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Add ability to set alpha channel value of Axes and TF displays #1357

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merged 1 commit into from
Mar 29, 2019
Merged

Add ability to set alpha channel value of Axes and TF displays #1357

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10 changes: 8 additions & 2 deletions src/rviz/default_plugin/axes_display.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -71,6 +71,12 @@ AxesDisplay::AxesDisplay()
"Radius of each axis, in meters.",
this, SLOT( updateShape() ));
radius_property_->setMin( 0.0001 );

alpha_property_ = new FloatProperty( "Alpha", 1.0,
"Alpha channel value of each axis.",
this, SLOT( updateShape() ));
alpha_property_->setMin( 0.0 );
alpha_property_->setMax( 1.0 );
}

AxesDisplay::~AxesDisplay()
Expand All @@ -82,7 +88,7 @@ void AxesDisplay::onInitialize()
{
frame_property_->setFrameManager( context_->getFrameManager() );

axes_ = new Axes( scene_manager_, 0, length_property_->getFloat(), radius_property_->getFloat() );
axes_ = new Axes( scene_manager_, 0, length_property_->getFloat(), radius_property_->getFloat(), alpha_property_->getFloat() );
axes_->getSceneNode()->setVisible( isEnabled() );
}

Expand All @@ -98,7 +104,7 @@ void AxesDisplay::onDisable()

void AxesDisplay::updateShape()
{
axes_->set( length_property_->getFloat(), radius_property_->getFloat() );
axes_->set( length_property_->getFloat(), radius_property_->getFloat(), alpha_property_->getFloat() );
context_->queueRender();
}

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1 change: 1 addition & 0 deletions src/rviz/default_plugin/axes_display.h
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Expand Up @@ -73,6 +73,7 @@ private Q_SLOTS:

FloatProperty* length_property_;
FloatProperty* radius_property_;
FloatProperty* alpha_property_;
TfFrameProperty* frame_property_;
};

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6 changes: 6 additions & 0 deletions src/rviz/default_plugin/tf_display.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -174,6 +174,10 @@ TFDisplay::TFDisplay()

scale_property_ = new FloatProperty( "Marker Scale", 1, "Scaling factor for all names, axes and arrows.", this );

alpha_property_ = new FloatProperty( "Marker Alpha", 1, "Alpha channel value for all axes.", this );
alpha_property_->setMin( 0 );
alpha_property_->setMax( 1 );

update_rate_property_ = new FloatProperty( "Update Interval", 0,
"The interval, in seconds, at which to update the frame transforms. 0 means to do so every update cycle.",
this );
Expand Down Expand Up @@ -598,6 +602,8 @@ void TFDisplay::updateFrame( FrameInfo* frame )
frame->axes_->getSceneNode()->setVisible( show_axes_property_->getBool() && frame_enabled);
float scale = scale_property_->getFloat();
frame->axes_->setScale( Ogre::Vector3( scale, scale, scale ));
float alpha = alpha_property_->getFloat();
frame->axes_->updateAlpha( alpha );

frame->name_node_->setPosition( position );
frame->name_node_->setVisible( show_names_property_->getBool() && frame_enabled );
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1 change: 1 addition & 0 deletions src/rviz/default_plugin/tf_display.h
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Original file line number Diff line number Diff line change
Expand Up @@ -118,6 +118,7 @@ private Q_SLOTS:
BoolProperty* all_enabled_property_;

FloatProperty* scale_property_;
FloatProperty* alpha_property_;

Property* frames_category_;
Property* tree_category_;
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30 changes: 19 additions & 11 deletions src/rviz/ogre_helpers/axes.cpp
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Expand Up @@ -40,8 +40,12 @@
namespace rviz
{

Axes::Axes( Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node, float length, float radius )
: Object( scene_manager )
Axes::Axes( Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node, float length, float radius, float alpha )
: Object( scene_manager ),
default_x_color_( 1, 0, 0, alpha ),
default_y_color_( 0, 1, 0, alpha ),
default_z_color_( 0, 0, 1, alpha )

{
if ( !parent_node )
{
Expand All @@ -54,7 +58,7 @@ Axes::Axes( Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node, flo
y_axis_ = new Shape( Shape::Cylinder, scene_manager_, scene_node_ );
z_axis_ = new Shape( Shape::Cylinder, scene_manager_, scene_node_ );

set( length, radius );
set( length, radius, alpha );
}

Axes::~Axes()
Expand All @@ -66,7 +70,7 @@ Axes::~Axes()
scene_manager_->destroySceneNode( scene_node_->getName() );
}

void Axes::set( float length, float radius )
void Axes::set( float length, float radius, float alpha )
{
x_axis_->setScale(Ogre::Vector3( radius, length, radius ));
y_axis_->setScale(Ogre::Vector3( radius, length, radius ));
Expand All @@ -78,6 +82,7 @@ void Axes::set( float length, float radius )
z_axis_->setPosition( Ogre::Vector3( 0.0, 0.0f, length/2.0f ) );
z_axis_->setOrientation( Ogre::Quaternion( Ogre::Degree( 90 ), Ogre::Vector3::UNIT_X ) );

updateAlpha(alpha);
setToDefaultColors();
}

Expand Down Expand Up @@ -134,16 +139,19 @@ void Axes::setZColor(const Ogre::ColourValue& col)
z_axis_->setColor(col.r, col.g, col.b, col.a);
}

void Axes::setToDefaultColors()
void Axes::updateAlpha(float alpha)
{
x_axis_->setColor( 1.0f, 0.0f, 0.0f, 1.0f );
y_axis_->setColor( 0.0f, 1.0f, 0.0f, 1.0f );
z_axis_->setColor( 0.0f, 0.0f, 1.0f, 1.0f );
default_x_color_.a = alpha;
default_y_color_.a = alpha;
default_z_color_.a = alpha;
}

const Ogre::ColourValue Axes::default_x_color_( 1, 0, 0, 1 );
const Ogre::ColourValue Axes::default_y_color_( 0, 1, 0, 1 );
const Ogre::ColourValue Axes::default_z_color_( 0, 0, 1, 1 );
void Axes::setToDefaultColors()
{
x_axis_->setColor(default_x_color_);
y_axis_->setColor(default_y_color_);
z_axis_->setColor(default_z_color_);
}

const Ogre::ColourValue& Axes::getDefaultXColor()
{
Expand Down
23 changes: 14 additions & 9 deletions src/rviz/ogre_helpers/axes.h
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Original file line number Diff line number Diff line change
Expand Up @@ -38,14 +38,15 @@

#include <vector>

#include <OgreColourValue.h>

namespace Ogre
{
class SceneManager;
class SceneNode;
class Vector3;
class Quaternion;
class Any;
class ColourValue;
}

namespace rviz
Expand All @@ -65,17 +66,19 @@ class RVIZ_EXPORT Axes : public Object
* @param parent_node A scene node to use as the parent of this object. If NULL, uses the root scene node.
* @param length Length of the axes
* @param radius Radius of the axes
* @param alpha Alpha channel value of the axes
*/
Axes( Ogre::SceneManager* manager, Ogre::SceneNode* parent_node = NULL, float length = 1.0f, float radius = 0.1f );
Axes( Ogre::SceneManager* manager, Ogre::SceneNode* parent_node = NULL, float length = 1.0f, float radius = 0.1f, float alpha = 1.0f );
virtual ~Axes();

/**
* \brief Set the parameters on this object
*
* @param length Length of the axes
* @param radius Radius of the axes
* @param alpha Alpha channel value of the axes
*/
void set( float length, float radius );
void set( float length, float radius , float alpha = 1.0f );

virtual void setOrientation( const Ogre::Quaternion& orientation );
virtual void setPosition( const Ogre::Vector3& position );
Expand All @@ -102,10 +105,12 @@ class RVIZ_EXPORT Axes : public Object
void setXColor(const Ogre::ColourValue& col);
void setYColor(const Ogre::ColourValue& col);
void setZColor(const Ogre::ColourValue& col);
void updateAlpha(float alpha);
void setToDefaultColors();
static const Ogre::ColourValue& getDefaultXColor();
static const Ogre::ColourValue& getDefaultYColor();
static const Ogre::ColourValue& getDefaultZColor();
const Ogre::ColourValue& getDefaultXColor();
const Ogre::ColourValue& getDefaultYColor();
const Ogre::ColourValue& getDefaultZColor();


private:

Expand All @@ -119,9 +124,9 @@ class RVIZ_EXPORT Axes : public Object
Shape* y_axis_; ///< Cylinder for the Y-axis
Shape* z_axis_; ///< Cylinder for the Z-axis

static const Ogre::ColourValue default_x_color_;
static const Ogre::ColourValue default_y_color_;
static const Ogre::ColourValue default_z_color_;
Ogre::ColourValue default_x_color_;
Ogre::ColourValue default_y_color_;
Ogre::ColourValue default_z_color_;
};

} // namespace rviz
Expand Down