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Merge pull request #21 from gergondet/topic/AddVisual
Add support for Visual element
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,131 @@ | ||
| #include "VisualWidget.h" | ||
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| namespace mc_rtc_rviz | ||
| { | ||
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| VisualWidget::VisualWidget(const ClientWidgetParam & params, visualization_msgs::MarkerArray & markers) | ||
| : ClientWidget(params), markers_(markers), visible_(visible()), was_visible_(visible_) | ||
| { | ||
| auto layout = new QHBoxLayout(this); | ||
| if(!secret()) | ||
| { | ||
| layout->addWidget(new QLabel(id().name.c_str())); | ||
| } | ||
| button_ = new QPushButton(this); | ||
| button_->setCheckable(true); | ||
| button_->setChecked(!visible()); | ||
| toggled(!visible_); | ||
| layout->addWidget(button_); | ||
| connect(button_, SIGNAL(toggled(bool)), this, SLOT(toggled(bool))); | ||
| marker_.ns = id2name(id()); | ||
| marker_.header.frame_id = "robot_map"; | ||
| marker_.header.seq = 0; | ||
| } | ||
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| VisualWidget::~VisualWidget() | ||
| { | ||
| marker_.action = visualization_msgs::Marker::DELETE; | ||
| markers_.markers.push_back(marker_); | ||
| } | ||
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| void VisualWidget::update(const rbd::parsers::Visual & visual, const sva::PTransformd & pose) | ||
| { | ||
| { | ||
| // Marker general settings | ||
| marker_.header.seq++; | ||
| marker_.header.stamp = ros::Time::now(); | ||
| marker_.action = visualization_msgs::Marker::ADD; | ||
| } | ||
| { | ||
| // Convert the position | ||
| auto X_0_marker = visual.origin * pose; | ||
| geometry_msgs::Pose p; | ||
| Eigen::Quaterniond q{X_0_marker.rotation().transpose()}; | ||
| p.orientation.w = q.w(); | ||
| p.orientation.x = q.x(); | ||
| p.orientation.y = q.y(); | ||
| p.orientation.z = q.z(); | ||
| const auto & t = X_0_marker.translation(); | ||
| p.position.x = t.x(); | ||
| p.position.y = t.y(); | ||
| p.position.z = t.z(); | ||
| marker_.pose = p; | ||
| } | ||
| { | ||
| // Color from material, defaults to white | ||
| if(visual.material.type == rbd::parsers::Material::Type::COLOR) | ||
| { | ||
| auto & c = boost::get<rbd::parsers::Material::Color>(visual.material.data); | ||
| marker_.color.r = c.r; | ||
| marker_.color.g = c.g; | ||
| marker_.color.b = c.b; | ||
| marker_.color.a = c.a; | ||
| } | ||
| else | ||
| { | ||
| marker_.color.r = 1.0; | ||
| marker_.color.g = 1.0; | ||
| marker_.color.b = 1.0; | ||
| marker_.color.a = 1.0; | ||
| } | ||
| } | ||
| { | ||
| // Convert geometry | ||
| using Geometry = rbd::parsers::Geometry; | ||
| using Type = Geometry::Type; | ||
| auto & type = visual.geometry.type; | ||
| auto & data = visual.geometry.data; | ||
| if(type == Type::BOX) | ||
| { | ||
| auto & b = boost::get<Geometry::Box>(data); | ||
| marker_.type = visualization_msgs::Marker::CUBE; | ||
| marker_.scale.x = b.size.x(); | ||
| marker_.scale.y = b.size.y(); | ||
| marker_.scale.z = b.size.z(); | ||
| } | ||
| else if(type == Type::CYLINDER) | ||
| { | ||
| auto & c = boost::get<Geometry::Cylinder>(data); | ||
| marker_.type = visualization_msgs::Marker::CYLINDER; | ||
| marker_.scale.x = 2 * c.radius; | ||
| marker_.scale.y = 2 * c.radius; | ||
| marker_.scale.z = c.length; | ||
| } | ||
| else if(type == Type::SPHERE) | ||
| { | ||
| auto & s = boost::get<Geometry::Sphere>(data); | ||
| marker_.type = visualization_msgs::Marker::SPHERE; | ||
| marker_.scale.x = 2 * s.radius; | ||
| marker_.scale.y = 2 * s.radius; | ||
| marker_.scale.z = 2 * s.radius; | ||
| } | ||
| else if(type == Type::MESH) | ||
| { | ||
| auto & m = boost::get<Geometry::Mesh>(data); | ||
| marker_.type = visualization_msgs::Marker::MESH_RESOURCE; | ||
| marker_.scale.x = m.scale; | ||
| marker_.scale.y = m.scale; | ||
| marker_.scale.z = m.scale; | ||
| marker_.mesh_resource = m.filename; | ||
| marker_.mesh_use_embedded_materials = true; | ||
| } | ||
| } | ||
| if(visible_ || was_visible_) | ||
| { | ||
| if(!visible_) | ||
| { | ||
| marker_.action = visualization_msgs::Marker::DELETE; | ||
| } | ||
| markers_.markers.push_back(marker_); | ||
| } | ||
| was_visible_ = visible_; | ||
| } | ||
|
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| void VisualWidget::toggled(bool hide) | ||
| { | ||
| visible_ = !hide; | ||
| button_->setText(hide ? "Show" : "Hide"); | ||
| visible(!hide); | ||
| } | ||
|
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| } // namespace mc_rtc_rviz |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,35 @@ | ||
| /* | ||
| * Copyright 2021 CNRS-UM LIRMM, CNRS-AIST JRL | ||
| */ | ||
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| #pragma once | ||
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| #include "ClientWidget.h" | ||
| #include "utils.h" | ||
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| #include <visualization_msgs/MarkerArray.h> | ||
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| namespace mc_rtc_rviz | ||
| { | ||
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| struct VisualWidget : public ClientWidget | ||
| { | ||
| Q_OBJECT | ||
| public: | ||
| VisualWidget(const ClientWidgetParam & params, visualization_msgs::MarkerArray & markers); | ||
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| ~VisualWidget() override; | ||
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| void update(const rbd::parsers::Visual & visual, const sva::PTransformd & pose); | ||
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| private: | ||
| visualization_msgs::MarkerArray & markers_; | ||
| visualization_msgs::Marker marker_; | ||
| bool visible_; | ||
| bool was_visible_; | ||
| QPushButton * button_; | ||
| private slots: | ||
| void toggled(bool); | ||
| }; | ||
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| } // namespace mc_rtc_rviz |