -t = 0 -while not rospy.is_shutdown(): - - p = Path() - p.header.frame_id = "/base_link" - p.header.stamp = rospy.Time.now() - - num_points = 100 - for i in range( 0, num_points ): - ps = PoseStamped() - ps.header.stamp = p.header.stamp - ps.header.frame_id = p.header.frame_id - ps.pose.position.x = 10.0 * i / num_points - 5 - ps.pose.position.y = math.sin( 10.0 * i / num_points + t ) - ps.pose.position.z = 0 - ps.pose.orientation.x = 0 - ps.pose.orientation.y = 0 - ps.pose.orientation.z = 0 - ps.pose.orientation.w = 1 - p.poses.append( ps ) - - publisher.publish( p ) - - t += .1 - - rospy.sleep(0.03) diff --git a/rviz/src/test/send_point_cloud_2.cpp b/rviz/src/test/send_point_cloud_2.cpp deleted file mode 100644 index a4159dc4c..000000000 --- a/rviz/src/test/send_point_cloud_2.cpp +++ /dev/null @@ -1,142 +0,0 @@ -/* - * Copyright (c) 2011, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include "ros/ros.h" -#include "sensor_msgs/PointCloud2.h" -#include "math.h" - -int main( int argc, char **argv ) -{ - ros::init( argc, argv, "send_points2" ); - - int rate = 1; - bool moving = true; - int size = 100; - - if( argc > 1 ) - { - rate = atoi( argv[1] ); - } - if( argc > 2 ) - { - moving = bool( atoi( argv[2] )); - } - if( argc > 3 ) - { - size = atoi( argv[3] ); - } - - ros::NodeHandle nh; - - ros::Publisher pub = nh.advertise("points2", 10); - ros::Rate loop_rate( rate ); - - sensor_msgs::PointCloud2 msg; - int width = size; - int height = 2*size; - msg.header.frame_id = "base_link"; - msg.is_dense = false; - msg.is_bigendian = false; - - msg.fields.resize( 5 ); - - msg.fields[0].name = "x"; - msg.fields[0].offset = 0; - msg.fields[0].datatype = sensor_msgs::PointField::FLOAT32; - msg.fields[0].count = 1; - - msg.fields[1].name = "y"; - msg.fields[1].offset = 4; - msg.fields[1].datatype = sensor_msgs::PointField::FLOAT32; - msg.fields[1].count = 1; - - msg.fields[2].name = "z"; - msg.fields[2].offset = 8; - msg.fields[2].datatype = sensor_msgs::PointField::FLOAT32; - msg.fields[2].count = 1; - - msg.fields[3].name = "rgb"; - msg.fields[3].offset = 12; - msg.fields[3].datatype = sensor_msgs::PointField::INT32; - msg.fields[3].count = 1; - - msg.fields[4].name = "joy"; - msg.fields[4].offset = 16; - msg.fields[4].datatype = sensor_msgs::PointField::FLOAT32; - msg.fields[4].count = 1; - - msg.point_step = 20; - - int count = 0; - while( ros::ok() ) - { - width++; - int num_points = width * height; - msg.row_step = width * msg.point_step; - msg.height = height; - msg.width = width; - msg.data.resize( num_points * msg.point_step ); - for( int x = 0; x < width; x++ ) - { - for( int y = 0; y < height; y++ ) - { - uint8_t* ptr = &msg.data[0] + (x + y * width) * msg.point_step; - *(float*)ptr = x / 100.0f; - ptr += 4; - *(float*)ptr = y / 100.0f; - ptr += 4; - *(float*)ptr = 0.1 * sinf( x / 10.0f ) * sinf( y / 10.0f ); - ptr += 4; - *ptr = (x+count) & 0xff; - ptr++; - *ptr = y & 0xff; - ptr++; - *ptr = (x+y) & 0xff; - ptr++; - ptr++; - *(float*)ptr = 127.0f + 127.0f * sinf( (x - count)/ 10.0f ) * sinf( y / 10.0f ); - // ptr += 4; - } - } - msg.header.seq = count; - msg.header.stamp = ros::Time::now(); - - printf( "publishing at %d hz, %s, %d x %d points.\n", - rate, (moving?"moving":"static"), width, height ); - - pub.publish( msg ); - - ros::spinOnce(); - loop_rate.sleep(); - if( moving ) - { - ++count; - } - } -} diff --git a/rviz/src/test/send_pose.py b/rviz/src/test/send_pose.py deleted file mode 100755 index 0082b4e8c..000000000 --- a/rviz/src/test/send_pose.py +++ /dev/null @@ -1,33 +0,0 @@ -#!/usr/bin/env python - -import roslib; roslib.load_manifest('rviz') -from geometry_msgs.msg import PoseStamped -import math -import rospy - -topic = 'test_pose' -publisher = rospy.Publisher(topic, PoseStamped) - -rospy.init_node('send_pose') - -t = 0 -while not rospy.is_shutdown(): - - p = PoseStamped() - p.header.frame_id = "/base_link" - p.header.stamp = rospy.Time.now() - - r = 5.0 - p.pose.position.x = r * math.cos( t ) - p.pose.position.y = r * math.sin( t ) - p.pose.position.z = 0 - p.pose.orientation.x = 0 - p.pose.orientation.y = 0 - p.pose.orientation.z = math.sin( .5 * t ) - p.pose.orientation.w = math.cos( .5 * t ) - - publisher.publish( p ) - - t += .1 - - rospy.sleep(0.03) diff --git a/rviz/src/test/stl_loader_test.cpp b/rviz/src/test/stl_loader_test.cpp deleted file mode 100644 index dcad61094..000000000 --- a/rviz/src/test/stl_loader_test.cpp +++ /dev/null @@ -1,44 +0,0 @@ -#include -#include -#include -#include - -TEST( STLLoader, load ) -{ - // Get the path to the directory where the meshes are located. - boost::filesystem::path meshDir = ros::package::getPath("rviz"); - meshDir /= "src/test/meshes"; - - // Load an ascii STL file. Note that only binary STL files are supported. - ogre_tools::STLLoader loader; - boost::filesystem::path meshFilePath = meshDir / "ascii.stl"; - EXPECT_FALSE(loader.load(meshFilePath.string())); - - // Load an invalid STL binary file (size < 84 bytes). - meshFilePath = meshDir / "invalid_short.stl"; - EXPECT_FALSE(loader.load(meshFilePath.string())); - - // Load an invalid STL binary file (size does not match the expected size). - meshFilePath = meshDir / "invalid.stl"; - EXPECT_FALSE(loader.load(meshFilePath.string())); - - // Load an invalid STL binary file (size does not match the expected size, - // but does if incorrectly read as an 16-bit uint) - meshFilePath = meshDir / "16bit_vs_32bit_should_fail.stl"; - EXPECT_FALSE(loader.load(meshFilePath.string())); - - // Load a valid STL binary file. - meshFilePath = meshDir / "valid.stl"; - EXPECT_TRUE(loader.load(meshFilePath.string())); - - // Load a "potentially" valid STL binary file with bigger size than the - // expected. The extra "unexpected" data at the end of the file should be - // ignored. - meshFilePath = meshDir / "valid_extra.stl"; - EXPECT_TRUE(loader.load(meshFilePath.string())); -} - -int main( int argc, char **argv ) { - testing::InitGoogleTest( &argc, argv ); - return RUN_ALL_TESTS(); -} diff --git a/rviz/src/rviz/msg_conversions.h b/rviz_common/include/rviz_common/msg_conversions.hpp similarity index 53% rename from rviz/src/rviz/msg_conversions.h rename to rviz_common/include/rviz_common/msg_conversions.hpp index cbeaa8a38..f8434ecbd 100644 --- a/rviz/src/rviz/msg_conversions.h +++ b/rviz_common/include/rviz_common/msg_conversions.hpp @@ -1,5 +1,6 @@ /* * Copyright (c) 2012, Willow Garage, Inc. + * Copyright (c) 2018, Bosch Software Innovations GmbH. * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -26,94 +27,57 @@ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. */ -#ifndef MSG_CONVERSIONS_H -#define MSG_CONVERSIONS_H +#ifndef RVIZ_COMMON__MSG_CONVERSIONS_HPP_ +#define RVIZ_COMMON__MSG_CONVERSIONS_HPP_ -#include "OgreVector3.h" -#include "OgreQuaternion.h" +#include +#include -#include -#include -#include +#include "geometry_msgs/msg/point.hpp" +#include "geometry_msgs/msg/vector3.hpp" +#include "geometry_msgs/msg/quaternion.hpp" -namespace rviz { +namespace rviz_common +{ // This file contains some convenience functions for Ogre / geometry_msgs conversions. -// pointMsgToOgre - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - // -static inline Ogre::Vector3 pointMsgToOgre(const geometry_msgs::Point& m) +static inline Ogre::Vector3 pointMsgToOgre(const geometry_msgs::msg::Point & m) { return Ogre::Vector3(m.x, m.y, m.z); } -static inline void pointMsgToOgre(const geometry_msgs::Point &m, Ogre::Vector3& o) -{ - o.x = m.x; o.y = m.y; o.z = m.z; -} - -// vector3MsgToOgre - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - // -static inline Ogre::Vector3 vector3MsgToOgre(const geometry_msgs::Vector3& m) +static inline Ogre::Vector3 vector3MsgToOgre(const geometry_msgs::msg::Vector3 & m) { return Ogre::Vector3(m.x, m.y, m.z); } - -static inline void vector3MsgToOgre(const geometry_msgs::Vector3 &m, Ogre::Vector3& o) -{ - o.x = m.x; o.y = m.y; o.z = m.z; -} - -// quaternionMsgToOgre - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - // -static inline Ogre::Quaternion quaternionMsgToOgre(const geometry_msgs::Quaternion& m) +static inline Ogre::Quaternion quaternionMsgToOgre(const geometry_msgs::msg::Quaternion & m) { return Ogre::Quaternion(m.w, m.x, m.y, m.z); } -static inline void quaternionMsgToOgre(const geometry_msgs::Quaternion &m, Ogre::Quaternion& o) -{ - o.w = m.w; o.x = m.x; o.y = m.y; o.z = m.z; -} - -// pointOgreToMsg - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - // -static inline void pointOgreToMsg(const Ogre::Vector3 &o, geometry_msgs::Point &m) +static inline geometry_msgs::msg::Point pointOgreToMsg(const Ogre::Vector3 & o) { + geometry_msgs::msg::Point m; m.x = o.x; m.y = o.y; m.z = o.z; -} - -static inline geometry_msgs::Point pointOgreToMsg(const Ogre::Vector3 &o) -{ - geometry_msgs::Point m; - pointOgreToMsg(o, m); return m; } -// vectorOgreToMsg - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - // -static inline void vector3OgreToMsg(const Ogre::Vector3 &o, geometry_msgs::Vector3 &m) +static inline geometry_msgs::msg::Vector3 vector3OgreToMsg(const Ogre::Vector3 & o) { + geometry_msgs::msg::Vector3 m; m.x = o.x; m.y = o.y; m.z = o.z; -} - -static inline geometry_msgs::Vector3 vector3OgreToMsg(const Ogre::Vector3 &o) -{ - geometry_msgs::Vector3 m; - vector3OgreToMsg(o, m); return m; } -// quaternionOgreToMsg - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - // -static inline void quaternionOgreToMsg(const Ogre::Quaternion &o, geometry_msgs::Quaternion &m) +static inline geometry_msgs::msg::Quaternion quaternionOgreToMsg(const Ogre::Quaternion & o) { + geometry_msgs::msg::Quaternion m; m.w = o.w; m.x = o.x; m.y = o.y; m.z = o.z; -} - -static inline geometry_msgs::Quaternion quaternionOgreToMsg(const Ogre::Quaternion &o) -{ - geometry_msgs::Quaternion m; - quaternionOgreToMsg(o, m); return m; } +} // namespace rviz_common -} // namespace rviz - -#endif +#endif // RVIZ_COMMON__MSG_CONVERSIONS_HPP_ diff --git a/rviz_common/include/rviz_common/ros_topic_display.hpp b/rviz_common/include/rviz_common/ros_topic_display.hpp index 0933d76af..7318fdbea 100644 --- a/rviz_common/include/rviz_common/ros_topic_display.hpp +++ b/rviz_common/include/rviz_common/ros_topic_display.hpp @@ -80,16 +80,34 @@ class RVIZ_COMMON_PUBLIC _RosTopicDisplay : public Display } using changeQoSProfile = std::function; - virtual void updateQoSProfile(changeQoSProfile change_profile) = 0; + virtual void updateQoSProfile(changeQoSProfile change_profile) + { + qos_profile = change_profile(qos_profile); + if (!rviz_ros_node_.expired()) { + updateTopic(); + } + } + + /** + * When overriding this method, the onInitialize() method of this superclass has to be called. + * Otherwise, the ros node will not be initialized. + */ void onInitialize() override { rviz_ros_node_ = context_->getRosNodeAbstraction(); + topic_property_->initialize(rviz_ros_node_); } protected Q_SLOTS: virtual void updateTopic() = 0; - virtual void updateReliability() = 0; + virtual void updateReliability() + { + qos_profile.reliability = unreliable_property_->getBool() ? + RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT : + RMW_QOS_POLICY_RELIABILITY_RELIABLE; + updateTopic(); + } protected: /** @brief A Node which is registered with the main executor (used in the "update" thread). @@ -131,16 +149,6 @@ class RosTopicDisplay : public _RosTopicDisplay unsubscribe(); } - /** - * When overriding this method, the onInitialize() method of this superclass has to be called. - * Otherwise, the ros node will not be initialized. - */ - void onInitialize() override - { - _RosTopicDisplay::onInitialize(); - topic_property_->initialize(rviz_ros_node_); - } - void reset() override { Display::reset(); @@ -153,14 +161,6 @@ class RosTopicDisplay : public _RosTopicDisplay topic_property_->setString(topic); } - void updateQoSProfile(changeQoSProfile change_profile) override - { - qos_profile = change_profile(qos_profile); - if (!rviz_ros_node_.expired()) { - updateTopic(); - } - } - protected: void updateTopic() override { @@ -170,14 +170,6 @@ class RosTopicDisplay : public _RosTopicDisplay context_->queueRender(); } - void updateReliability() override - { - qos_profile.reliability = unreliable_property_->getBool() ? - RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT : - RMW_QOS_POLICY_RELIABILITY_RELIABLE; - updateTopic(); - } - virtual void subscribe() { if (!isEnabled() ) { @@ -193,10 +185,10 @@ class RosTopicDisplay : public _RosTopicDisplay try { // TODO(anhosi,wjwwood): replace with abstraction for subscriptions once available - subscription = + subscription_ = rviz_ros_node_.lock()->get_raw_node()->template create_subscription( topic_property_->getTopicStd(), - std::bind(&RosTopicDisplay::incomingMessage, this, std::placeholders::_1), + [this](const typename MessageType::ConstSharedPtr message) {incomingMessage(message);}, qos_profile); setStatus(properties::StatusProperty::Ok, "Topic", "OK"); } catch (rclcpp::exceptions::InvalidTopicNameError & e) { @@ -207,7 +199,7 @@ class RosTopicDisplay : public _RosTopicDisplay virtual void unsubscribe() { - subscription.reset(); + subscription_.reset(); } void onEnable() override @@ -249,7 +241,7 @@ class RosTopicDisplay : public _RosTopicDisplay * This is called by incomingMessage(). */ virtual void processMessage(typename MessageType::ConstSharedPtr msg) = 0; - typename rclcpp::Subscription::SharedPtr subscription; + typename rclcpp::Subscription::SharedPtr subscription_; uint32_t messages_received_; }; diff --git a/rviz_default_plugins/CMakeLists.txt b/rviz_default_plugins/CMakeLists.txt index 038984259..dcd521b62 100644 --- a/rviz_default_plugins/CMakeLists.txt +++ b/rviz_default_plugins/CMakeLists.txt @@ -42,6 +42,7 @@ find_package(Qt5 REQUIRED COMPONENTS Widgets Test) find_package(geometry_msgs REQUIRED) find_package(laser_geometry REQUIRED) find_package(nav_msgs REQUIRED) +find_package(map_msgs REQUIRED) find_package(rclcpp REQUIRED) # find_package(tf2 REQUIRED) # find_package(tf2_geometry_msgs REQUIRED) @@ -56,6 +57,7 @@ set(rviz_default_plugins_headers_to_moc include/rviz_default_plugins/displays/grid_cells/grid_cells_display.hpp include/rviz_default_plugins/displays/image/image_display.hpp include/rviz_default_plugins/displays/laser_scan/laser_scan_display.hpp + include/rviz_default_plugins/displays/map/map_display.hpp include/rviz_default_plugins/displays/marker/marker_common.hpp include/rviz_default_plugins/displays/marker/marker_display.hpp include/rviz_default_plugins/displays/marker_array/marker_array_display.hpp @@ -99,6 +101,9 @@ set(rviz_default_plugins_source_files src/rviz_default_plugins/displays/image/image_display.cpp src/rviz_default_plugins/displays/image/ros_image_texture.cpp src/rviz_default_plugins/displays/laser_scan/laser_scan_display.cpp + src/rviz_default_plugins/displays/map/map_display.cpp + src/rviz_default_plugins/displays/map/palette_builder.cpp + src/rviz_default_plugins/displays/map/swatch.cpp src/rviz_default_plugins/displays/marker/markers/arrow_marker.cpp src/rviz_default_plugins/displays/marker/markers/line_list_marker.cpp src/rviz_default_plugins/displays/marker/markers/line_marker_base.cpp @@ -172,6 +177,7 @@ target_include_directories(rviz_default_plugins PUBLIC ${rviz_common_INCLUDE_DIRS} ${laser_geometry_INCLUDE_DIRS} ${nav_msgs_INCLUDE_DIRS} + ${map_msgs_INCLUDE_DIRS} ${OGRE_INCLUDE_DIRS} ${Qt5Widgets_INCLUDE_DIRS} ${resource_retriever_INCLUDE_DIRS} @@ -194,6 +200,7 @@ ament_target_dependencies(rviz_default_plugins geometry_msgs laser_geometry nav_msgs + map_msgs rclcpp resource_retriever urdf @@ -249,6 +256,10 @@ if(BUILD_TESTING) find_package(ament_cmake_gtest REQUIRED) find_package(ament_cmake_gmock REQUIRED) + install(DIRECTORY "${CMAKE_SOURCE_DIR}/test/ogre_media_resources/test_meshes" + DESTINATION "share/rviz_default_plugins" + USE_SOURCE_PERMISSIONS) + if(DEFINED ENV{DISPLAY}) set(DISPLAYPRESENT TRUE) endif() @@ -265,6 +276,7 @@ if(BUILD_TESTING) ${rclcpp_INCLUDE_DIRS} ${rclcpp_INCLUDE_DIRS} ${nav_msgs_INCLUDE_DIRS} + ${map_msgs_INCLUDE_DIRS} ${sensor_msgs_INCLUDE_DIRS} ${visualization_msgs_INCLUDE_DIRS} ${Qt5Widgets_INCLUDE_DIRS} @@ -274,6 +286,7 @@ if(BUILD_TESTING) rviz_default_plugins ${rclcpp_LIBRARIES} ${nav_msgs_LIBRARIES} + ${map_msgs_LIBRARIES} ${visualization_msgs_LIBRARIES} Qt5::Widgets rviz_common::rviz_common @@ -406,6 +419,18 @@ if(BUILD_TESTING) ${TEST_LINK_LIBRARIES}) endif() + ament_add_gmock(map_display_test + test/rviz_default_plugins/displays/map/map_display_test.cpp + test/rviz_default_plugins/displays/display_test_fixture.cpp + test/rviz_default_plugins/scene_graph_introspection_helper.cpp + APPEND_ENV AMENT_PREFIX_PATH=${CMAKE_INSTALL_PREFIX} PATH=${CMAKE_INSTALL_PREFIX}/bin;${CMAKE_INSTALL_PREFIX}/opt/rviz_assimp_vendor/bin;${CMAKE_INSTALL_PREFIX}/opt/rviz_yaml_cpp_vendor/bin;${CMAKE_INSTALL_PREFIX}/opt/rviz_ogre_vendor/bin) + if(TARGET map_display_test) + target_include_directories(map_display_test PUBLIC + ${TEST_INCLUDE_DIRS}) + target_link_libraries(map_display_test + ${TEST_LINK_LIBRARIES}) + endif() + ament_add_gmock(odometry_display_test test/rviz_default_plugins/displays/odometry/odometry_display_test.cpp test/rviz_default_plugins/displays/display_test_fixture.cpp @@ -503,6 +528,15 @@ if(BUILD_TESTING) ${TEST_LINK_LIBRARIES}) endif() + ament_add_gmock(palette_builder_test + test/rviz_default_plugins/displays/map/palette_builder_test.cpp) + if(TARGET palette_builder_test) + target_include_directories(palette_builder_test PUBLIC + ${TEST_INCLUDE_DIRS}) + target_link_libraries(palette_builder_test + ${TEST_LINK_LIBRARIES}) + endif() + if(EnableVisualTests STREQUAL "True") find_package(ament_index_cpp REQUIRED) @@ -564,6 +598,22 @@ if(EnableVisualTests STREQUAL "True") rviz_visual_testing_framework::rviz_visual_testing_framework) endif() + ament_add_gtest(map_display_visual_test + test/rviz_default_plugins/displays/map/map_display_visual_test.cpp + test/rviz_default_plugins/page_objects/map_display_page_object.cpp + test/rviz_default_plugins/page_objects/marker_display_page_object.cpp + test/rviz_default_plugins/publishers/map_publisher.hpp + test/rviz_default_plugins/publishers/single_marker_publisher.hpp + TIMEOUT 180) + if(TARGET map_display_visual_test) + target_include_directories(map_display_visual_test PUBLIC + ${TEST_INCLUDE_DIRS} + ${rviz_visual_testing_framework_INCLUDE_DIRS}) + target_link_libraries(map_display_visual_test + ${TEST_LINK_LIBRARIES} + rviz_visual_testing_framework::rviz_visual_testing_framework) + endif() + ament_add_gtest(marker_array_display_visual_test test/rviz_default_plugins/displays/marker_array/marker_array_display_visual_test.cpp test/rviz_default_plugins/page_objects/marker_array_display_page_object.cpp diff --git a/rviz_default_plugins/include/rviz_default_plugins/displays/map/map_display.hpp b/rviz_default_plugins/include/rviz_default_plugins/displays/map/map_display.hpp new file mode 100644 index 000000000..715f95f1d --- /dev/null +++ b/rviz_default_plugins/include/rviz_default_plugins/displays/map/map_display.hpp @@ -0,0 +1,194 @@ +/* + * Copyright (c) 2012, Willow Garage, Inc. + * Copyright (c) 2018, Bosch Software Innovations GmbH. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__MAP__MAP_DISPLAY_HPP_ +#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__MAP__MAP_DISPLAY_HPP_ + +#include +#include +#include + +#ifndef Q_MOC_RUN + +#ifndef _WIN32 +# pragma GCC diagnostic push +# pragma GCC diagnostic ignored "-Wunused-parameter" +# pragma GCC diagnostic ignored "-Wpedantic" +#endif + +#include +#include +#include +#include + +#ifndef _WIN32 +# pragma GCC diagnostic pop +#endif + +#endif // Q_MOC_RUN + +#include "nav_msgs/msg/map_meta_data.hpp" +#include "nav_msgs/msg/occupancy_grid.hpp" +#include "map_msgs/msg/occupancy_grid_update.hpp" +#include "rclcpp/time.hpp" + +#include "rviz_common/ros_topic_display.hpp" + +#include "rviz_default_plugins/displays/map/swatch.hpp" +#include "rviz_default_plugins/visibility_control.hpp" + +namespace Ogre +{ +class ManualObject; +} + +namespace rviz_common +{ +namespace properties +{ + +class EnumProperty; +class FloatProperty; +class IntProperty; +class Property; +class QuaternionProperty; +class VectorProperty; + +} // namespace properties +} // namespace rviz_common + +namespace rviz_default_plugins +{ +namespace displays +{ +class AlphaSetter; + + +/** + * \class MapDisplay + * \brief Displays a map along the XY plane. + */ +class RVIZ_DEFAULT_PLUGINS_PUBLIC MapDisplay : public + rviz_common::RosTopicDisplay +{ + Q_OBJECT + +public: + // TODO(botteroa-si): Constructor for testing, remove once ros_nodes can be mocked and call + // initialize() instead + explicit MapDisplay(rviz_common::DisplayContext * context); + MapDisplay(); + ~MapDisplay() override; + + void onInitialize() override; + void fixedFrameChanged() override; + void reset() override; + + float getResolution() {return resolution_;} + size_t getWidth() {return width_;} + size_t getHeight() {return height_;} + + /** @brief Copy msg into current_map_ and call showMap(). */ + void processMessage(nav_msgs::msg::OccupancyGrid::ConstSharedPtr msg) override; + +public Q_SLOTS: + void showMap(); + +Q_SIGNALS: + /** @brief Emitted when a new map is received*/ + void mapUpdated(); + +protected Q_SLOTS: + void updateAlpha(); + void updateDrawUnder() const; + void updatePalette(); + /** @brief Show current_map_ in the scene. */ + void transformMap(); + +protected: + void update(float wall_dt, float ros_dt) override; + + void subscribe() override; + void unsubscribe() override; + + /** @brief Copy update's data into current_map_ and call showMap(). */ + void incomingUpdate(map_msgs::msg::OccupancyGridUpdate::ConstSharedPtr update); + + bool updateDataOutOfBounds(map_msgs::msg::OccupancyGridUpdate::ConstSharedPtr update) const; + void updateMapDataInMemory(map_msgs::msg::OccupancyGridUpdate::ConstSharedPtr update); + + void clear(); + + void showValidMap(); + void resetSwatchesIfNecessary(size_t width, size_t height, float resolution); + void createSwatches(); + void doubleSwatchNumber( + size_t & swatch_width, size_t & swatch_height, + int & number_swatches) const; + void tryCreateSwatches( + size_t width, + size_t height, + float resolution, + size_t swatch_width, + size_t swatch_height, + int number_swatches); + size_t getEffectiveDimension(size_t map_dimension, size_t swatch_dimension, size_t position); + void updateSwatches() const; + + std::vector> swatches_; + std::vector palette_textures_; + std::vector color_scheme_transparency_; + bool loaded_; + + float resolution_; + size_t width_; + size_t height_; + std::string frame_; + nav_msgs::msg::OccupancyGrid current_map_; + + rclcpp::Subscription::SharedPtr update_subscription_; + + rviz_common::properties::FloatProperty * resolution_property_; + rviz_common::properties::IntProperty * width_property_; + rviz_common::properties::IntProperty * height_property_; + rviz_common::properties::VectorProperty * position_property_; + rviz_common::properties::QuaternionProperty * orientation_property_; + rviz_common::properties::FloatProperty * alpha_property_; + rviz_common::properties::Property * draw_under_property_; + rviz_common::properties::EnumProperty * color_scheme_property_; + rviz_common::properties::BoolProperty * transform_timestamp_property_; + + uint32_t update_messages_received_; +}; + +} // namespace displays +} // namespace rviz_default_plugins + +#endif // RVIZ_DEFAULT_PLUGINS__DISPLAYS__MAP__MAP_DISPLAY_HPP_ diff --git a/rviz_default_plugins/include/rviz_default_plugins/displays/map/palette_builder.hpp b/rviz_default_plugins/include/rviz_default_plugins/displays/map/palette_builder.hpp new file mode 100644 index 000000000..923bd3079 --- /dev/null +++ b/rviz_default_plugins/include/rviz_default_plugins/displays/map/palette_builder.hpp @@ -0,0 +1,83 @@ +/* + * Copyright (c) 2018, Bosch Software Innovations GmbH. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its contributors + * may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__MAP__PALETTE_BUILDER_HPP_ +#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__MAP__PALETTE_BUILDER_HPP_ + +#include +#include + +#include "rviz_default_plugins/visibility_control.hpp" + +namespace rviz_default_plugins +{ +namespace displays +{ + +std::vector makeRawPalette(); +std::vector makeMapPalette(); +std::vector makeCostmapPalette(); + +class PaletteBuilder : public + std::enable_shared_from_this +{ +public: + RVIZ_DEFAULT_PLUGINS_PUBLIC + PaletteBuilder(); + + RVIZ_DEFAULT_PLUGINS_PUBLIC + virtual ~PaletteBuilder() = default; + + RVIZ_DEFAULT_PLUGINS_PUBLIC + std::shared_ptr setColorForIllegalPositiveValues( + unsigned char r, unsigned char g, unsigned char b); + + RVIZ_DEFAULT_PLUGINS_PUBLIC + std::shared_ptr setRedYellowColorsForIllegalNegativeValues(); + + RVIZ_DEFAULT_PLUGINS_PUBLIC + std::shared_ptr setColorForLegalNegativeValueMinusOne( + unsigned char r, unsigned char g, unsigned char b); + + RVIZ_DEFAULT_PLUGINS_PUBLIC + std::shared_ptr setColorForValue( + unsigned char palette_position, + unsigned char r, unsigned char g, unsigned char b, unsigned char alpha); + + RVIZ_DEFAULT_PLUGINS_PUBLIC + std::vector buildPalette(); + +private: + std::vector palette_; +}; + +} // namespace displays +} // namespace rviz_default_plugins + +#endif // RVIZ_DEFAULT_PLUGINS__DISPLAYS__MAP__PALETTE_BUILDER_HPP_ diff --git a/rviz_default_plugins/include/rviz_default_plugins/displays/map/swatch.hpp b/rviz_default_plugins/include/rviz_default_plugins/displays/map/swatch.hpp new file mode 100644 index 000000000..bced9e8cc --- /dev/null +++ b/rviz_default_plugins/include/rviz_default_plugins/displays/map/swatch.hpp @@ -0,0 +1,128 @@ +/* + * Copyright (c) 2012, Willow Garage, Inc. + * Copyright (c) 2018, Bosch Software Innovations GmbH. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its contributors + * may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__MAP__SWATCH_HPP_ +#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__MAP__SWATCH_HPP_ + +#include +#include + +#ifndef _WIN32 +# pragma GCC diagnostic push +# pragma GCC diagnostic ignored "-Wunused-parameter" +# pragma GCC diagnostic ignored "-Wpedantic" +#endif + +#include +#include +#include + +#ifndef _WIN32 +# pragma GCC diagnostic pop +#endif + +#include "nav_msgs/msg/occupancy_grid.hpp" + +#include "rviz_default_plugins/visibility_control.hpp" + +namespace Ogre +{ +class SceneManager; +class SceneNode; +class ManualObject; +} + +namespace rviz_default_plugins +{ +namespace displays +{ +class MapDisplay; + +class Swatch +{ +public: + RVIZ_DEFAULT_PLUGINS_PUBLIC Swatch( + Ogre::SceneManager * scene_manager, + Ogre::SceneNode * parent_scene_node, + size_t x, size_t y, size_t width, size_t height, + float resolution, bool draw_under); + + RVIZ_DEFAULT_PLUGINS_PUBLIC ~Swatch(); + + RVIZ_DEFAULT_PLUGINS_PUBLIC + void updateAlpha( + const Ogre::SceneBlendType & sceneBlending, bool depth_write, float alpha); + + RVIZ_DEFAULT_PLUGINS_PUBLIC + void updateData(const nav_msgs::msg::OccupancyGrid & map); + + RVIZ_DEFAULT_PLUGINS_PUBLIC + void setVisible(bool visible); + + RVIZ_DEFAULT_PLUGINS_PUBLIC + void resetTexture(); + + RVIZ_DEFAULT_PLUGINS_PUBLIC + void setRenderQueueGroup(uint8_t group); + + RVIZ_DEFAULT_PLUGINS_PUBLIC + void setDepthWriteEnabled(bool depth_write_enabled); + + RVIZ_DEFAULT_PLUGINS_PUBLIC + Ogre::Pass * getTechniquePass(); + + RVIZ_DEFAULT_PLUGINS_PUBLIC + std::string getTextureName(); + +private: + void setupMaterial(); + void resetTexture(Ogre::DataStreamPtr & pixel_stream); + void setupSceneNodeWithManualObject(); + void setupSquareManualObject(); + void addPointWithPlaneCoordinates(float x, float y); + + static size_t material_count_; + static size_t map_count_; + static size_t node_count_; + static size_t texture_count_; + + Ogre::SceneManager * scene_manager_; + Ogre::SceneNode * parent_scene_node_; + Ogre::SceneNode * scene_node_; + Ogre::ManualObject * manual_object_; + Ogre::TexturePtr texture_; + Ogre::MaterialPtr material_; + size_t x_, y_, width_, height_; +}; + +} // namespace displays +} // namespace rviz_default_plugins + +#endif // RVIZ_DEFAULT_PLUGINS__DISPLAYS__MAP__SWATCH_HPP_ diff --git a/rviz_default_plugins/include/rviz_default_plugins/displays/path/path_display.hpp b/rviz_default_plugins/include/rviz_default_plugins/displays/path/path_display.hpp index cb8d4ae55..660d7294d 100644 --- a/rviz_default_plugins/include/rviz_default_plugins/displays/path/path_display.hpp +++ b/rviz_default_plugins/include/rviz_default_plugins/displays/path/path_display.hpp @@ -104,7 +104,6 @@ private Q_SLOTS: void allocateAxesVector(std::vector & axes_vect, size_t num); void destroyPoseAxesChain(); void destroyPoseArrowChain(); - void enableBlending(const Ogre::ColourValue & color); void updateManualObject( Ogre::ManualObject * manual_object, nav_msgs::msg::Path::ConstSharedPtr msg, const Ogre::Matrix4 & transform); diff --git a/rviz_default_plugins/include/rviz_default_plugins/displays/polygon/polygon_display.hpp b/rviz_default_plugins/include/rviz_default_plugins/displays/polygon/polygon_display.hpp index fb161c7d5..565f1566c 100644 --- a/rviz_default_plugins/include/rviz_default_plugins/displays/polygon/polygon_display.hpp +++ b/rviz_default_plugins/include/rviz_default_plugins/displays/polygon/polygon_display.hpp @@ -81,9 +81,6 @@ class RVIZ_DEFAULT_PLUGINS_PUBLIC PolygonDisplay : public rviz_common::properties::ColorProperty * color_property_; rviz_common::properties::FloatProperty * alpha_property_; - -private: - void enableBlending(const Ogre::ColourValue & color); }; } // namespace displays diff --git a/rviz_default_plugins/include/rviz_default_plugins/displays/pose_array/flat_arrows_array.hpp b/rviz_default_plugins/include/rviz_default_plugins/displays/pose_array/flat_arrows_array.hpp index de89ed6a2..4b470cd46 100644 --- a/rviz_default_plugins/include/rviz_default_plugins/displays/pose_array/flat_arrows_array.hpp +++ b/rviz_default_plugins/include/rviz_default_plugins/displays/pose_array/flat_arrows_array.hpp @@ -64,7 +64,6 @@ class RVIZ_DEFAULT_PLUGINS_PUBLIC FlatArrowsArray private: void setManualObjectMaterial(); - void EnableBlending(const Ogre::ColourValue & color); void setManualObjectVertices( const Ogre::ColourValue & color, float length, diff --git a/rviz_default_plugins/include/rviz_default_plugins/robot/robot_link.hpp b/rviz_default_plugins/include/rviz_default_plugins/robot/robot_link.hpp index bcd84ef4e..1b72e2c36 100644 --- a/rviz_default_plugins/include/rviz_default_plugins/robot/robot_link.hpp +++ b/rviz_default_plugins/include/rviz_default_plugins/robot/robot_link.hpp @@ -190,7 +190,6 @@ private Q_SLOTS: void createCollision(const urdf::LinkConstSharedPtr & link); void createVisual(const urdf::LinkConstSharedPtr & link); void createSelection(); - void setBlending(const Ogre::MaterialPtr & material, const Ogre::ColourValue & color); template void createVisualizable( diff --git a/rviz_default_plugins/package.xml b/rviz_default_plugins/package.xml index 8696fa3c5..c13444569 100644 --- a/rviz_default_plugins/package.xml +++ b/rviz_default_plugins/package.xml @@ -27,6 +27,7 @@ geometry_msgs laser_geometry nav_msgs + map_msgs pluginlib rclcpp resource_retriever diff --git a/rviz_default_plugins/plugins_description.xml b/rviz_default_plugins/plugins_description.xml index 542d37b76..2fe7e6c59 100644 --- a/rviz_default_plugins/plugins_description.xml +++ b/rviz_default_plugins/plugins_description.xml @@ -46,7 +46,7 @@ sensor_msgs/Image - sensor_msgs/LaserScan + + + Displays an occupancy grid on the ground plane from a nav_msgs::OccupancyGrid. <a href="http://www.ros.org/wiki/rviz/DisplayTypes/Map">More Information</a>. + + nav_msgs/OccupancyGrid + + #include +#include "rviz_rendering/material_manager.hpp" #include "rviz_rendering/objects/axes.hpp" #include "rviz_rendering/render_window.hpp" @@ -213,17 +214,13 @@ std::unique_ptr CameraDisplay::createScreenRectangle( Ogre::MaterialPtr CameraDisplay::createMaterial(std::string name) const { - auto material = Ogre::MaterialManager::getSingleton().create( - name, Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME); - + auto material = rviz_rendering::MaterialManager::createMaterialWithNoLighting(name); material->setDepthWriteEnabled(false); - material->setReceiveShadows(false); material->setDepthCheckEnabled(false); material->setCullingMode(Ogre::CULL_NONE); material->setSceneBlending(Ogre::SBT_REPLACE); - material->getTechnique(0)->setLightingEnabled(false); Ogre::TextureUnitState * tu = material->getTechnique(0)->getPass(0)->createTextureUnitState(); tu->setTextureName(texture_->getTexture()->getName()); diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp index b7f7ea87c..1bd8798cb 100644 --- a/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp +++ b/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp @@ -51,6 +51,7 @@ #include "rviz_common/render_panel.hpp" #include "rviz_common/validate_floats.hpp" #include "rviz_common/uniform_string_stream.hpp" +#include "rviz_rendering/material_manager.hpp" #include "rviz_rendering/render_window.hpp" #include "rviz_default_plugins/displays/image/ros_image_texture.hpp" @@ -218,14 +219,11 @@ void ImageDisplay::setupScreenRectangle() screen_rect_->setCorners(-1.0f, 1.0f, 1.0f, -1.0f); ss << "Material"; - material_ = Ogre::MaterialManager::getSingleton().create( - ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME); + material_ = rviz_rendering::MaterialManager::createMaterialWithNoLighting(ss.str()); material_->setSceneBlending(Ogre::SBT_REPLACE); material_->setDepthWriteEnabled(false); - material_->setReceiveShadows(false); material_->setDepthCheckEnabled(false); - material_->getTechnique(0)->setLightingEnabled(false); Ogre::TextureUnitState * tu = material_->getTechnique(0)->getPass(0)->createTextureUnitState(); tu->setTextureName(texture_->getName()); diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/image/ros_image_texture.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/image/ros_image_texture.cpp index 3cf9153bd..b2fe341d6 100644 --- a/rviz_default_plugins/src/rviz_default_plugins/displays/image/ros_image_texture.cpp +++ b/rviz_default_plugins/src/rviz_default_plugins/displays/image/ros_image_texture.cpp @@ -58,13 +58,13 @@ ROSImageTexture::ROSImageTexture() height_(0), median_frames_(5) { - empty_image_.load("no_image.png", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME); + empty_image_.load("no_image.png", "rviz_rendering"); static uint32_t count = 0; rviz_common::UniformStringStream ss; ss << "ROSImageTexture" << count++; texture_ = Ogre::TextureManager::getSingleton().loadImage( - ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, empty_image_, + ss.str(), "rviz_rendering", empty_image_, Ogre::TEX_TYPE_2D, 0); diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/map/map_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/map/map_display.cpp new file mode 100644 index 000000000..f236b3a44 --- /dev/null +++ b/rviz_default_plugins/src/rviz_default_plugins/displays/map/map_display.cpp @@ -0,0 +1,581 @@ +/* + * Copyright (c) 2008, Willow Garage, Inc. + * Copyright (c) 2018, Bosch Software Innovations GmbH. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include "rviz_default_plugins/displays/map/map_display.hpp" + +#include +#include +#include + +#ifndef _WIN32 +# pragma GCC diagnostic push +# pragma GCC diagnostic ignored "-Wunused-parameter" +# pragma GCC diagnostic ignored "-Wpedantic" +#endif + +#include +#include +#include +#include +#include +#include +#include + +#ifndef _WIN32 +# pragma GCC diagnostic pop +#endif + +#include "rclcpp/time.hpp" + +#include "rviz_rendering/custom_parameter_indices.hpp" +#include "rviz_rendering/material_manager.hpp" +#include "rviz_rendering/objects/grid.hpp" +#include "rviz_common/frame_manager_iface.hpp" +#include "rviz_common/logging.hpp" +#include "rviz_common/msg_conversions.hpp" +#include "rviz_common/properties/enum_property.hpp" +#include "rviz_common/properties/float_property.hpp" +#include "rviz_common/properties/int_property.hpp" +#include "rviz_common/properties/property.hpp" +#include "rviz_common/properties/quaternion_property.hpp" +#include "rviz_common/properties/ros_topic_property.hpp" +#include "rviz_common/properties/vector_property.hpp" +#include "rviz_common/validate_floats.hpp" +#include "rviz_common/display_context.hpp" +#include "rviz_default_plugins/displays/map/palette_builder.hpp" + + +namespace rviz_default_plugins +{ +namespace displays +{ + +MapDisplay::MapDisplay() +: loaded_(false), resolution_(0.0f), width_(0), height_(0), update_messages_received_(0) +{ + connect(this, SIGNAL(mapUpdated()), this, SLOT(showMap())); + + alpha_property_ = new rviz_common::properties::FloatProperty("Alpha", 0.7f, + "Amount of transparency to apply to the map.", + this, SLOT(updateAlpha())); + alpha_property_->setMin(0); + alpha_property_->setMax(1); + + color_scheme_property_ = new rviz_common::properties::EnumProperty("Color Scheme", "map", + "How to color the occupancy values.", + this, SLOT(updatePalette())); + // Option values here must correspond to indices in palette_textures_ array in onInitialize() + // below. + color_scheme_property_->addOption("map", 0); + color_scheme_property_->addOption("costmap", 1); + color_scheme_property_->addOption("raw", 2); + + draw_under_property_ = new rviz_common::properties::BoolProperty("Draw Behind", false, + "Rendering option, controls whether or not the map is always" + " drawn behind everything else.", + this, SLOT(updateDrawUnder())); + + resolution_property_ = new rviz_common::properties::FloatProperty("Resolution", 0, + "Resolution of the map. (not editable)", this); + resolution_property_->setReadOnly(true); + + width_property_ = new rviz_common::properties::IntProperty("Width", 0, + "Width of the map, in meters. (not editable)", this); + width_property_->setReadOnly(true); + + height_property_ = new rviz_common::properties::IntProperty("Height", 0, + "Height of the map, in meters. (not editable)", this); + height_property_->setReadOnly(true); + + position_property_ = new rviz_common::properties::VectorProperty("Position", Ogre::Vector3::ZERO, + "Position of the bottom left corner of the map, in meters. (not editable)", + this); + position_property_->setReadOnly(true); + + orientation_property_ = new rviz_common::properties::QuaternionProperty( + "Orientation", Ogre::Quaternion::IDENTITY, "Orientation of the map. (not editable)", this); + orientation_property_->setReadOnly(true); + + transform_timestamp_property_ = new rviz_common::properties::BoolProperty("Use Timestamp", false, + "Use map header timestamp when transforming", this, SLOT(transformMap())); +} + +MapDisplay::~MapDisplay() +{ + unsubscribe(); + clear(); + swatches_.clear(); +} + +Ogre::TexturePtr makePaletteTexture(std::vector palette_bytes) +{ + Ogre::DataStreamPtr palette_stream; + palette_stream.reset(new Ogre::MemoryDataStream(palette_bytes.data(), 256 * 4)); + + static int palette_tex_count = 0; + std::string tex_name = "MapPaletteTexture" + std::to_string(palette_tex_count++); + return Ogre::TextureManager::getSingleton().loadRawData( + tex_name, "rviz_rendering", palette_stream, 256, 1, Ogre::PF_BYTE_RGBA, Ogre::TEX_TYPE_1D, 0); +} + +MapDisplay::MapDisplay(rviz_common::DisplayContext * context) +: MapDisplay() +{ + context_ = context; + scene_manager_ = context->getSceneManager(); + scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode(); + + palette_textures_.push_back(makePaletteTexture(makeMapPalette())); + color_scheme_transparency_.push_back(false); + palette_textures_.push_back(makePaletteTexture(makeCostmapPalette())); + color_scheme_transparency_.push_back(true); + palette_textures_.push_back(makePaletteTexture(makeRawPalette())); + color_scheme_transparency_.push_back(true); +} + +void MapDisplay::onInitialize() +{ + RosTopicDisplay::onInitialize(); + // Order of palette textures here must match option indices for color_scheme_property_ above. + palette_textures_.push_back(makePaletteTexture(makeMapPalette())); + color_scheme_transparency_.push_back(false); + palette_textures_.push_back(makePaletteTexture(makeCostmapPalette())); + color_scheme_transparency_.push_back(true); + palette_textures_.push_back(makePaletteTexture(makeRawPalette())); + color_scheme_transparency_.push_back(true); +} + +void MapDisplay::subscribe() +{ + if (!isEnabled()) { + return; + } + + if (topic_property_->isEmpty()) { + setStatus(rviz_common::properties::StatusProperty::Error, + "Topic", + QString("Error subscribing: Empty topic name")); + return; + } + + RTDClass::subscribe(); + + try { + update_subscription_ = rviz_ros_node_.lock()->get_raw_node()-> + template create_subscription( + topic_property_->getTopicStd() + "_updates", + [this](const map_msgs::msg::OccupancyGridUpdate::ConstSharedPtr message) { + incomingUpdate(message); + }, + qos_profile); + setStatus(rviz_common::properties::StatusProperty::Ok, "Update Topic", "OK"); + } catch (rclcpp::exceptions::InvalidTopicNameError & e) { + setStatus( + rviz_common::properties::StatusProperty::Error, "Update Topic", + QString("Error subscribing: ") + e.what()); + } +} + +void MapDisplay::unsubscribe() +{ + RTDClass::unsubscribe(); + update_subscription_.reset(); +} + +void MapDisplay::updateAlpha() +{ + float alpha = alpha_property_->getFloat(); + Ogre::SceneBlendType scene_blending; + bool depth_write; + + rviz_rendering::MaterialManager::enableAlphaBlending(scene_blending, depth_write, alpha); + + for (const auto & swatch : swatches_) { + swatch->updateAlpha(scene_blending, depth_write, alpha); + } +} + +void MapDisplay::updateDrawUnder() const +{ + bool draw_under = draw_under_property_->getValue().toBool(); + + if (alpha_property_->getFloat() >= rviz_rendering::unit_alpha_threshold) { + for (const auto & swatch : swatches_) { + swatch->setDepthWriteEnabled(!draw_under); + } + } + + uint8_t group = draw_under ? Ogre::RENDER_QUEUE_4 : Ogre::RENDER_QUEUE_MAIN; + for (const auto & swatch : swatches_) { + swatch->setRenderQueueGroup(group); + } +} + +void MapDisplay::clear() +{ + setStatus(rviz_common::properties::StatusProperty::Warn, "Message", "No map received"); + + if (!loaded_) { + return; + } + + for (const auto & swatch : swatches_) { + swatch->setVisible(false); + swatch->resetTexture(); + } + + loaded_ = false; +} + +bool validateFloats(const nav_msgs::msg::OccupancyGrid & msg) +{ + return rviz_common::validateFloats(msg.info.resolution) && + rviz_common::validateFloats(msg.info.origin); +} + +void MapDisplay::processMessage(nav_msgs::msg::OccupancyGrid::ConstSharedPtr msg) +{ + current_map_ = *msg; + loaded_ = true; + // updated via signal in case ros spinner is in a different thread + Q_EMIT mapUpdated(); +} + +// TODO(wjwwood): Use again once map_msgs are ported +void MapDisplay::incomingUpdate(const map_msgs::msg::OccupancyGridUpdate::ConstSharedPtr update) +{ + // Only update the map if we have gotten a full one first. + if (!loaded_) { + return; + } + + ++update_messages_received_; + setStatus( + rviz_common::properties::StatusProperty::Ok, + "Topic", + QString::number(update_messages_received_) + " update messages received"); + + if (updateDataOutOfBounds(update)) { + setStatus(rviz_common::properties::StatusProperty::Error, + "Update", "Update area outside of original map area."); + return; + } + + updateMapDataInMemory(update); + setStatus(rviz_common::properties::StatusProperty::Ok, "Update", "Update OK"); + + // updated via signal in case ros spinner is in a different thread + Q_EMIT mapUpdated(); +} + +bool MapDisplay::updateDataOutOfBounds( + const map_msgs::msg::OccupancyGridUpdate::ConstSharedPtr update) const +{ + return update->x < 0 || + update->y < 0 || + current_map_.info.width < update->x + update->width || + current_map_.info.height < update->y + update->height; +} + +void MapDisplay::updateMapDataInMemory( + const map_msgs::msg::OccupancyGridUpdate::ConstSharedPtr update) +{ + for (size_t y = 0; y < update->height; y++) { + std::copy( + update->data.begin(), + update->data.begin() + update->width, + ¤t_map_.data[(update->y + y) * current_map_.info.width + update->x]); + } +} + +void MapDisplay::createSwatches() +{ + size_t width = current_map_.info.width; + size_t height = current_map_.info.height; + float resolution = current_map_.info.resolution; + + size_t swatch_width = width; + size_t swatch_height = height; + int number_swatches = 1; + int maximum_number_swatch_splittings = 4; // 4 seems to work well for this purpose. + + for (int i = 0; i < maximum_number_swatch_splittings; i++) { + RVIZ_COMMON_LOG_INFO_STREAM("Creating " << number_swatches << " swatches_"); + swatches_.clear(); + try { + tryCreateSwatches(width, height, resolution, swatch_width, swatch_height, number_swatches); + return; + } catch (Ogre::InvalidParametersException &) { + doubleSwatchNumber(swatch_width, swatch_height, number_swatches); + } catch (Ogre::RenderingAPIException &) { + // This exception seems no longer thrown on some systems. May still be relevant for others. + doubleSwatchNumber(swatch_width, swatch_height, number_swatches); + } + } + updateDrawUnder(); +} + +void MapDisplay::doubleSwatchNumber( + size_t & swatch_width, size_t & swatch_height, int & number_swatches) const +{ + RVIZ_COMMON_LOG_ERROR_STREAM("Failed to create " << number_swatches << " swatches_"); + if (swatch_width > swatch_height) { + swatch_width /= 2; + } else { + swatch_height /= 2; + } + number_swatches *= 2; +} + +void MapDisplay::tryCreateSwatches( + size_t width, + size_t height, + float resolution, + size_t swatch_width, + size_t swatch_height, + int number_swatches) +{ + size_t x = 0; + size_t y = 0; + for (int i = 0; i < number_swatches; i++) { + size_t effective_width = getEffectiveDimension(width, swatch_width, x); + size_t effective_height = getEffectiveDimension(height, swatch_height, y); + + swatches_.push_back(std::make_shared( + scene_manager_, + scene_node_, + x, y, + effective_width, + effective_height, + resolution, + draw_under_property_->getValue().toBool())); + + swatches_[i]->updateData(current_map_); + + x += effective_width; + if (x >= width) { + x = 0; + y += effective_height; + } + } + updateAlpha(); +} + +size_t MapDisplay::getEffectiveDimension( + size_t map_dimension, size_t swatch_dimension, size_t position) +{ + // Last swatch is bigger than swatch_dimension for odd numbers. + // subtracting the swatch_dimension in the LHS handles this case. + return map_dimension - position - swatch_dimension >= swatch_dimension ? + swatch_dimension : + map_dimension - position; +} + +void MapDisplay::showMap() +{ + if (current_map_.data.empty()) { + return; + } + + if (!validateFloats(current_map_)) { + setStatus(rviz_common::properties::StatusProperty::Error, "Map", + "Message contained invalid floating point values (nans or infs)"); + return; + } + + size_t width = current_map_.info.width; + size_t height = current_map_.info.height; + + if (width * height == 0) { + std::string message = + "Map is zero-sized (" + std::to_string(width) + "x" + std::to_string(height) + ")"; + setStatus( + rviz_common::properties::StatusProperty::Error, "Map", QString::fromStdString(message)); + return; + } + + if (width * height != current_map_.data.size()) { + std::string message = + "Data size doesn't match width*height: width = " + std::to_string(width) + ", height = " + + std::to_string(height) + ", data size = " + std::to_string(current_map_.data.size()); + setStatus( + rviz_common::properties::StatusProperty::Error, "Map", QString::fromStdString(message)); + return; + } + + setStatus(rviz_common::properties::StatusProperty::Ok, "Message", "Map received"); + + RVIZ_COMMON_LOG_DEBUG_STREAM("Received a " << current_map_.info.width << " X " << + current_map_.info.height << " map @ " << current_map_.info.resolution << "m/pix\n"); + + showValidMap(); +} + +void MapDisplay::showValidMap() +{ + size_t width = current_map_.info.width; + size_t height = current_map_.info.height; + + float resolution = current_map_.info.resolution; + + resetSwatchesIfNecessary(width, height, resolution); + + frame_ = current_map_.header.frame_id; + if (frame_.empty()) { + frame_ = "/map"; + } + + updateSwatches(); + + setStatus(rviz_common::properties::StatusProperty::Ok, "Map", "Map OK"); + updatePalette(); + + resolution_property_->setValue(resolution); + width_property_->setValue(static_cast(width)); + height_property_->setValue(static_cast(height)); + + position_property_->setVector(rviz_common::pointMsgToOgre(current_map_.info.origin.position)); + orientation_property_->setQuaternion( + rviz_common::quaternionMsgToOgre(current_map_.info.origin.orientation)); + + transformMap(); + + updateDrawUnder(); + + context_->queueRender(); +} + +void MapDisplay::resetSwatchesIfNecessary(size_t width, size_t height, float resolution) +{ + if (width != width_ || height != height_ || resolution_ != resolution) { + createSwatches(); + width_ = width; + height_ = height; + resolution_ = resolution; + } +} + +void MapDisplay::updateSwatches() const +{ + for (const auto & swatch : swatches_) { + swatch->updateData(current_map_); + + Ogre::Pass * pass = swatch->getTechniquePass(); + Ogre::TextureUnitState * tex_unit = nullptr; + if (pass->getNumTextureUnitStates() > 0) { + tex_unit = pass->getTextureUnitState(0); + } else { + tex_unit = pass->createTextureUnitState(); + } + + tex_unit->setTextureName(swatch->getTextureName()); + tex_unit->setTextureFiltering(Ogre::TFO_NONE); + swatch->setVisible(true); + } +} + +void MapDisplay::updatePalette() +{ + int palette_index = color_scheme_property_->getOptionInt(); + + for (const auto & swatch : swatches_) { + Ogre::Pass * pass = swatch->getTechniquePass(); + Ogre::TextureUnitState * palette_tex_unit = nullptr; + if (pass->getNumTextureUnitStates() > 1) { + palette_tex_unit = pass->getTextureUnitState(1); + } else { + palette_tex_unit = pass->createTextureUnitState(); + } + palette_tex_unit->setTextureName(palette_textures_[palette_index]->getName()); + palette_tex_unit->setTextureFiltering(Ogre::TFO_NONE); + } + + updateAlpha(); + updateDrawUnder(); +} + +void MapDisplay::transformMap() +{ + if (!loaded_) { + return; + } + + rclcpp::Time transform_time = context_->getClock()->now(); + + if (transform_timestamp_property_->getBool()) { + transform_time = current_map_.header.stamp; + } + + Ogre::Vector3 position; + Ogre::Quaternion orientation; + if (!context_->getFrameManager()->transform(frame_, transform_time, current_map_.info.origin, + position, orientation) && + !context_->getFrameManager()->transform(frame_, context_->getClock()->now(), + current_map_.info.origin, position, orientation)) + { + RVIZ_COMMON_LOG_ERROR_STREAM("Error transforming map '" << getName().toStdString() << + "' from frame '" << frame_ << "' to '" << fixed_frame_.toStdString() << "'."); + + setStatus(rviz_common::properties::StatusProperty::Error, "Transform", + "No transform from [" + QString::fromStdString(frame_) + "] to [" + fixed_frame_ + "]"); + scene_node_->setVisible(false); + } else { + setStatus(rviz_common::properties::StatusProperty::Ok, "Transform", "Transform OK"); + } + + scene_node_->setPosition(position); + scene_node_->setOrientation(orientation); +} + +void MapDisplay::fixedFrameChanged() +{ + transformMap(); +} + +void MapDisplay::reset() +{ + RosTopicDisplay::reset(); + update_messages_received_ = 0; + clear(); +} + +void MapDisplay::update(float wall_dt, float ros_dt) +{ + (void) wall_dt; + (void) ros_dt; + + transformMap(); +} + +} // namespace displays +} // namespace rviz_default_plugins + +#include // NOLINT +PLUGINLIB_EXPORT_CLASS(rviz_default_plugins::displays::MapDisplay, rviz_common::Display) diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/map/palette_builder.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/map/palette_builder.cpp new file mode 100644 index 000000000..76d4bcaa1 --- /dev/null +++ b/rviz_default_plugins/src/rviz_default_plugins/displays/map/palette_builder.cpp @@ -0,0 +1,128 @@ +/* + * Copyright (c) 2018, Bosch Software Innovations GmbH. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its contributors + * may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include "rviz_default_plugins/displays/map/palette_builder.hpp" + +#include +#include +#include + +namespace rviz_default_plugins +{ +namespace displays +{ + +PaletteBuilder::PaletteBuilder() +{ + palette_ = std::vector(256 * 4, 0); +} + +std::shared_ptr PaletteBuilder::setColorForIllegalPositiveValues( + unsigned char r, unsigned char g, unsigned char b) +{ + for (unsigned char i = 101; i <= 127; i++) { + setColorForValue(i, r, g, b, 255); + } + return shared_from_this(); +} + +std::shared_ptr PaletteBuilder::setRedYellowColorsForIllegalNegativeValues() +{ + for (unsigned char i = 128; i <= 254; i++) { + // set shades from red to yellow + setColorForValue(i, 255, (255 * (i - 128)) / (254 - 128), 0, 255); + } + return shared_from_this(); +} + +std::shared_ptr PaletteBuilder::setColorForLegalNegativeValueMinusOne( + unsigned char r, unsigned char g, unsigned char b) +{ + setColorForValue(255, r, g, b, 255); + return shared_from_this(); +} + +std::shared_ptr PaletteBuilder::setColorForValue( + unsigned char palette_position, + unsigned char r, unsigned char g, unsigned char b, unsigned char alpha) +{ + palette_[4 * palette_position] = r; + palette_[4 * palette_position + 1] = g; + palette_[4 * palette_position + 2] = b; + palette_[4 * palette_position + 3] = alpha; + return shared_from_this(); +} + +std::vector PaletteBuilder::buildPalette() +{ + return palette_; +} + +std::vector makeMapPalette() +{ + auto palette_builder = std::make_shared(); + for (unsigned char i = 0; i <= 100; i++) { + // Standard gray map palette values + unsigned char v = 255 - (255 * i) / 100; + palette_builder->setColorForValue(i, v, v, v, 255); + } + return palette_builder->setColorForIllegalPositiveValues(0, 255, 0) + ->setRedYellowColorsForIllegalNegativeValues() + ->setColorForLegalNegativeValueMinusOne(0x70, 0x89, 0x86) + ->buildPalette(); +} + +std::vector makeCostmapPalette() +{ + auto palette_builder = std::make_shared(); + palette_builder->setColorForValue(0, 0, 0, 0, 0); + for (unsigned char i = 1; i <= 98; i++) { + unsigned char v = (255 * i) / 100; + palette_builder->setColorForValue(i, v, 0, 255 - v, 255); + } + palette_builder->setColorForValue(99, 0, 255, 255, 255); // obstacle values in cyan + palette_builder->setColorForValue(100, 255, 0, 255, 255); // lethal obstacle values in purple + + return palette_builder->setColorForIllegalPositiveValues(0, 255, 0) + ->setRedYellowColorsForIllegalNegativeValues() + ->setColorForLegalNegativeValueMinusOne(0x70, 0x89, 0x86) + ->buildPalette(); +} + +std::vector makeRawPalette() +{ + auto palette_builder = std::make_shared(); + for (int i = 0; i < 256; i++) { + palette_builder->setColorForValue(i, i, i, i, 255); + } + return palette_builder->buildPalette(); +} + +} // namespace displays +} // namespace rviz_default_plugins diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/map/swatch.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/map/swatch.cpp new file mode 100644 index 000000000..e88e5e6a7 --- /dev/null +++ b/rviz_default_plugins/src/rviz_default_plugins/displays/map/swatch.cpp @@ -0,0 +1,265 @@ +/* + * Copyright (c) 2012, Willow Garage, Inc. + * Copyright (c) 2018, Bosch Software Innovations GmbH. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its contributors + * may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include "rviz_default_plugins/displays/map/swatch.hpp" + +#include +#include +#include + +#ifndef _WIN32 +# pragma GCC diagnostic push +# pragma GCC diagnostic ignored "-Wunused-parameter" +# pragma GCC diagnostic ignored "-Wpedantic" +#endif + +#include +#include +#include +#include +#include +#include +#include +#include + +#ifndef _WIN32 +# pragma GCC diagnostic pop +#endif + +#include "rviz_rendering/custom_parameter_indices.hpp" + +namespace rviz_default_plugins +{ +namespace displays +{ + +// Helper class to set alpha parameter on all renderables. +class AlphaSetter : public Ogre::Renderable::Visitor +{ +public: + explicit AlphaSetter(float alpha) + : alpha_vec_(alpha, alpha, alpha, alpha) + {} + + void + visit(Ogre::Renderable * rend, Ogre::ushort lodIndex, bool isDebug, Ogre::Any * pAny) override + { + (void) lodIndex; + (void) isDebug; + (void) pAny; + + rend->setCustomParameter(RVIZ_RENDERING_ALPHA_PARAMETER, alpha_vec_); + } + +private: + Ogre::Vector4 alpha_vec_; +}; + +size_t Swatch::material_count_ = 0; +size_t Swatch::map_count_ = 0; +size_t Swatch::node_count_ = 0; +size_t Swatch::texture_count_ = 0; + +Swatch::Swatch( + Ogre::SceneManager * scene_manager, + Ogre::SceneNode * parent_scene_node, + size_t x, size_t y, size_t width, size_t height, + float resolution, bool draw_under) +: scene_manager_(scene_manager), + parent_scene_node_(parent_scene_node), + manual_object_(nullptr), + x_(x), y_(y), width_(width), height_(height) +{ + setupMaterial(); + setupSceneNodeWithManualObject(); + + scene_node_->setPosition(x * resolution, y * resolution, 0); + scene_node_->setScale(width * resolution, height * resolution, 1.0); + + if (draw_under) { + manual_object_->setRenderQueueGroup(Ogre::RENDER_QUEUE_4); + } + + // don't show map until the plugin is actually enabled + manual_object_->setVisible(false); +} + +Swatch::~Swatch() +{ + scene_manager_->destroyManualObject(manual_object_); +} + +void Swatch::updateAlpha( + const Ogre::SceneBlendType & sceneBlending, bool depth_write, float alpha) +{ + material_->setSceneBlending(sceneBlending); + material_->setDepthWriteEnabled(depth_write); + if (manual_object_) { + AlphaSetter alpha_setter(alpha); + manual_object_->visitRenderables(&alpha_setter); + } +} + +void Swatch::updateData(const nav_msgs::msg::OccupancyGrid & map) +{ + size_t pixels_size = width_ * height_; + size_t map_size = map.data.size(); + size_t map_width = map.info.width; + + auto pixels = std::vector(pixels_size, 255); + + auto pixel_data = pixels.begin(); + for (size_t map_row = y_; map_row < y_ + height_; map_row++) { + size_t pixel_index = map_row * map_width + x_; + size_t pixels_to_copy = std::min(width_, map_size - pixel_index); + + auto row_start = map.data.begin() + pixel_index; + std::copy(row_start, row_start + pixels_to_copy, pixel_data); + pixel_data += pixels_to_copy; + if (pixel_index + pixels_to_copy >= map_size) { + break; + } + } + + Ogre::DataStreamPtr pixel_stream(new Ogre::MemoryDataStream(pixels.data(), pixels_size)); + + resetTexture(pixel_stream); +} + +void Swatch::setVisible(bool visible) +{ + if (manual_object_) { + manual_object_->setVisible(visible); + } +} + +void Swatch::resetTexture() +{ + if (texture_) { + Ogre::TextureManager::getSingleton().remove(texture_); + texture_.reset(); + } +} + +void Swatch::setRenderQueueGroup(uint8_t group) +{ + if (manual_object_) { + manual_object_->setRenderQueueGroup(group); + } +} + +void Swatch::setDepthWriteEnabled(bool depth_write_enabled) +{ + if (material_) { + material_->setDepthWriteEnabled(depth_write_enabled); + } +} + +Ogre::Pass * Swatch::getTechniquePass() +{ + if (material_) { + return material_->getTechnique(0)->getPass(0); + } + return nullptr; +} + +std::string Swatch::getTextureName() +{ + if (texture_) { + return texture_->getName(); + } + return ""; +} + +void Swatch::resetTexture(Ogre::DataStreamPtr & pixel_stream) +{ + if (texture_) { + Ogre::TextureManager::getSingleton().remove(texture_); + texture_.reset(); + } + + texture_ = Ogre::TextureManager::getSingleton().loadRawData( + "MapTexture" + std::to_string(texture_count_++), + "rviz_rendering", + pixel_stream, + static_cast(width_), static_cast(height_), + Ogre::PF_L8, Ogre::TEX_TYPE_2D, 0); +} + +void Swatch::setupMaterial() +{ + material_ = Ogre::MaterialManager::getSingleton().getByName("rviz/Indexed8BitImage"); + material_ = material_->clone("MapMaterial" + std::to_string(material_count_++)); + + material_->setReceiveShadows(false); + material_->getTechnique(0)->setLightingEnabled(false); + material_->setDepthBias(-16.0f, 0.0f); + material_->setCullingMode(Ogre::CULL_NONE); + material_->setDepthWriteEnabled(false); +} + +void Swatch::setupSceneNodeWithManualObject() +{ + manual_object_ = scene_manager_->createManualObject("MapObject" + std::to_string(map_count_++)); + + scene_node_ = parent_scene_node_->createChildSceneNode( + "NodeObject" + std::to_string(node_count_++)); + scene_node_->attachObject(manual_object_); + + setupSquareManualObject(); +} + +void Swatch::setupSquareManualObject() +{ + manual_object_->begin( + material_->getName(), Ogre::RenderOperation::OT_TRIANGLE_LIST, "rviz_rendering"); + + // first triangle + addPointWithPlaneCoordinates(0.0f, 0.0f); + addPointWithPlaneCoordinates(1.0f, 1.0f); + addPointWithPlaneCoordinates(0.0f, 1.0f); + + // second triangle + addPointWithPlaneCoordinates(0.0f, 0.0f); + addPointWithPlaneCoordinates(1.0f, 0.0f); + addPointWithPlaneCoordinates(1.0f, 1.0f); + + manual_object_->end(); +} + +void Swatch::addPointWithPlaneCoordinates(float x, float y) +{ + manual_object_->position(x, y, 0.0f); + manual_object_->textureCoord(x, y); + manual_object_->normal(0.0f, 0.0f, 1.0f); +} + +} // namespace displays +} // namespace rviz_default_plugins diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/path/path_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/path/path_display.cpp index 4edf0658f..1d82f521d 100644 --- a/rviz_default_plugins/src/rviz_default_plugins/displays/path/path_display.cpp +++ b/rviz_default_plugins/src/rviz_default_plugins/displays/path/path_display.cpp @@ -40,6 +40,7 @@ #include #include "rviz_common/logging.hpp" +#include "rviz_common/msg_conversions.hpp" #include "rviz_common/properties/enum_property.hpp" #include "rviz_common/properties/color_property.hpp" #include "rviz_common/properties/float_property.hpp" @@ -48,6 +49,8 @@ #include "rviz_common/uniform_string_stream.hpp" #include "rviz_common/validate_floats.hpp" +#include "rviz_rendering/material_manager.hpp" + namespace rviz_default_plugins { namespace displays @@ -140,10 +143,7 @@ PathDisplay::PathDisplay() static int count = 0; std::string material_name = "LinesMaterial" + std::to_string(count++); - lines_material_ = Ogre::MaterialManager::getSingleton().create( - material_name, Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME); - lines_material_->setReceiveShadows(false); - lines_material_->getTechnique(0)->setLightingEnabled(false); + lines_material_ = rviz_rendering::MaterialManager::createMaterialWithNoLighting(material_name); } PathDisplay::~PathDisplay() @@ -446,12 +446,12 @@ void PathDisplay::updateManualObject( color.a = alpha_property_->getFloat(); manual_object->estimateVertexCount(msg->poses.size()); - manual_object->begin(lines_material_->getName(), Ogre::RenderOperation::OT_LINE_STRIP); + manual_object->begin( + lines_material_->getName(), Ogre::RenderOperation::OT_LINE_STRIP, "rviz_rendering"); for (auto pose_stamped : msg->poses) { - const auto & pos = pose_stamped.pose.position; - manual_object->position(transform * Ogre::Vector3(pos.x, pos.y, pos.z)); - enableBlending(color); + manual_object->position(transform * rviz_common::pointMsgToOgre(pose_stamped.pose.position)); + rviz_rendering::MaterialManager::enableAlphaBlending(lines_material_, color.a); manual_object->colour(color); } @@ -470,8 +470,7 @@ void PathDisplay::updateBillBoardLine( billboard_line->setLineWidth(line_width_property_->getFloat()); for (auto pose_stamped : msg->poses) { - const auto & pos = pose_stamped.pose.position; - Ogre::Vector3 xpos = transform * Ogre::Vector3(pos.x, pos.y, pos.z); + Ogre::Vector3 xpos = transform * rviz_common::pointMsgToOgre(pose_stamped.pose.position); billboard_line->addPoint(xpos, color); } } @@ -499,11 +498,8 @@ void PathDisplay::updateAxesMarkers( allocateAxesVector(axes_vect, num_points); for (size_t i = 0; i < num_points; ++i) { const geometry_msgs::msg::Point & pos = msg->poses[i].pose.position; - axes_vect[i]->setPosition(transform * Ogre::Vector3(pos.x, pos.y, pos.z)); - Ogre::Quaternion orientation(msg->poses[i].pose.orientation.w, - msg->poses[i].pose.orientation.x, - msg->poses[i].pose.orientation.y, - msg->poses[i].pose.orientation.z); + axes_vect[i]->setPosition(transform * rviz_common::pointMsgToOgre(pos)); + Ogre::Quaternion orientation(rviz_common::quaternionMsgToOgre(msg->poses[i].pose.orientation)); axes_vect[i]->setOrientation(orientation); } } @@ -515,8 +511,6 @@ void PathDisplay::updateArrowMarkers( auto num_points = msg->poses.size(); allocateArrowVector(arrow_vect, num_points); for (size_t i = 0; i < num_points; ++i) { - const geometry_msgs::msg::Point & pos = msg->poses[i].pose.position; - QColor color = pose_arrow_color_property_->getColor(); arrow_vect[i]->setColor(color.redF(), color.greenF(), color.blueF(), 1.0f); @@ -524,11 +518,9 @@ void PathDisplay::updateArrowMarkers( pose_arrow_shaft_diameter_property_->getFloat(), pose_arrow_head_length_property_->getFloat(), pose_arrow_head_diameter_property_->getFloat()); - arrow_vect[i]->setPosition(transform * Ogre::Vector3(pos.x, pos.y, pos.z)); - Ogre::Quaternion orientation(msg->poses[i].pose.orientation.w, - msg->poses[i].pose.orientation.x, - msg->poses[i].pose.orientation.y, - msg->poses[i].pose.orientation.z); + const geometry_msgs::msg::Point & pos = msg->poses[i].pose.position; + arrow_vect[i]->setPosition(transform * rviz_common::pointMsgToOgre(pos)); + Ogre::Quaternion orientation(rviz_common::quaternionMsgToOgre(msg->poses[i].pose.orientation)); Ogre::Vector3 dir(1, 0, 0); dir = orientation * dir; @@ -536,17 +528,6 @@ void PathDisplay::updateArrowMarkers( } } -void PathDisplay::enableBlending(const Ogre::ColourValue & color) -{ - if (color.a < 0.9998) { - lines_material_->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA); - lines_material_->setDepthWriteEnabled(false); - } else { - lines_material_->setSceneBlending(Ogre::SBT_REPLACE); - lines_material_->setDepthWriteEnabled(true); - } -} - } // namespace displays } // namespace rviz_default_plugins diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/polygon/polygon_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/polygon/polygon_display.cpp index 842edd01f..f5802e912 100644 --- a/rviz_default_plugins/src/rviz_default_plugins/displays/polygon/polygon_display.cpp +++ b/rviz_default_plugins/src/rviz_default_plugins/displays/polygon/polygon_display.cpp @@ -45,6 +45,7 @@ #include "rviz_common/properties/float_property.hpp" #include "rviz_common/properties/parse_color.hpp" #include "rviz_common/validate_floats.hpp" +#include "rviz_rendering/material_manager.hpp" namespace rviz_default_plugins { @@ -62,10 +63,7 @@ PolygonDisplay::PolygonDisplay() static int polygon_count = 0; std::string material_name = "PolygonMaterial" + std::to_string(polygon_count++); - material_ = Ogre::MaterialManager::getSingleton().create( - material_name, Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME); - material_->setReceiveShadows(false); - material_->getTechnique(0)->setLightingEnabled(false); + material_ = rviz_rendering::MaterialManager::createMaterialWithNoLighting(material_name); } PolygonDisplay::~PolygonDisplay() @@ -118,13 +116,14 @@ void PolygonDisplay::processMessage(geometry_msgs::msg::PolygonStamped::ConstSha Ogre::ColourValue color = rviz_common::properties::qtToOgre(color_property_->getColor()); color.a = alpha_property_->getFloat(); - enableBlending(color); + rviz_rendering::MaterialManager::enableAlphaBlending(material_, color.a); size_t num_points = msg->polygon.points.size(); if (num_points > 0) { manual_object_->estimateVertexCount(num_points); - manual_object_->begin(material_->getName(), Ogre::RenderOperation::OT_LINE_STRIP); + manual_object_->begin( + material_->getName(), Ogre::RenderOperation::OT_LINE_STRIP, "rviz_rendering"); for (uint32_t i = 0; i < num_points + 1; ++i) { const geometry_msgs::msg::Point32 & msg_point = msg->polygon.points[i % num_points]; manual_object_->position(msg_point.x, msg_point.y, msg_point.z); @@ -134,17 +133,6 @@ void PolygonDisplay::processMessage(geometry_msgs::msg::PolygonStamped::ConstSha } } -void PolygonDisplay::enableBlending(const Ogre::ColourValue & color) -{ - if (color.a < 0.9998) { - material_->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA); - material_->setDepthWriteEnabled(false); - } else { - material_->setSceneBlending(Ogre::SBT_REPLACE); - material_->setDepthWriteEnabled(true); - } -} - } // namespace displays } // namespace rviz_default_plugins diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/pose/pose_display_selection_handler.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/pose/pose_display_selection_handler.cpp index 531e88a11..2be435c1a 100644 --- a/rviz_default_plugins/src/rviz_default_plugins/displays/pose/pose_display_selection_handler.cpp +++ b/rviz_default_plugins/src/rviz_default_plugins/displays/pose/pose_display_selection_handler.cpp @@ -45,6 +45,7 @@ #include "rviz_rendering/objects/arrow.hpp" #include "rviz_rendering/objects/shape.hpp" #include "rviz_common/interaction/selection_handler.hpp" +#include "rviz_common/msg_conversions.hpp" #include "rviz_common/properties/vector_property.hpp" #include "rviz_common/properties/string_property.hpp" #include "rviz_common/properties/quaternion_property.hpp" @@ -121,13 +122,9 @@ void PoseDisplaySelectionHandler::setMessage( // pointers. if (properties_.size() > 0) { frame_property_->setStdString(message->header.frame_id); - position_property_->setVector(Ogre::Vector3(message->pose.position.x, - message->pose.position.y, - message->pose.position.z)); - orientation_property_->setQuaternion(Ogre::Quaternion(message->pose.orientation.w, - message->pose.orientation.x, - message->pose.orientation.y, - message->pose.orientation.z)); + position_property_->setVector(rviz_common::pointMsgToOgre(message->pose.position)); + orientation_property_->setQuaternion( + rviz_common::quaternionMsgToOgre(message->pose.orientation)); } } diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/pose_array/flat_arrows_array.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/pose_array/flat_arrows_array.cpp index d4084edca..55aa213f3 100644 --- a/rviz_default_plugins/src/rviz_default_plugins/displays/pose_array/flat_arrows_array.cpp +++ b/rviz_default_plugins/src/rviz_default_plugins/displays/pose_array/flat_arrows_array.cpp @@ -36,6 +36,8 @@ #include #include +#include "rviz_rendering/material_manager.hpp" + namespace rviz_default_plugins { namespace displays @@ -68,7 +70,7 @@ void FlatArrowsArray::updateManualObject( color.a = alpha; setManualObjectMaterial(); - EnableBlending(color); + rviz_rendering::MaterialManager::enableAlphaBlending(material_, alpha); manual_object_->begin( material_->getName(), Ogre::RenderOperation::OT_LINE_LIST, "rviz_rendering"); @@ -87,20 +89,7 @@ void FlatArrowsArray::setManualObjectMaterial() { static int material_count = 0; std::string material_name = "FlatArrowsMaterial" + std::to_string(material_count++); - material_ = Ogre::MaterialManager::getSingleton().create(material_name, "rviz_rendering"); - material_->setReceiveShadows(false); - material_->getTechnique(0)->setLightingEnabled(false); -} - -void FlatArrowsArray::EnableBlending(const Ogre::ColourValue & color) -{ - if (color.a < 0.9998) { - material_->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA); - material_->setDepthWriteEnabled(false); - } else { - material_->setSceneBlending(Ogre::SBT_REPLACE); - material_->setDepthWriteEnabled(true); - } + material_ = rviz_rendering::MaterialManager::createMaterialWithNoLighting(material_name); } void FlatArrowsArray::setManualObjectVertices( diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/pose_array/pose_array_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/pose_array/pose_array_display.cpp index 6f55dcce4..a021f95be 100644 --- a/rviz_default_plugins/src/rviz_default_plugins/displays/pose_array/pose_array_display.cpp +++ b/rviz_default_plugins/src/rviz_default_plugins/displays/pose_array/pose_array_display.cpp @@ -38,6 +38,7 @@ #include #include "rviz_common/logging.hpp" +#include "rviz_common/msg_conversions.hpp" #include "rviz_common/properties/enum_property.hpp" #include "rviz_common/properties/color_property.hpp" #include "rviz_common/properties/float_property.hpp" @@ -64,15 +65,6 @@ struct ShapeType }; }; -Ogre::Vector3 vectorRosToOgre(geometry_msgs::msg::Point const & point) -{ - return Ogre::Vector3(point.x, point.y, point.z); -} - -Ogre::Quaternion quaternionRosToOgre(geometry_msgs::msg::Quaternion const & quaternion) -{ - return Ogre::Quaternion(quaternion.w, quaternion.x, quaternion.y, quaternion.z); -} } // namespace PoseArrayDisplay::PoseArrayDisplay( @@ -196,8 +188,8 @@ void PoseArrayDisplay::processMessage(const geometry_msgs::msg::PoseArray::Const poses_.resize(msg->poses.size()); for (std::size_t i = 0; i < msg->poses.size(); ++i) { - poses_[i].position = vectorRosToOgre(msg->poses[i].position); - poses_[i].orientation = quaternionRosToOgre(msg->poses[i].orientation); + poses_[i].position = rviz_common::pointMsgToOgre(msg->poses[i].position); + poses_[i].orientation = rviz_common::quaternionMsgToOgre(msg->poses[i].orientation); } updateDisplay(); diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/tf/tf_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/tf/tf_display.cpp index 42b336608..d41a31f07 100644 --- a/rviz_default_plugins/src/rviz_default_plugins/displays/tf/tf_display.cpp +++ b/rviz_default_plugins/src/rviz_default_plugins/displays/tf/tf_display.cpp @@ -43,12 +43,13 @@ #include "tf2_ros/transform_listener.h" -#include "rviz_common/display_context.hpp" -#include "rviz_common/frame_manager_iface.hpp" #include "rviz_rendering/objects/arrow.hpp" #include "rviz_rendering/objects/axes.hpp" #include "rviz_rendering/objects/movable_text.hpp" +#include "rviz_common/display_context.hpp" +#include "rviz_common/frame_manager_iface.hpp" #include "rviz_common/logging.hpp" +#include "rviz_common/msg_conversions.hpp" #include "rviz_common/properties/bool_property.hpp" #include "rviz_common/properties/float_property.hpp" #include "rviz_common/properties/quaternion_property.hpp" @@ -527,18 +528,10 @@ void TFDisplay::updateRelativePositionAndOrientation( logTransformationException(frame->parent_, frame->name_, e.what()); } - Ogre::Vector3 relative_position( - transform.transform.translation.x, - transform.transform.translation.y, - transform.transform.translation.z - ); - Ogre::Quaternion relative_orientation( - transform.transform.rotation.w, - transform.transform.rotation.x, - transform.transform.rotation.y, - transform.transform.rotation.z); - frame->rel_position_property_->setVector(relative_position); - frame->rel_orientation_property_->setQuaternion(relative_orientation); + frame->rel_position_property_->setVector( + rviz_common::vector3MsgToOgre(transform.transform.translation)); + frame->rel_orientation_property_->setQuaternion( + rviz_common::quaternionMsgToOgre(transform.transform.rotation)); } void TFDisplay::updateParentArrowIfTransformExists( diff --git a/rviz_default_plugins/src/rviz_default_plugins/robot/robot_link.cpp b/rviz_default_plugins/src/rviz_default_plugins/robot/robot_link.cpp index 56aa4fbb1..6380fcb63 100644 --- a/rviz_default_plugins/src/rviz_default_plugins/robot/robot_link.cpp +++ b/rviz_default_plugins/src/rviz_default_plugins/robot/robot_link.cpp @@ -63,6 +63,7 @@ #include "rviz_default_plugins/robot/robot_joint.hpp" #include "rviz_default_plugins/robot/robot.hpp" +#include "rviz_rendering/material_manager.hpp" #include "rviz_rendering/mesh_loader.hpp" #include "rviz_rendering/objects/axes.hpp" #include "rviz_rendering/objects/object.hpp" @@ -206,10 +207,8 @@ RobotLink::RobotLink( static int count = 1; std::string color_material_name = "robot link color material " + std::to_string(count++); - color_material_ = Ogre::MaterialManager::getSingleton().create( - color_material_name, "rviz_rendering"); - color_material_->setReceiveShadows(false); - color_material_->getTechnique(0)->setLightingEnabled(true); + color_material_ = + rviz_rendering::MaterialManager::createMaterialWithLighting(color_material_name); // create the ogre objects to display if (visual) { @@ -466,7 +465,7 @@ void RobotLink::updateAlpha() color.a = robot_alpha_ * material_alpha_ * link_alpha; material->setDiffuse(color); - setBlending(material, color); + rviz_rendering::MaterialManager::enableAlphaBlending(material, color.a); } } @@ -474,7 +473,7 @@ void RobotLink::updateAlpha() color.a = robot_alpha_ * link_alpha; color_material_->setDiffuse(color); - setBlending(color_material_, color); + rviz_rendering::MaterialManager::enableAlphaBlending(color_material_, color.a); } void RobotLink::updateTrail() @@ -692,9 +691,8 @@ Ogre::MaterialPtr RobotLink::getMaterialForLink( static int count = 0; std::string link_material_name = "Robot Link Material" + std::to_string(count++); - Ogre::MaterialPtr material_for_link = Ogre::MaterialManager::getSingleton().create( - link_material_name, "rviz_rendering"); - material_for_link->getTechnique(0)->setLightingEnabled(true); + auto material_for_link = + rviz_rendering::MaterialManager::createMaterialWithShadowsAndLighting(link_material_name); urdf::VisualSharedPtr visual = getVisualWithMaterial(link, material_name); @@ -794,16 +792,5 @@ void RobotLink::createSelection() } } -void RobotLink::setBlending(const Ogre::MaterialPtr & material, const Ogre::ColourValue & color) -{ - if (color.a < 0.9998) { - material->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA); - material->setDepthWriteEnabled(false); - } else { - material->setSceneBlending(Ogre::SBT_REPLACE); - material->setDepthWriteEnabled(true); - } -} - } // namespace robot } // namespace rviz_default_plugins diff --git a/rviz_default_plugins/test/ogre_media_resources/test_meshes/base_color.png b/rviz_default_plugins/test/ogre_media_resources/test_meshes/base_color.png new file mode 100644 index 0000000000000000000000000000000000000000..475b2ece89bf21ee219108a98d3f27bdcf6ce532 GIT binary patch literal 119310 zcmbTdbx@m4+%_5th2j)xi&Na4;8xs=yA#~qp-?F9uEpKmtypk(cXzihJZI+p{(0xj znX}2gNmj1iz4mAKWbfdgvSP>xI0yg$09is@SOEZlfqaDleEIfyAJ?3F#-UGdH?`d5&-bkHmzBn2T}oRASEUYczb{SZ7Ya{l)&4H zt2+Pyi0JPZ)Z~iyGo%pCQ9?!pZu0{?5(;pjMy3(~AbfFGQgc+$cOkO1w=p)e1Q9v9 z*@B2T49u(m0N2I5RqE4?rsRXYB?tYyv2ZzN`Kp}zCdBEJ@}|2J^F|fA zhW;XV{wfI6RJAzLZMb76sj;xFW3&4*U&s3Df^?13a(-swBT;H#`$(^jYdP|k7j9*~ zd%4zK5!$s2_xkc9%BOJQyNF^DMr)1QTgKaCg1oi4W^uaH2oT+!<&c_390}>tX6(G?Vl5;DdwZ!%*|{ws(i<{A*}6 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zYb^8FLw@~(RuGP<_xPcI+9z0(O6^d0%VVqGEp;0A;fFmV0;Hiyy+^>*tCEYa^z8UY zq8|`#_CwR0s$B=+n0h%`y~kMP8F2NU##Y5iv~rAPtI)hi*9AF~59)iWz9)cW*!ytg z_`!d$=kc|BW{*QC{il*hRk}Na`|k{~sz4pVed<-o$y-Bv0OtN{1XQJx2**@$@}u-) zR}SEPBH%&VKmYVa?_28*wVqs3FS<|_*C1k2ulPPqALmK8I5n!IN_6pQuqW~<7S)IB zkQh+ahc)^Z1I8Ut>oE@Xq6<~=G!T=T#iw3$p-Oy6i12AR2@tOugRoD-N%em8;5b#C zU(NY6+Mx=2_8(;WG$_6|P99V17lQshoJ1;ay?l#on_T6|zE1-_5vis&^ svjFA)z_Bbqkz!#X + +#include +#include +#include +#include + +#include + +#include "rviz_default_plugins/displays/map/map_display.hpp" +#include "test/rviz_rendering/scene_graph_introspection.hpp" +#include "../../scene_graph_introspection_helper.hpp" +#include "../display_test_fixture.hpp" + +using namespace ::testing; // NOLINT + +class MapTestFixture : public DisplayTestFixture +{ +public: + void SetUp() override + { + DisplayTestFixture::SetUp(); + map_display_ = std::make_shared(context_.get()); + } + + void TearDown() override + { + map_display_.reset(); + DisplayTestFixture::TearDown(); + } + + nav_msgs::msg::OccupancyGrid::SharedPtr createMapMessage( + uint32_t width = 50, uint32_t height = 50) + { + auto header = std_msgs::msg::Header(); + header.frame_id = "map_frame"; + header.stamp = rclcpp::Clock().now(); + + auto meta_data = nav_msgs::msg::MapMetaData(); + meta_data.height = height; + meta_data.width = width; + meta_data.map_load_time = rclcpp::Clock().now(); + meta_data.resolution = 1; + + meta_data.origin.position.x = -25; + meta_data.origin.position.y = -25; + meta_data.origin.position.z = 0; + + meta_data.origin.orientation.x = 0; + meta_data.origin.orientation.y = 0; + meta_data.origin.orientation.z = 0; + meta_data.origin.orientation.w = 1; + + auto new_data = std::vector(); + for (uint32_t i = 0; i < width; i++) { + for (uint32_t j = 0; j < height; j++) { + new_data.emplace_back((i + j) % 101); + } + } + + auto occupancy_grid = std::make_shared(); + occupancy_grid->header = header; + occupancy_grid->info = meta_data; + occupancy_grid->data = new_data; + + return occupancy_grid; + } + + void expectNoManualObjects() + { + map_display_->showMap(); + auto manual_objects = rviz_rendering::findAllOgreObjectByType( + scene_manager_->getRootSceneNode(), "ManualObject"); + + EXPECT_THAT(manual_objects, IsEmpty()); + } + + std::shared_ptr map_display_; +}; + +TEST_F(MapTestFixture, showMap_does_not_print_map_if_map_is_empty) { + auto invalid_message = createMapMessage(); + invalid_message->info.width = 0; + map_display_->processMessage(invalid_message); + + expectNoManualObjects(); +} + +TEST_F(MapTestFixture, showMap_does_not_print_map_if_map_contain_invalid_resolution) { + auto invalid_message = createMapMessage(); + invalid_message->info.resolution = nan("NaN"); + map_display_->processMessage(invalid_message); + + expectNoManualObjects(); +} + +TEST_F(MapTestFixture, showMap_does_not_print_map_if_map_contains_invalid_position) { + auto invalid_message = createMapMessage(); + invalid_message->info.origin.position.x = nan("NaN"); + map_display_->processMessage(invalid_message); + + expectNoManualObjects(); +} + +TEST_F(MapTestFixture, showMap_does_not_print_map_if_map_sizes_do_not_match_data) { + auto invalid_message = createMapMessage(); + invalid_message->info.height = 1000; + invalid_message->info.width = 2000; + map_display_->processMessage(invalid_message); + + expectNoManualObjects(); +} + +TEST_F(MapTestFixture, showMap_shows_manual_object_if_current_map_is_valid) { + mockValidTransform(); + + map_display_->processMessage(createMapMessage()); + + auto manual_objects = rviz_rendering::findAllOgreObjectByType( + scene_manager_->getRootSceneNode(), "ManualObject"); + + ASSERT_THAT(manual_objects, SizeIs(1)); + EXPECT_TRUE(manual_objects[0]->isVisible()); +} + +TEST_F(MapTestFixture, showMap_defaults_empty_frame_id_to_map) { + Ogre::Vector3 position(1, 0, 0); + Ogre::Quaternion orientation(0.707107f, 0.707107f, 0, 0); + + EXPECT_CALL( + *frame_manager_, + transform("/map", _, _, _, _)) // NOLINT + .WillRepeatedly(DoAll( // NOLINT + SetArgReferee<3>(position), SetArgReferee<4>(orientation), Return(true))); + + auto message = createMapMessage(); + message->header.frame_id = ""; + map_display_->processMessage(message); + + auto manual_objects = rviz_rendering::findAllOgreObjectByType( + scene_manager_->getRootSceneNode(), "ManualObject"); + + ASSERT_THAT(manual_objects, SizeIs(1)); + EXPECT_TRUE(manual_objects[0]->isVisible()); + auto map_display_scene_node = manual_objects[0]->getParentSceneNode()->getParentSceneNode(); + EXPECT_THAT(map_display_scene_node->getPosition(), Vector3Eq(position)); + EXPECT_THAT(map_display_scene_node->getOrientation(), QuaternionEq(orientation)); +} + +TEST_F(MapTestFixture, showMap_does_not_display_anything_if_transform_fails) { + map_display_->processMessage(createMapMessage()); + + auto manual_objects = rviz_rendering::findAllOgreObjectByType( + scene_manager_->getRootSceneNode(), "ManualObject"); + + ASSERT_THAT(manual_objects, SizeIs(1)); + EXPECT_FALSE(manual_objects[0]->isVisible()); +} + +TEST_F(MapTestFixture, reset_makes_map_invisible) { + mockValidTransform(); + Ogre::Vector3 position(1, 0, 0); + Ogre::Quaternion orientation(0.5f, 0.5f, 0, 0); + + map_display_->processMessage(createMapMessage()); + + map_display_->reset(); + + auto manual_objects = rviz_rendering::findAllOgreObjectByType( + scene_manager_->getRootSceneNode(), "ManualObject"); + + ASSERT_THAT(manual_objects, SizeIs(1)); + EXPECT_FALSE(manual_objects[0]->isVisible()); +} + +TEST_F(MapTestFixture, createSwatches_creates_more_swatches_if_map_is_too_big) { + map_display_->processMessage(createMapMessage(500, 500)); + + auto manual_objects = rviz_rendering::findAllOgreObjectByType( + scene_manager_->getRootSceneNode(), "ManualObject"); + + EXPECT_THAT(manual_objects, SizeIs(4)); +} diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/map/map_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/map/map_display_visual_test.cpp new file mode 100644 index 000000000..380e7d431 --- /dev/null +++ b/rviz_default_plugins/test/rviz_default_plugins/displays/map/map_display_visual_test.cpp @@ -0,0 +1,74 @@ +/* + * Copyright (c) 2018, Bosch Software Innovations GmbH. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its contributors + * may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include +#include + +#include "rviz_visual_testing_framework/visual_test_fixture.hpp" +#include "rviz_visual_testing_framework/visual_test_publisher.hpp" + +#include "../../page_objects/map_display_page_object.hpp" +#include "../../page_objects/marker_display_page_object.hpp" +#include "../../publishers/map_publisher.hpp" +#include "../../publishers/single_marker_publisher.hpp" + +TEST_F(VisualTestFixture, test_map_display_with_large_map) { + auto publishers = std::vector(); + publishers.emplace_back(PublisherWithFrame(std::make_shared(), "map_frame")); + publishers.emplace_back(PublisherWithFrame( + std::make_shared(), "marker_frame")); + auto map_publisher = std::make_unique(publishers); + + setCamPose(Ogre::Vector3(0, 0, 200)); + setCamLookAt(Ogre::Vector3(0, 0, 0)); + + auto marker_display = addDisplay(); + marker_display->setTopic("/marker"); + + auto map_display = addDisplay(); + map_display->setTopic("/map"); + map_display->setAlpha(1); + + captureMainWindow("map_display_default_color_scheme"); + + map_display->setColorScheme("raw"); + + captureMainWindow("map_display_map_color_scheme"); + + map_display->setColorScheme("costmap"); + + captureMainWindow("map_display_costmap_scheme"); + + map_display->drawUnder(true); + + captureMainWindow("map_display_rendered_below_other_objects"); + + assertScreenShotsIdentity(); +} diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/map/palette_builder_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/map/palette_builder_test.cpp new file mode 100644 index 000000000..e8cfd5c5c --- /dev/null +++ b/rviz_default_plugins/test/rviz_default_plugins/displays/map/palette_builder_test.cpp @@ -0,0 +1,94 @@ +/* + * Copyright (c) 2018, Bosch Software Innovations GmbH. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its contributors + * may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include + +#include + +#include "rviz_default_plugins/displays/map/palette_builder.hpp" + +using namespace ::testing; // NOLINT + +TEST(PaletteBuilderTest, constructs_a_default_initialised_list) { + auto palette_builder = std::make_shared(); + + auto palette = palette_builder->buildPalette(); + for (int i = 0; i < 4 * 256; i++) { + EXPECT_THAT(palette[i], Eq(0)); + } +} + +TEST(PaletteBuilderTest, setColorForValue_sets_value_at_correct_position) { + auto palette_builder = std::make_shared(); + + auto palette = palette_builder->setColorForValue(1, 10, 20, 30, 40)->buildPalette(); + EXPECT_THAT(palette[4], Eq(10)); + EXPECT_THAT(palette[5], Eq(20)); + EXPECT_THAT(palette[6], Eq(30)); + EXPECT_THAT(palette[7], Eq(40)); +} + +TEST(PaletteBuilderTest, setColorForIllegalPositiveValues_sets_a_color_between_101_and_127) { + auto palette_builder = std::make_shared(); + + auto palette = palette_builder->setColorForIllegalPositiveValues(10, 20, 30)->buildPalette(); + EXPECT_THAT(palette[403], Eq(0)); + for (int i = 0; i < 27; i++) { + EXPECT_THAT(palette[404 + 4 * i], Eq(10)); + EXPECT_THAT(palette[404 + 4 * i + 1], Eq(20)); + EXPECT_THAT(palette[404 + 4 * i + 2], Eq(30)); + EXPECT_THAT(palette[404 + 4 * i + 3], Eq(255)); + } + EXPECT_THAT(palette[512], Eq(0)); +} + +TEST(PaletteBuilderTest, setColorForIllegalNegativeValues_sets_a_color_between_128_and_254) { + auto palette_builder = std::make_shared(); + + auto palette = palette_builder->setRedYellowColorsForIllegalNegativeValues()->buildPalette(); + EXPECT_THAT(palette[128 * 4 - 1], Eq(0)); + for (int i = 0; i < 127; i++) { + EXPECT_THAT(palette[128 * 4 + 4 * i], Eq(255)); + EXPECT_THAT(palette[128 * 4 + 4 * i + 2], Eq(0)); + EXPECT_THAT(palette[128 * 4 + 4 * i + 3], Eq(255)); + } + EXPECT_THAT(palette[255 * 4 + 1], Eq(0)); +} + +TEST(PaletteBuilderTest, setColorForLegalNegativeValueMinusOne_sets_a_color_for_MinusOne) { + auto palette_builder = std::make_shared(); + + auto palette = palette_builder->setColorForLegalNegativeValueMinusOne(30, 40, 50)->buildPalette(); + EXPECT_THAT(palette[255 * 4 - 1], Eq(0)); + EXPECT_THAT(palette[255 * 4], Eq(30)); + EXPECT_THAT(palette[255 * 4 + 1], Eq(40)); + EXPECT_THAT(palette[255 * 4 + 2], Eq(50)); + EXPECT_THAT(palette[255 * 4 + 3], Eq(255)); +} diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/marker_messages.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/marker_messages.cpp index 942c61552..b52826595 100644 --- a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/marker_messages.cpp +++ b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/marker_messages.cpp @@ -97,7 +97,7 @@ visualization_msgs::msg::Marker createDefaultMessage(int32_t type) marker.text = "Displaytext"; - marker.mesh_resource = "package://rviz_rendering_tests/test_meshes/pr2-base.dae"; + marker.mesh_resource = "package://rviz_default_plugins/test_meshes/pr2-base.dae"; marker.mesh_use_embedded_materials = true; return marker; } diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/mesh_resource_marker_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/mesh_resource_marker_test.cpp index 7bd917abc..d5f6a1fe9 100644 --- a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/mesh_resource_marker_test.cpp +++ b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/mesh_resource_marker_test.cpp @@ -211,12 +211,12 @@ TEST_F(MarkersTestFixture, setMessage_with_new_object_clears_old_entities_and_ma auto material_name = entity->getSubEntity(0)->getMaterialName(); EXPECT_TRUE(Ogre::MaterialManager::getSingletonPtr()->getByName(material_name, "rviz_rendering")); - message.mesh_resource = "package://rviz_rendering_tests/test_meshes/pr2-base_large.dae"; + message.mesh_resource = "package://rviz_default_plugins/test_meshes/pr2-base_large.dae"; marker_->setMessage(message); // entity and material are cleaned up auto deleted_entity = rviz_rendering::findEntityByMeshName( - scene_manager_->getRootSceneNode(), "package://rviz_rendering_tests/test_meshes/pr2-base.dae"); + scene_manager_->getRootSceneNode(), "package://rviz_default_plugins/test_meshes/pr2-base.dae"); ASSERT_FALSE(deleted_entity); EXPECT_FALSE( Ogre::MaterialManager::getSingletonPtr()->getByName(material_name, "rviz_rendering")); diff --git a/rviz_default_plugins/test/rviz_default_plugins/page_objects/map_display_page_object.cpp b/rviz_default_plugins/test/rviz_default_plugins/page_objects/map_display_page_object.cpp new file mode 100644 index 000000000..4de29e785 --- /dev/null +++ b/rviz_default_plugins/test/rviz_default_plugins/page_objects/map_display_page_object.cpp @@ -0,0 +1,65 @@ +/* + * Copyright (c) 2018, Bosch Software Innovations GmbH. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its contributors + * may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include "map_display_page_object.hpp" + +MapDisplayPageObject::MapDisplayPageObject() +: BasePageObject(0, "Map") +{} + +void MapDisplayPageObject::setTopic(QString topic) +{ + setComboBox("Topic", topic); + waitForFirstMessage(); +} + +void MapDisplayPageObject::setUnreliable(bool unreliable) +{ + setBool("Unreliable", unreliable); +} + +void MapDisplayPageObject::drawUnder(bool under) +{ + setBool("Draw Behind", under); +} + +void MapDisplayPageObject::setAlpha(float alpha) +{ + setFloat("Alpha", alpha); +} + +void MapDisplayPageObject::setColorScheme(QString scheme) +{ + setComboBox("Color Scheme", scheme); +} + +void MapDisplayPageObject::setUseTransformTimestamp(bool use_transform_stamped) +{ + setBool("Use Timestamp", use_transform_stamped); +} diff --git a/rviz_default_plugins/test/rviz_default_plugins/page_objects/map_display_page_object.hpp b/rviz_default_plugins/test/rviz_default_plugins/page_objects/map_display_page_object.hpp new file mode 100644 index 000000000..652c9c563 --- /dev/null +++ b/rviz_default_plugins/test/rviz_default_plugins/page_objects/map_display_page_object.hpp @@ -0,0 +1,48 @@ +/* + * Copyright (c) 2018, Bosch Software Innovations GmbH. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its contributors + * may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef RVIZ_DEFAULT_PLUGINS__PAGE_OBJECTS__MAP_DISPLAY_PAGE_OBJECT_HPP_ +#define RVIZ_DEFAULT_PLUGINS__PAGE_OBJECTS__MAP_DISPLAY_PAGE_OBJECT_HPP_ + +#include "rviz_visual_testing_framework/page_objects/base_page_object.hpp" + +class MapDisplayPageObject : public BasePageObject +{ +public: + MapDisplayPageObject(); + + void setTopic(QString topic); + void setUnreliable(bool unreliable); + void drawUnder(bool under); + void setAlpha(float alpha); + void setColorScheme(QString scheme); + void setUseTransformTimestamp(bool use_transform_stamped); +}; + +#endif // RVIZ_DEFAULT_PLUGINS__PAGE_OBJECTS__MAP_DISPLAY_PAGE_OBJECT_HPP_ diff --git a/rviz_default_plugins/test/rviz_default_plugins/publishers/map_publisher.hpp b/rviz_default_plugins/test/rviz_default_plugins/publishers/map_publisher.hpp new file mode 100644 index 000000000..63827e470 --- /dev/null +++ b/rviz_default_plugins/test/rviz_default_plugins/publishers/map_publisher.hpp @@ -0,0 +1,101 @@ +/* + * Copyright (c) 2018, Bosch Software Innovations GmbH. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its contributors + * may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef RVIZ_DEFAULT_PLUGINS__PUBLISHERS__MAP_PUBLISHER_HPP_ +#define RVIZ_DEFAULT_PLUGINS__PUBLISHERS__MAP_PUBLISHER_HPP_ + +#include +#include +#include + +#include "rclcpp/rclcpp.hpp" +#include "rclcpp/clock.hpp" +#include "std_msgs/msg/header.hpp" +#include "geometry_msgs/msg/pose_stamped.hpp" +#include "nav_msgs/msg/occupancy_grid.hpp" + +using namespace std::chrono_literals; // NOLINT + +namespace nodes +{ + +class MapPublisher : public rclcpp::Node +{ +public: + MapPublisher() + : Node("map_publisher") + { + publisher = this->create_publisher("map"); + timer = this->create_wall_timer(500ms, std::bind(&MapPublisher::timer_callback, this)); + } + +private: + void timer_callback() + { + auto header = std_msgs::msg::Header(); + header.frame_id = "map_frame"; + header.stamp = rclcpp::Clock().now(); + + auto meta_data = nav_msgs::msg::MapMetaData(); + meta_data.height = 256; + meta_data.width = 256; + meta_data.map_load_time = rclcpp::Clock().now(); + meta_data.resolution = 1; + + meta_data.origin.position.x = -128; + meta_data.origin.position.y = -128; + meta_data.origin.position.z = 0; + + meta_data.origin.orientation.x = 0; + meta_data.origin.orientation.y = 0; + meta_data.origin.orientation.z = 0; + meta_data.origin.orientation.w = 1; + + auto new_data = std::vector(); + for (uint32_t i = 0; i < meta_data.width; i++) { + for (uint32_t j = 0; j < meta_data.height; j++) { + new_data.emplace_back(i); + } + } + + auto occupancy_grid = std::make_shared(); + occupancy_grid->header = header; + occupancy_grid->info = meta_data; + occupancy_grid->data = new_data; + + publisher->publish(occupancy_grid); + } + + rclcpp::TimerBase::SharedPtr timer; + rclcpp::Publisher::SharedPtr publisher; +}; + +} // namespace nodes + +#endif // RVIZ_DEFAULT_PLUGINS__PUBLISHERS__MAP_PUBLISHER_HPP_ diff --git a/rviz_default_plugins/test/rviz_default_plugins/publishers/path_publisher.hpp b/rviz_default_plugins/test/rviz_default_plugins/publishers/path_publisher.hpp index 140841c92..ff26c8105 100644 --- a/rviz_default_plugins/test/rviz_default_plugins/publishers/path_publisher.hpp +++ b/rviz_default_plugins/test/rviz_default_plugins/publishers/path_publisher.hpp @@ -32,7 +32,6 @@ #define _USE_MATH_DEFINES #include -#include #include #include "rclcpp/rclcpp.hpp" diff --git a/rviz_default_plugins/test/rviz_default_plugins/publishers/single_marker_publisher.hpp b/rviz_default_plugins/test/rviz_default_plugins/publishers/single_marker_publisher.hpp new file mode 100644 index 000000000..0c284b558 --- /dev/null +++ b/rviz_default_plugins/test/rviz_default_plugins/publishers/single_marker_publisher.hpp @@ -0,0 +1,108 @@ +/* + * Copyright (c) 2018, Bosch Software Innovations GmbH. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its contributors + * may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef RVIZ_DEFAULT_PLUGINS__PUBLISHERS__SINGLE_MARKER_PUBLISHER_HPP_ +#define RVIZ_DEFAULT_PLUGINS__PUBLISHERS__SINGLE_MARKER_PUBLISHER_HPP_ + +#include +#include + +#include "rclcpp/rclcpp.hpp" +#include "std_msgs/msg/header.hpp" + +// TODO(greimela): Workaround for duplicate constant definition +// compare https://github.com/ros2/common_interfaces/issues/44 +#if defined(_WIN32) && defined(DELETE) +# undef DELETE +#endif +#include "visualization_msgs/msg/marker.hpp" + +using namespace std::chrono_literals; // NOLINT + +namespace nodes +{ + +class SingleMarkerPublisher : public rclcpp::Node +{ +public: + SingleMarkerPublisher() + : Node("marker_publisher") + { + publisher = this->create_publisher("marker"); + timer = this->create_wall_timer(200ms, std::bind(&SingleMarkerPublisher::timer_callback, this)); + } + +private: + void timer_callback() + { + auto header = std_msgs::msg::Header(); + header.frame_id = "marker_frame"; + header.stamp = rclcpp::Clock().now(); + + std::string ns = "test_ns"; + int id = 0; + + auto sphere_marker = createSphereMarker(header, ns, ++id); + publisher->publish(sphere_marker); + } + + visualization_msgs::msg::Marker createSphereMarker( + std_msgs::msg::Header header, const std::string & ns, int id) + { + auto marker = visualization_msgs::msg::Marker(); + marker.header = header; + marker.ns = ns; + marker.id = id; + + marker.type = visualization_msgs::msg::Marker::SPHERE; + marker.action = visualization_msgs::msg::Marker::ADD; + + marker.scale.x = 30; + marker.scale.y = 30; + marker.scale.z = 30; + + marker.color.a = 1.0; + marker.color.r = 0.0; + marker.color.g = 1.0; + marker.color.b = 0.0; + + marker.pose.position.x = 0; + marker.pose.position.y = 0; + marker.pose.position.z = -30; + + return marker; + } + + rclcpp::TimerBase::SharedPtr timer; + rclcpp::Publisher::SharedPtr publisher; +}; + +} // namespace nodes + +#endif // RVIZ_DEFAULT_PLUGINS__PUBLISHERS__SINGLE_MARKER_PUBLISHER_HPP_ diff --git a/rviz_default_plugins/test/rviz_default_plugins/robot/robot_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/robot/robot_test.cpp index 7b05d17e5..52d04b43d 100644 --- a/rviz_default_plugins/test/rviz_default_plugins/robot/robot_test.cpp +++ b/rviz_default_plugins/test/rviz_default_plugins/robot/robot_test.cpp @@ -86,7 +86,7 @@ class RobotTestFixture : public Test EXPECT_CALL(*context_, getHandlerManager()).WillRepeatedly(Return(handle_manager_)); resource_retriever::Retriever retriever; - auto file = retriever.get("package://rviz_rendering_tests/test_meshes/test.urdf"); + auto file = retriever.get("package://rviz_default_plugins/test_meshes/test.urdf"); std::string string(reinterpret_cast(file.data.get()), file.size); urdf_model_.initString(string); diff --git a/rviz_rendering/include/rviz_rendering/material_manager.hpp b/rviz_rendering/include/rviz_rendering/material_manager.hpp index 51b471178..aed2ae563 100644 --- a/rviz_rendering/include/rviz_rendering/material_manager.hpp +++ b/rviz_rendering/include/rviz_rendering/material_manager.hpp @@ -34,12 +34,16 @@ #include #include +#include +#include #include "rviz_rendering/visibility_control.hpp" namespace rviz_rendering { +const float unit_alpha_threshold = 0.9998f; + class RVIZ_RENDERING_PUBLIC MaterialManager { public: @@ -47,6 +51,16 @@ class RVIZ_RENDERING_PUBLIC MaterialManager const std::string & name, const Ogre::ColourValue & color, bool use_self_illumination); static void createDefaultColorMaterials(); + + static Ogre::MaterialPtr createMaterialWithNoLighting(std::string name); + + static Ogre::MaterialPtr createMaterialWithLighting(std::string name); + + static Ogre::MaterialPtr createMaterialWithShadowsAndLighting(std::string name); + + static void enableAlphaBlending(Ogre::MaterialPtr material, float alpha); + + static void enableAlphaBlending(Ogre::SceneBlendType & blending, bool & depth_write, float alpha); }; } // namespace rviz_rendering diff --git a/rviz_rendering/include/rviz_rendering/objects/billboard_line.hpp b/rviz_rendering/include/rviz_rendering/objects/billboard_line.hpp index 9ac602700..c8812553d 100644 --- a/rviz_rendering/include/rviz_rendering/objects/billboard_line.hpp +++ b/rviz_rendering/include/rviz_rendering/objects/billboard_line.hpp @@ -127,7 +127,6 @@ class BillboardLine : public Object std::function change_element); void incrementChainContainerIfNecessary(); void setupChainsInChainContainers() const; - void enableAlphaBlending(float alpha); Ogre::SceneNode * scene_node_; diff --git a/rviz_rendering/src/rviz_rendering/material_manager.cpp b/rviz_rendering/src/rviz_rendering/material_manager.cpp index 4a72c384c..e1de3b6f5 100644 --- a/rviz_rendering/src/rviz_rendering/material_manager.cpp +++ b/rviz_rendering/src/rviz_rendering/material_manager.cpp @@ -33,7 +33,7 @@ #include #include -#include +#include namespace rviz_rendering { @@ -63,4 +63,53 @@ void MaterialManager::createDefaultColorMaterials() createColorMaterial("RVIZ/ShadedCyan", Ogre::ColourValue(0.0f, 1.0f, 1.0f, 1.0f), false); } +Ogre::MaterialPtr MaterialManager::createMaterialWithNoLighting(std::string name) +{ + Ogre::MaterialPtr material = Ogre::MaterialManager::getSingleton().create(name, "rviz_rendering"); + material->setReceiveShadows(false); + material->getTechnique(0)->setLightingEnabled(false); + + return material; +} + +Ogre::MaterialPtr MaterialManager::createMaterialWithLighting(std::string name) +{ + Ogre::MaterialPtr material = Ogre::MaterialManager::getSingleton().create(name, "rviz_rendering"); + material->setReceiveShadows(false); + material->getTechnique(0)->setLightingEnabled(true); + + return material; +} + +Ogre::MaterialPtr MaterialManager::createMaterialWithShadowsAndLighting(std::string name) +{ + Ogre::MaterialPtr material = Ogre::MaterialManager::getSingleton().create(name, "rviz_rendering"); + material->getTechnique(0)->setLightingEnabled(true); + + return material; +} + +void MaterialManager::enableAlphaBlending(Ogre::MaterialPtr material, float alpha) +{ + if (alpha < unit_alpha_threshold) { + material->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA); + material->setDepthWriteEnabled(false); + } else { + material->setSceneBlending(Ogre::SBT_REPLACE); + material->setDepthWriteEnabled(true); + } +} + +void MaterialManager::enableAlphaBlending( + Ogre::SceneBlendType & blending, bool & depth_write, float alpha) +{ + if (alpha < unit_alpha_threshold) { + blending = Ogre::SBT_TRANSPARENT_ALPHA; + depth_write = false; + } else { + blending = Ogre::SBT_REPLACE; + depth_write = true; + } +} + } // namespace rviz_rendering diff --git a/rviz_rendering/src/rviz_rendering/objects/billboard_line.cpp b/rviz_rendering/src/rviz_rendering/objects/billboard_line.cpp index dce3cc4d0..aabd78621 100644 --- a/rviz_rendering/src/rviz_rendering/objects/billboard_line.cpp +++ b/rviz_rendering/src/rviz_rendering/objects/billboard_line.cpp @@ -39,7 +39,9 @@ #include #include -#include +#include + +#include "rviz_rendering/material_manager.hpp" static const uint32_t MAX_ELEMENTS = (65536 / 4); @@ -63,12 +65,8 @@ BillboardLine::BillboardLine(Ogre::SceneManager * scene_manager, Ogre::SceneNode scene_node_ = parent_node->createChildSceneNode(); static int count = 0; - std::stringstream ss; - ss << "BillboardLineMaterial" << count++; - material_ = Ogre::MaterialManager::getSingleton().create( - ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME); - material_->setReceiveShadows(false); - material_->getTechnique(0)->setLightingEnabled(false); + std::string material_name = "BillboardLineMaterial" + std::to_string(count++); + material_ = MaterialManager::createMaterialWithNoLighting(material_name); setNumLines(num_lines_); setMaxPointsPerLine(max_points_per_line_); @@ -183,7 +181,7 @@ void BillboardLine::addPoint(const Ogre::Vector3 & point, const Ogre::ColourValu incrementChainContainerIfNecessary(); - enableAlphaBlending(color.a); + rviz_rendering::MaterialManager::enableAlphaBlending(material_, color.a); Ogre::BillboardChain::Element e; e.position = point; @@ -193,17 +191,6 @@ void BillboardLine::addPoint(const Ogre::Vector3 & point, const Ogre::ColourValu current_line_ % chains_per_container_, e); } -void BillboardLine::enableAlphaBlending(float alpha) -{ - if (alpha < 0.9998) { - material_->getTechnique(0)->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA); - material_->getTechnique(0)->setDepthWriteEnabled(false); - } else { - material_->getTechnique(0)->setSceneBlending(Ogre::SBT_REPLACE); - material_->getTechnique(0)->setDepthWriteEnabled(true); - } -} - void BillboardLine::incrementChainContainerIfNecessary() { ++elements_in_current_chain_container_; @@ -241,7 +228,7 @@ void BillboardLine::setScale(const Ogre::Vector3 & scale) void BillboardLine::setColor(float r, float g, float b, float a) { - enableAlphaBlending(a); + rviz_rendering::MaterialManager::enableAlphaBlending(material_, a); color_ = Ogre::ColourValue(r, g, b, a); diff --git a/rviz_rendering/src/rviz_rendering/objects/grid.cpp b/rviz_rendering/src/rviz_rendering/objects/grid.cpp index f6f53f1b6..089e4a830 100644 --- a/rviz_rendering/src/rviz_rendering/objects/grid.cpp +++ b/rviz_rendering/src/rviz_rendering/objects/grid.cpp @@ -32,7 +32,7 @@ #include #include -#include +#include #include #include @@ -41,6 +41,7 @@ #include #include +#include "rviz_rendering/material_manager.hpp" #include "rviz_rendering/objects/billboard_line.hpp" namespace rviz_rendering @@ -62,11 +63,10 @@ Grid::Grid( height_count_(0), color_(color) { - static uint32_t gridCount = 0; - std::stringstream ss; - ss << "Grid" << gridCount++; + static uint32_t grid_count = 0; + std::string grid_name = "Grid" + std::to_string(grid_count++); - manual_object_ = scene_manager_->createManualObject(ss.str()); + manual_object_ = scene_manager_->createManualObject(grid_name); if (!parent_node) { parent_node = scene_manager_->getRootSceneNode(); @@ -77,11 +77,8 @@ Grid::Grid( billboard_line_ = std::make_shared(scene_manager, scene_node_); - ss << "Material"; - material_ = Ogre::MaterialManager::getSingleton().create( - ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME); - material_->setReceiveShadows(false); - material_->getTechnique(0)->setLightingEnabled(false); + std::string grid_material_name = grid_name + "Material"; + material_ = MaterialManager::createMaterialWithNoLighting(grid_material_name); setColor(color_); } @@ -118,15 +115,7 @@ void Grid::setLineWidth(float width) void Grid::setColor(const Ogre::ColourValue & color) { color_ = color; - - if (color_.a < 0.9998) { - material_->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA); - material_->setDepthWriteEnabled(false); - } else { - material_->setSceneBlending(Ogre::SBT_REPLACE); - material_->setDepthWriteEnabled(true); - } - + rviz_rendering::MaterialManager::enableAlphaBlending(material_, color.a); create(); } @@ -164,7 +153,8 @@ void Grid::createManualGrid() const const uint32_t number_of_vertices_in_plane = cell_count_ * 4 * (height_count_ + 1); manual_object_->estimateVertexCount(number_of_vertices_in_plane + numberOfVerticalLines()); - manual_object_->begin(material_->getName(), Ogre::RenderOperation::OT_LINE_LIST); + manual_object_->begin( + material_->getName(), Ogre::RenderOperation::OT_LINE_LIST, "rviz_rendering"); createLines(addLineFunction); manual_object_->end(); } diff --git a/rviz_rendering/src/rviz_rendering/objects/point_cloud.cpp b/rviz_rendering/src/rviz_rendering/objects/point_cloud.cpp index 8a86ea568..6505313c6 100644 --- a/rviz_rendering/src/rviz_rendering/objects/point_cloud.cpp +++ b/rviz_rendering/src/rviz_rendering/objects/point_cloud.cpp @@ -51,6 +51,8 @@ #include "rviz_rendering/custom_parameter_indices.hpp" #include "rviz_rendering/logging.hpp" +#include "rviz_rendering/material_manager.hpp" + // TODO(greimela): Add again after clearing up the module dependencies // #include "rviz_rendering/selection/forwards.hpp" @@ -431,7 +433,7 @@ void PointCloud::setAlpha(float alpha, bool per_point_alpha) { alpha_ = alpha; - if (alpha < 0.9998 || per_point_alpha) { + if (alpha < rviz_rendering::unit_alpha_threshold || per_point_alpha) { setAlphaBlending(point_material_); setAlphaBlending(square_material_); setAlphaBlending(flat_square_material_); diff --git a/rviz_rendering/src/rviz_rendering/objects/shape.cpp b/rviz_rendering/src/rviz_rendering/objects/shape.cpp index 30a0ec613..f3d3cc809 100644 --- a/rviz_rendering/src/rviz_rendering/objects/shape.cpp +++ b/rviz_rendering/src/rviz_rendering/objects/shape.cpp @@ -53,6 +53,7 @@ #include #include "rviz_rendering/logging.hpp" +#include "rviz_rendering/material_manager.hpp" // TODO(wjwwood): replace this with info from buildsystem #define ROS_PACKAGE_NAME "rviz_rendering" @@ -99,10 +100,9 @@ Shape::Shape(Type type, Ogre::SceneManager * scene_manager, Ogre::SceneNode * pa : Object(scene_manager), type_(type) { static uint32_t count = 0; - std::stringstream ss; - ss << "Shape" << count++; + std::string entity_name = "Shape" + std::to_string(count++); - entity_ = createEntity(ss.str(), type, scene_manager); + entity_ = createEntity(entity_name, type, scene_manager); if (!parent_node) { parent_node = scene_manager_->getRootSceneNode(); @@ -114,11 +114,8 @@ Shape::Shape(Type type, Ogre::SceneManager * scene_manager, Ogre::SceneNode * pa offset_node_->attachObject(entity_); } - ss << "Material"; - material_name_ = ss.str(); - material_ = Ogre::MaterialManager::getSingleton().create(material_name_, ROS_PACKAGE_NAME); - material_->setReceiveShadows(false); - material_->getTechnique(0)->setLightingEnabled(true); + material_name_ = entity_name + "Material"; + material_ = MaterialManager::createMaterialWithLighting(material_name_); material_->getTechnique(0)->setAmbient(0.5, 0.5, 0.5); if (entity_) { @@ -150,13 +147,7 @@ void Shape::setColor(const Ogre::ColourValue & c) material_->getTechnique(0)->setAmbient(c * 0.5); material_->getTechnique(0)->setDiffuse(c); - if (c.a < 0.9998) { - material_->getTechnique(0)->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA); - material_->getTechnique(0)->setDepthWriteEnabled(false); - } else { - material_->getTechnique(0)->setSceneBlending(Ogre::SBT_REPLACE); - material_->getTechnique(0)->setDepthWriteEnabled(true); - } + rviz_rendering::MaterialManager::enableAlphaBlending(material_, c.a); } void Shape::setColor(float r, float g, float b, float a) diff --git a/rviz_rendering_tests/ogre_media_resources/test_meshes/kitchen/doc.kml b/rviz_rendering_tests/ogre_media_resources/test_meshes/kitchen/doc.kml deleted file mode 100644 index 5f5f761bf..000000000 --- a/rviz_rendering_tests/ogre_media_resources/test_meshes/kitchen/doc.kml +++ /dev/null @@ -1,58 +0,0 @@ - - - - dada - Google SketchUp 6.4.112]]> - SketchUp -1 - -268.621 -81.6735 -40.01701040206847 --105.2828779909634 -6.259231800506925 -0.9128535643034782 - - -Tour - -Camera -1 - -268.621 -81.6735 -40.01701040206847 --105.2828779909634 -6.259231800506925 -0.9128535643034782 - - - - - Model - - - - relativeToGround - - -105.283000000000 - 40.017000000000 - 0.000000000000 - - - 0 - 0 - 0 - - - 1.0 - 1.0 - 1.0 - - - models/dada.dae - - - - diff --git a/rviz_rendering_tests/ogre_media_resources/test_meshes/kitchen/images/texture0.jpg b/rviz_rendering_tests/ogre_media_resources/test_meshes/kitchen/images/texture0.jpg deleted file mode 100644 index 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