forked from ros/catkin
-
Notifications
You must be signed in to change notification settings - Fork 0
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Extract the Ogre related submap code into a separate class. (ros#444)
- Loading branch information
Showing
4 changed files
with
228 additions
and
121 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,145 @@ | ||
| /* | ||
| * Copyright 2016 The Cartographer Authors | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| */ | ||
|
|
||
| #include "cartographer_rviz/ogre_submap.h" | ||
|
|
||
| #include <string> | ||
| #include <vector> | ||
|
|
||
| #include "OgreGpuProgramParams.h" | ||
| #include "OgreImage.h" | ||
| #include "cartographer/common/port.h" | ||
|
|
||
| namespace cartographer_rviz { | ||
|
|
||
| namespace { | ||
|
|
||
| constexpr char kManualObjectPrefix[] = "ManualObjectSubmap"; | ||
| constexpr char kSubmapSourceMaterialName[] = "cartographer_ros/Submap"; | ||
| constexpr char kSubmapMaterialPrefix[] = "SubmapMaterial"; | ||
| constexpr char kSubmapTexturePrefix[] = "SubmapTexture"; | ||
|
|
||
| std::string GetSubmapIdentifier( | ||
| const ::cartographer::mapping::SubmapId& submap_id) { | ||
| return std::to_string(submap_id.trajectory_id) + "-" + | ||
| std::to_string(submap_id.submap_index); | ||
| } | ||
|
|
||
| } // namespace | ||
|
|
||
| Ogre::Vector3 ToOgre(const Eigen::Vector3d& v) { | ||
| return Ogre::Vector3(v.x(), v.y(), v.z()); | ||
| } | ||
|
|
||
| Ogre::Quaternion ToOgre(const Eigen::Quaterniond& q) { | ||
| return Ogre::Quaternion(q.w(), q.x(), q.y(), q.z()); | ||
| } | ||
|
|
||
| OgreSubmap::OgreSubmap(const ::cartographer::mapping::SubmapId& id, | ||
| Ogre::SceneManager* const scene_manager, | ||
| Ogre::SceneNode* const scene_node) | ||
| : id_(id), | ||
| scene_manager_(scene_manager), | ||
| scene_node_(scene_node), | ||
| submap_node_(scene_node_->createChildSceneNode()), | ||
| manual_object_(scene_manager_->createManualObject( | ||
| kManualObjectPrefix + GetSubmapIdentifier(id))) { | ||
| material_ = Ogre::MaterialManager::getSingleton().getByName( | ||
| kSubmapSourceMaterialName); | ||
| material_ = | ||
| material_->clone(kSubmapMaterialPrefix + GetSubmapIdentifier(id_)); | ||
| material_->setReceiveShadows(false); | ||
| material_->getTechnique(0)->setLightingEnabled(false); | ||
| material_->setCullingMode(Ogre::CULL_NONE); | ||
| material_->setDepthBias(-1.f, 0.f); | ||
| material_->setDepthWriteEnabled(false); | ||
| submap_node_->attachObject(manual_object_); | ||
| } | ||
|
|
||
| OgreSubmap::~OgreSubmap() { | ||
| Ogre::MaterialManager::getSingleton().remove(material_->getHandle()); | ||
| if (!texture_.isNull()) { | ||
| Ogre::TextureManager::getSingleton().remove(texture_->getHandle()); | ||
| texture_.setNull(); | ||
| } | ||
| scene_manager_->destroySceneNode(submap_node_); | ||
| scene_manager_->destroyManualObject(manual_object_); | ||
| } | ||
|
|
||
| void OgreSubmap::Update( | ||
| const ::cartographer_ros::SubmapTexture& submap_texture) { | ||
| submap_node_->setPosition(ToOgre(submap_texture.slice_pose.translation())); | ||
| submap_node_->setOrientation(ToOgre(submap_texture.slice_pose.rotation())); | ||
| // The call to Ogre's loadRawData below does not work with an RG texture, | ||
| // therefore we create an RGB one whose blue channel is always 0. | ||
| std::vector<char> rgb; | ||
| CHECK_EQ(submap_texture.intensity.size(), submap_texture.alpha.size()); | ||
| for (size_t i = 0; i < submap_texture.intensity.size(); ++i) { | ||
| rgb.push_back(submap_texture.intensity[i]); | ||
| rgb.push_back(submap_texture.alpha[i]); | ||
| rgb.push_back(0); | ||
| } | ||
|
|
||
| manual_object_->clear(); | ||
| const float metric_width = submap_texture.resolution * submap_texture.width; | ||
| const float metric_height = submap_texture.resolution * submap_texture.height; | ||
| manual_object_->begin(material_->getName(), | ||
| Ogre::RenderOperation::OT_TRIANGLE_STRIP); | ||
| // Bottom left | ||
| manual_object_->position(-metric_height, 0.0f, 0.0f); | ||
| manual_object_->textureCoord(0.0f, 1.0f); | ||
| // Bottom right | ||
| manual_object_->position(-metric_height, -metric_width, 0.0f); | ||
| manual_object_->textureCoord(1.0f, 1.0f); | ||
| // Top left | ||
| manual_object_->position(0.0f, 0.0f, 0.0f); | ||
| manual_object_->textureCoord(0.0f, 0.0f); | ||
| // Top right | ||
| manual_object_->position(0.0f, -metric_width, 0.0f); | ||
| manual_object_->textureCoord(1.0f, 0.0f); | ||
| manual_object_->end(); | ||
|
|
||
| Ogre::DataStreamPtr pixel_stream; | ||
| pixel_stream.bind(new Ogre::MemoryDataStream(rgb.data(), rgb.size())); | ||
|
|
||
| if (!texture_.isNull()) { | ||
| Ogre::TextureManager::getSingleton().remove(texture_->getHandle()); | ||
| texture_.setNull(); | ||
| } | ||
| const std::string texture_name = | ||
| kSubmapTexturePrefix + GetSubmapIdentifier(id_); | ||
| texture_ = Ogre::TextureManager::getSingleton().loadRawData( | ||
| texture_name, Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, | ||
| pixel_stream, submap_texture.width, submap_texture.height, | ||
| Ogre::PF_BYTE_RGB, Ogre::TEX_TYPE_2D, 0); | ||
|
|
||
| Ogre::Pass* const pass = material_->getTechnique(0)->getPass(0); | ||
| pass->setSceneBlending(Ogre::SBF_ONE, Ogre::SBF_ONE_MINUS_SOURCE_ALPHA); | ||
| Ogre::TextureUnitState* const texture_unit = | ||
| pass->getNumTextureUnitStates() > 0 ? pass->getTextureUnitState(0) | ||
| : pass->createTextureUnitState(); | ||
|
|
||
| texture_unit->setTextureName(texture_->getName()); | ||
| texture_unit->setTextureFiltering(Ogre::TFO_NONE); | ||
| } | ||
|
|
||
| void OgreSubmap::SetAlpha(const float alpha) { | ||
| const Ogre::GpuProgramParametersSharedPtr parameters = | ||
| material_->getTechnique(0)->getPass(0)->getFragmentProgramParameters(); | ||
| parameters->setNamedConstant("u_alpha", alpha); | ||
| } | ||
|
|
||
| } // namespace cartographer_rviz |
Oops, something went wrong.