Merge fixes from 'melodic-devel' branch

src/rviz/default_plugin/fluid_pressure_display.cpp

@@ -50,6 +50,7 @@ FluidPressureDisplay::FluidPressureDisplay() : point_cloud_common_(new PointClou
 
 FluidPressureDisplay::~FluidPressureDisplay()
 {
+  FluidPressureDisplay::unsubscribe();
   delete point_cloud_common_;
 }
 

src/rviz/default_plugin/grid_cells_display.cpp

@@ -31,7 +31,6 @@
 #include <OgreSceneNode.h>
 #include <OgreSceneManager.h>
 #include <OgreManualObject.h>
-#include <OgreBillboardSet.h>
 
 #include <rviz/frame_manager.h>
 #include <rviz/ogre_helpers/arrow.h>

src/rviz/default_plugin/illuminance_display.cpp

@@ -50,6 +50,7 @@ IlluminanceDisplay::IlluminanceDisplay() : point_cloud_common_(new PointCloudCom
 
 IlluminanceDisplay::~IlluminanceDisplay()
 {
+  IlluminanceDisplay::unsubscribe();
   delete point_cloud_common_;
 }
 

src/rviz/default_plugin/laser_scan_display.cpp

@@ -52,6 +52,7 @@ LaserScanDisplay::LaserScanDisplay()
 
 LaserScanDisplay::~LaserScanDisplay()
 {
+  LaserScanDisplay::unsubscribe();
   delete point_cloud_common_;
   delete projector_;
 }

src/rviz/default_plugin/path_display.cpp

@@ -32,7 +32,6 @@
 #include <OgreSceneNode.h>
 #include <OgreSceneManager.h>
 #include <OgreManualObject.h>
-#include <OgreBillboardSet.h>
 #include <OgreMatrix4.h>
 
 #include <rviz/display_context.h>

src/rviz/default_plugin/point_cloud2_display.cpp

@@ -50,6 +50,7 @@ PointCloud2Display::PointCloud2Display() : point_cloud_common_(new PointCloudCom
 
 PointCloud2Display::~PointCloud2Display()
 {
+  PointCloud2Display::unsubscribe();
   delete point_cloud_common_;
 }
 

src/rviz/default_plugin/point_cloud_common.cpp

@@ -380,6 +380,9 @@ void PointCloudCommon::initialize(DisplayContext* context, Ogre::SceneNode* scen
 
 PointCloudCommon::~PointCloudCommon()
 {
+  // Ensure any threads holding the mutexes have finished
+  boost::recursive_mutex::scoped_lock lock1(transformers_mutex_);
+  boost::mutex::scoped_lock lock2(new_clouds_mutex_);
   delete transformer_class_loader_;
 }
 

src/rviz/default_plugin/point_cloud_display.cpp

@@ -48,6 +48,7 @@ PointCloudDisplay::PointCloudDisplay() : point_cloud_common_(new PointCloudCommo
 
 PointCloudDisplay::~PointCloudDisplay()
 {
+  PointCloudDisplay::unsubscribe();
   delete point_cloud_common_;
 }
 

src/rviz/default_plugin/polygon_display.cpp

@@ -30,7 +30,6 @@
 #include <OgreSceneNode.h>
 #include <OgreSceneManager.h>
 #include <OgreManualObject.h>
-#include <OgreBillboardSet.h>
 
 #include <rviz/display_context.h>
 #include <rviz/frame_manager.h>

src/rviz/default_plugin/relative_humidity_display.cpp

@@ -50,6 +50,7 @@ RelativeHumidityDisplay::RelativeHumidityDisplay() : point_cloud_common_(new Poi
 
 RelativeHumidityDisplay::~RelativeHumidityDisplay()
 {
+  RelativeHumidityDisplay::unsubscribe();
   delete point_cloud_common_;
 }
 

src/rviz/default_plugin/temperature_display.cpp

@@ -50,6 +50,7 @@ TemperatureDisplay::TemperatureDisplay() : point_cloud_common_(new PointCloudCom
 
 TemperatureDisplay::~TemperatureDisplay()
 {
+  TemperatureDisplay::unsubscribe();
   delete point_cloud_common_;
 }
 

src/rviz/display.cpp

@@ -284,7 +284,7 @@ void Display::setFixedFrame(const QString& fixed_frame)
 
 void Display::emitTimeSignal(ros::Time time)
 {
-  Q_EMIT(timeSignal(this, time));
+  Q_EMIT(timeSignal(time, QPrivateSignal()));
 }
 
 void Display::reset()

src/rviz/display.h

@@ -225,7 +225,7 @@ class RVIZ_EXPORT Display : public BoolProperty
 
 Q_SIGNALS:
 
-  void timeSignal(rviz::Display* display, ros::Time time);
+  void timeSignal(ros::Time time, QPrivateSignal);
 
 public Q_SLOTS:
   /** @brief Enable or disable this Display.

src/rviz/ogre_helpers/point_cloud.cpp

@@ -37,7 +37,6 @@
 #include <OgreQuaternion.h>
 #include <OgreManualObject.h>
 #include <OgreMaterialManager.h>
-#include <OgreBillboardSet.h>
 #include <OgreBillboard.h>
 #include <OgreTexture.h>
 #include <OgreTextureManager.h>

src/rviz/ogre_helpers/point_cloud.h

@@ -96,9 +96,9 @@ typedef std::vector<PointCloudRenderablePtr> V_PointCloudRenderable;
  * \class PointCloud
  * \brief A visual representation of a set of points.
  *
- * Displays a set of points using any number of Ogre BillboardSets.  PointCloud is optimized for sets of
- * points that change
- * rapidly, rather than for large clouds that never change.
+ * Displays a set of points using vertex and geometry shaders.
+ * PointCloud is optimized for sets of points that change rapidly,
+ * rather than for large clouds that never change.
  *
  * Most of the functions in PointCloud are not safe to call from any thread but the render thread.
  * Exceptions are clear() and addPoints(), which

src/rviz/properties/splitter_handle.cpp

@@ -49,9 +49,7 @@ SplitterHandle::SplitterHandle(QTreeView* parent)
 
 bool SplitterHandle::eventFilter(QObject* event_target, QEvent* event)
 {
-  if (event_target == parent_ &&
-      (event->type() == QEvent::Resize || event->type() == QEvent::LayoutRequest ||
-       event->type() == QEvent::Show))
+  if (event_target == parent_ && event->type() == QEvent::Resize)
   {
     updateGeometry();
   }
@@ -61,13 +59,14 @@ bool SplitterHandle::eventFilter(QObject* event_target, QEvent* event)
 void SplitterHandle::updateGeometry()
 {
   int w = 7;
-  int new_column_width = int(first_column_size_ratio_ * parent_->contentsRect().width());
-  parent_->setColumnWidth(0, new_column_width);
-  parent_->setColumnWidth(1, parent_->viewport()->contentsRect().width() - new_column_width);
-
-  int new_x = new_column_width - w / 2 + parent_->columnViewportPosition(0);
-  if (new_x != x() || parent_->height() != height())
-    setGeometry(new_x, 0, w, parent_->height());
+  const auto& content = parent_->contentsRect();
+  int new_column_width = int(first_column_size_ratio_ * content.width());
+  parent_->header()->resizeSection(0, new_column_width); // fixed size for name column
+  parent_->header()->resizeSection(1, content.width() - new_column_width);
+
+  int new_x = content.x() + new_column_width - w / 2;
+  if (new_x != x() || content.height() != height())
+    setGeometry(new_x, content.y(), w, content.height());
 }
 
 void SplitterHandle::setRatio(float ratio)
@@ -81,49 +80,60 @@ float SplitterHandle::getRatio()
   return first_column_size_ratio_;
 }
 
+void SplitterHandle::setDesiredWidth(int width)
+{
+  const auto& content = parent_->contentsRect();
+  int new_column_width = qBound(parent_->header()->minimumSectionSize(), // minimum
+                                width,                                   // desired
+                                content.width());                        // maximum
+
+  if (new_column_width != parent_->header()->sectionSize(0))
+  {
+    first_column_size_ratio_ = new_column_width / (float)content.width();
+    updateGeometry();
+  }
+}
+
 void SplitterHandle::mousePressEvent(QMouseEvent* event)
 {
   if (event->button() == Qt::LeftButton)
   {
-    // position of mouse press inside this QWidget
-    x_press_offset_ = event->x();
+    // position of mouse press relative to splitter line / the center of the widget
+    x_press_offset_ = event->x() - width() / 2;
   }
 }
 
 void SplitterHandle::mouseMoveEvent(QMouseEvent* event)
 {
-  int padding = 55;
-
   if (event->buttons() & Qt::LeftButton)
   {
     QPoint pos_rel_parent = parent_->mapFromGlobal(event->globalPos());
-
-    int new_x = pos_rel_parent.x() - x_press_offset_ - parent_->columnViewportPosition(0);
-
-    if (new_x > parent_->width() - width() - padding)
-    {
-      new_x = parent_->width() - width() - padding;
-    }
-
-    if (new_x < padding)
-    {
-      new_x = padding;
-    }
-
-    if (new_x != x())
-    {
-      int new_column_width = new_x + width() / 2 - parent_->contentsRect().x();
-      first_column_size_ratio_ = new_column_width / (float)parent_->contentsRect().width();
-      updateGeometry();
-    }
+    setDesiredWidth(pos_rel_parent.x() - parent_->contentsRect().x() - x_press_offset_);
   }
 }
 
+// adjust splitter position to optimally fit content
+void SplitterHandle::mouseDoubleClickEvent(QMouseEvent* /*event*/)
+{
+  int available_width = parent_->contentsRect().width();
+  int default_width = 0.5f * available_width;
+  // missing width to default
+  int col0 = static_cast<QAbstractItemView*>(parent_)->sizeHintForColumn(0) - default_width;
+  int col1 = static_cast<QAbstractItemView*>(parent_)->sizeHintForColumn(1) - default_width;
+
+  if (col0 <= 0 && col1 <= 0) // each column fits
+    setDesiredWidth(default_width);
+  else if (col0 + col1 <= 0) // both columns fit together, but require a non-default splitting
+    setDesiredWidth(default_width + col0 + 0.5f * std::abs(col0 + col1)); // uniformly split extra space
+  else
+    setDesiredWidth(default_width + col0 - 0.5f * (col0 + col1)); // uniformly cut missing space
+}
+
 void SplitterHandle::paintEvent(QPaintEvent* /*event*/)
 {
   QPainter painter(this);
   painter.setPen(color_);
-  painter.drawLine(1 + width() / 2, 0, 1 + width() / 2, height());
+  painter.drawLine(width() / 2, 0, width() / 2, height());
 }
 
 } // end namespace rviz

src/rviz/properties/splitter_handle.h

@@ -53,6 +53,9 @@ class SplitterHandle : public QWidget
   /** @brief Get the ratio of the parent's left column to the parent widget width. */
   float getRatio();
 
+  /** @brief Set desired width of first column - subject to clamping */
+  void setDesiredWidth(int width);
+
   /** @brief Catch resize events sent to parent to update splitter's
    * geometry.  Always returns false. */
   bool eventFilter(QObject* event_target, QEvent* event) override;
@@ -70,6 +73,7 @@ class SplitterHandle : public QWidget
 protected:
   void mousePressEvent(QMouseEvent* event) override;
   void mouseMoveEvent(QMouseEvent* event) override;
+  void mouseDoubleClickEvent(QMouseEvent* event) override;
   void paintEvent(QPaintEvent* event) override;
 
 private:

src/rviz/time_panel.cpp

@@ -153,8 +153,7 @@ void TimePanel::onDisplayAdded(Display* display)
   }
   else
   {
-    connect(display, SIGNAL(timeSignal(rviz::Display*, ros::Time)), this,
-            SLOT(onTimeSignal(rviz::Display*, ros::Time)));
+    connect(display, SIGNAL(timeSignal(ros::Time)), this, SLOT(onTimeSignal(ros::Time)));
   }
 }
 
@@ -168,8 +167,12 @@ void TimePanel::onDisplayRemoved(Display* display)
   }
 }
 
-void TimePanel::onTimeSignal(Display* display, ros::Time time)
+void TimePanel::onTimeSignal(ros::Time time)
 {
+  Display* display = qobject_cast<Display*>(sender());
+  if (!display)
+    return;
+
   QString name = display->getName();
   int index = sync_source_selector_->findData(QVariant((qulonglong)display));
 

src/rviz/time_panel.h

@@ -69,7 +69,7 @@ protected Q_SLOTS:
   void onDisplayAdded(rviz::Display* display);
   void onDisplayRemoved(rviz::Display* display);
 
-  void onTimeSignal(rviz::Display* display, ros::Time time);
+  void onTimeSignal(ros::Time time);
 
   void load(const Config& config) override;
   void save(Config config) const override;

src/rviz/visualization_frame.cpp

@@ -1320,6 +1320,23 @@ QWidget* VisualizationFrame::getParentWindow()
   return this;
 }
 
+void VisualizationFrame::onPanelDeleted(QObject* dock)
+{
+  for (int i = 0; i < custom_panels_.size(); ++i)
+  {
+    if (custom_panels_[i].dock == dock)
+    {
+      auto& record = custom_panels_[i];
+      record.delete_action->deleteLater();
+      delete_view_menu_->removeAction(record.delete_action);
+      delete_view_menu_->setDisabled(delete_view_menu_->actions().isEmpty());
+      custom_panels_.removeAt(i);
+      setDisplayConfigModified();
+      return;
+    }
+  }
+}
+
 void VisualizationFrame::onDeletePanel()
 {
   // This should only be called as a SLOT from a QAction in the
@@ -1334,13 +1351,6 @@ void VisualizationFrame::onDeletePanel()
       if (custom_panels_[i].delete_action == action)
       {
         delete custom_panels_[i].dock;
-        custom_panels_.removeAt(i);
-        setDisplayConfigModified();
-        action->deleteLater();
-        if (delete_view_menu_->actions().size() == 1 && delete_view_menu_->actions().first() == action)
-        {
-          delete_view_menu_->setEnabled(false);
-        }
         return;
       }
     }
@@ -1393,6 +1403,7 @@ QDockWidget* VisualizationFrame::addPanelByName(const QString& name,
   record.panel = panel;
   record.name = name;
   record.delete_action = delete_view_menu_->addAction(name, this, SLOT(onDeletePanel()));
+  connect(record.dock, &QObject::destroyed, this, &VisualizationFrame::onPanelDeleted);
   custom_panels_.append(record);
   delete_view_menu_->setEnabled(true);
 

src/rviz/visualization_frame.h

@@ -269,6 +269,7 @@ protected Q_SLOTS:
 
   void reset();
 
+  void onPanelDeleted(QObject* dock);
   void onHelpDestroyed();
 
   void hideLeftDock(bool hide);

src/test/render_points_test.cpp

@@ -34,8 +34,8 @@
 #include <QApplication>
 #include <QVBoxLayout>
 
-#include <OGRE/OgreCamera.h>
-#include <OGRE/OgreSceneNode.h>
+#include <OgreCamera.h>
+#include <OgreSceneNode.h>
 
 using namespace rviz;
 

src/test/render_points_test.h

@@ -44,10 +44,10 @@
 #include <rviz/ogre_helpers/billboard_line.h>
 #include <rviz/ogre_helpers/render_system.h>
 
-#include <OGRE/OgreRoot.h>
-#include <OGRE/OgreSceneManager.h>
-#include <OGRE/OgreViewport.h>
-#include <OGRE/OgreLight.h>
+#include <OgreRoot.h>
+#include <OgreSceneManager.h>
+#include <OgreViewport.h>
+#include <OgreLight.h>
 
 #include <ros/time.h>
 #endif

src/test/two_render_widgets.cpp

@@ -35,11 +35,11 @@
 #include <QVBoxLayout>
 #include <QPushButton>
 
-#include <OGRE/OgreCamera.h>
-#include <OGRE/OgreEntity.h>
-#include <OGRE/OgreRenderWindow.h>
-#include <OGRE/OgreSceneNode.h>
-#include <OGRE/OgreViewport.h>
+#include <OgreCamera.h>
+#include <OgreEntity.h>
+#include <OgreRenderWindow.h>
+#include <OgreSceneNode.h>
+#include <OgreViewport.h>
 
 using namespace rviz;