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Covariances updated #1099

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merged 6 commits into from
May 5, 2017
Merged

Covariances updated #1099

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7311898
Include covariance_visual.h as local file
Ellon May 3, 2017
bd6a01c
Use rviz namespace explicitely; Clean trailing whitespaces
Ellon May 3, 2017
bcdd11e
Add offset to covariance property
Ellon May 3, 2017
de0872f
Refactor CovarianceVisual
Ellon May 3, 2017
ea5d9a2
Fix tolerance test at angular discontinuity
Ellon May 3, 2017
73883c7
Rename PoseWithCovarianceDisplay::Shape enums
Ellon May 3, 2017
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47 changes: 26 additions & 21 deletions src/rviz/default_plugin/covariance_property.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,8 +28,8 @@
*/

#include "covariance_property.h"
#include "covariance_visual.h"

#include "rviz/default_plugin/covariance_visual.h"
#include "rviz/properties/color_property.h"
#include "rviz/properties/float_property.h"
#include "rviz/properties/enum_property.h"
Expand Down Expand Up @@ -59,17 +59,17 @@ CovarianceProperty::CovarianceProperty( const QString& name,

position_color_property_ = new ColorProperty( "Color", QColor( 204, 51, 204 ),
"Color to draw the position covariance ellipse.",
position_property_, SLOT( updateColorAndAlphaAndScale() ), this );
position_property_, SLOT( updateColorAndAlphaAndScaleAndOffset() ), this );

position_alpha_property_ = new FloatProperty( "Alpha", 0.3f,
"0 is fully transparent, 1.0 is fully opaque.",
position_property_, SLOT( updateColorAndAlphaAndScale() ), this );
position_property_, SLOT( updateColorAndAlphaAndScaleAndOffset() ), this );
position_alpha_property_->setMin( 0 );
position_alpha_property_->setMax( 1 );

position_scale_property_ = new FloatProperty( "Scale", 1.0f,
"Scale factor to be applied to covariance ellipse",
position_property_, SLOT( updateColorAndAlphaAndScale() ), this );
"Scale factor to be applied to covariance ellipse. Corresponds to the number of standard deviations to display",
position_property_, SLOT( updateColorAndAlphaAndScaleAndOffset() ), this );
position_scale_property_->setMin( 0 );

orientation_property_ = new BoolProperty( "Orientation", true,
Expand All @@ -89,17 +89,22 @@ CovarianceProperty::CovarianceProperty( const QString& name,

orientation_color_property_ = new ColorProperty( "Color", QColor( 255, 255, 127 ),
"Color to draw the covariance ellipse.",
orientation_property_, SLOT( updateColorAndAlphaAndScale() ), this );
orientation_property_, SLOT( updateColorAndAlphaAndScaleAndOffset() ), this );

orientation_alpha_property_ = new FloatProperty( "Alpha", 0.5f,
"0 is fully transparent, 1.0 is fully opaque.",
orientation_property_, SLOT( updateColorAndAlphaAndScale() ), this );
orientation_property_, SLOT( updateColorAndAlphaAndScaleAndOffset() ), this );
orientation_alpha_property_->setMin( 0 );
orientation_alpha_property_->setMax( 1 );


orientation_offset_property_ = new FloatProperty( "Offset", 1.0f,
"For 3D poses is the distance where to position the ellipses representing orientation covariance. For 2D poses is the height of the triangle representing the variance on yaw",
orientation_property_, SLOT( updateColorAndAlphaAndScaleAndOffset() ), this );
orientation_offset_property_->setMin( 0 );

orientation_scale_property_ = new FloatProperty( "Scale", 1.0f,
"For 3D poses is the distance where to position orientation covariance. For 2D poses is the size of the triangle representing covariance on yaw",
orientation_property_, SLOT( updateColorAndAlphaAndScale() ), this );
"Scale factor to be applied to orientation covariance shapes. Corresponds to the number of standard deviations to display",
orientation_property_, SLOT( updateColorAndAlphaAndScaleAndOffset() ), this );
orientation_scale_property_->setMin( 0 );

connect(this, SIGNAL( changed() ), this, SLOT( updateVisibility() ));
Expand All @@ -125,18 +130,18 @@ void CovarianceProperty::updateColorStyleChoice()
{
bool use_unique_color = ( orientation_colorstyle_property_->getOptionInt() == Unique );
orientation_color_property_->setHidden( !use_unique_color );
updateColorAndAlphaAndScale();
updateColorAndAlphaAndScaleAndOffset();
}

void CovarianceProperty::updateColorAndAlphaAndScale()
void CovarianceProperty::updateColorAndAlphaAndScaleAndOffset()
{
D_Covariance::iterator it_cov = covariances_.begin();
D_Covariance::iterator end_cov = covariances_.end();
for ( ; it_cov != end_cov; ++it_cov )
updateColorAndAlphaAndScale(*it_cov);
updateColorAndAlphaAndScaleAndOffset(*it_cov);
}

void CovarianceProperty::updateColorAndAlphaAndScale(const CovarianceVisualPtr& visual)
void CovarianceProperty::updateColorAndAlphaAndScaleAndOffset(const CovarianceVisualPtr& visual)
{
float pos_alpha = position_alpha_property_->getFloat();
float pos_scale = position_scale_property_->getFloat();
Expand All @@ -145,6 +150,7 @@ void CovarianceProperty::updateColorAndAlphaAndScale(const CovarianceVisualPtr&
visual->setPositionScale( pos_scale );

float ori_alpha = orientation_alpha_property_->getFloat();
float ori_offset = orientation_offset_property_->getFloat();
float ori_scale = orientation_scale_property_->getFloat();
if(orientation_colorstyle_property_->getOptionInt() == Unique)
{
Expand All @@ -155,6 +161,7 @@ void CovarianceProperty::updateColorAndAlphaAndScale(const CovarianceVisualPtr&
{
visual->setOrientationColorToRGB( ori_alpha );
}
visual->setOrientationOffset( ori_offset );
visual->setOrientationScale( ori_scale );
}

Expand Down Expand Up @@ -217,7 +224,7 @@ CovarianceProperty::CovarianceVisualPtr CovarianceProperty::createAndPushBackVis
CovarianceVisualPtr visual(new CovarianceVisual(scene_manager, parent_node, use_rotating_frame) );
updateVisibility(visual);
updateOrientationFrame(visual);
updateColorAndAlphaAndScale(visual);
updateColorAndAlphaAndScaleAndOffset(visual);
covariances_.push_back(visual);
return visual;
}
Expand All @@ -232,6 +239,4 @@ bool CovarianceProperty::getOrientationBool()
return orientation_property_->getBool();
}



} // end namespace rviz_plugin_covariance
} // end namespace rviz
29 changes: 15 additions & 14 deletions src/rviz/default_plugin/covariance_property.h
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Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,7 @@ class EnumProperty;
class CovarianceVisual;

/** @brief Property specialized to provide getter for booleans. */
class CovarianceProperty: public BoolProperty
class CovarianceProperty: public rviz::BoolProperty
{
Q_OBJECT
public:
Expand All @@ -73,7 +73,7 @@ Q_OBJECT
CovarianceProperty( const QString& name = "Covariance",
bool default_value = false,
const QString& description = QString(),
Property* parent = 0,
rviz::Property* parent = 0,
const char *changed_slot = 0,
QObject* receiver = 0 );

Expand All @@ -92,28 +92,29 @@ public Q_SLOTS:
void updateVisibility();

private Q_SLOTS:
void updateColorAndAlphaAndScale();
void updateColorAndAlphaAndScaleAndOffset();
void updateOrientationFrame();
void updateColorStyleChoice();

private:
void updateColorAndAlphaAndScale( const CovarianceVisualPtr& visual );
void updateColorAndAlphaAndScaleAndOffset( const CovarianceVisualPtr& visual );
void updateOrientationFrame( const CovarianceVisualPtr& visual );
void updateVisibility( const CovarianceVisualPtr& visual );

typedef std::deque<CovarianceVisualPtr> D_Covariance;
D_Covariance covariances_;

BoolProperty* position_property_;
ColorProperty* position_color_property_;
FloatProperty* position_alpha_property_;
FloatProperty* position_scale_property_;
BoolProperty* orientation_property_;
EnumProperty* orientation_frame_property_;
EnumProperty* orientation_colorstyle_property_;
ColorProperty* orientation_color_property_;
FloatProperty* orientation_alpha_property_;
FloatProperty* orientation_scale_property_;
rviz::BoolProperty* position_property_;
rviz::ColorProperty* position_color_property_;
rviz::FloatProperty* position_alpha_property_;
rviz::FloatProperty* position_scale_property_;
rviz::BoolProperty* orientation_property_;
rviz::EnumProperty* orientation_frame_property_;
rviz::EnumProperty* orientation_colorstyle_property_;
rviz::ColorProperty* orientation_color_property_;
rviz::FloatProperty* orientation_alpha_property_;
rviz::FloatProperty* orientation_offset_property_;
rviz::FloatProperty* orientation_scale_property_;
};

} // end namespace rviz
Expand Down
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