Transformer readability and visualization world frame selection

src/OsgVisitors.cpp

@@ -3,6 +3,9 @@
 
 namespace vizkit3d
 {
+    //
+    // FindNode
+    //
     ::osg::Node * FindNode::find(::osg::Node &node,std::string name)
     {
         FindNode finder(name);
@@ -33,4 +36,58 @@ namespace vizkit3d
         else
             traverse(node);
     }
+
+
+    //
+    // SetOpacity
+    //
+    void SetOpacity::setOpacity(::osg::Node &node, double opacity)
+    {
+        SetOpacity visitor(opacity);
+        node.accept(visitor);
+    }
+
+    SetOpacity::SetOpacity()
+        : ::osg::NodeVisitor(::osg::NodeVisitor::TRAVERSE_ACTIVE_CHILDREN)
+    {
+    }
+
+    SetOpacity::SetOpacity(double opacity) :
+        osg::NodeVisitor(osg::NodeVisitor::TRAVERSE_ACTIVE_CHILDREN),
+        opacity(opacity)
+    {
+    }
+
+    void SetOpacity::apply(osg::Node &node){
+        traverse(node);
+    }
+
+    void SetOpacity::apply(osg::Geode &geode)
+    {
+        osg::StateSet *state   = NULL;
+        unsigned int    vertNum = 0;
+
+
+        //
+        //  We need to iterate through all the drawables check if
+        //  the contain any geometry that we will need to process
+        //
+        unsigned int numGeoms = geode.getNumDrawables();
+        for( unsigned int geodeIdx = 0; geodeIdx < numGeoms; geodeIdx++ ) {
+            osg::Geometry *curGeom = geode.getDrawable( geodeIdx )->asGeometry();
+
+            //
+            // Only process if the drawable is geometry
+            //
+            if ( curGeom ) {
+                osg::Vec4Array *colorArrays = dynamic_cast< osg::Vec4Array *>(curGeom->getColorArray());
+                if ( colorArrays ) {
+                    for ( unsigned int i = 0; i < colorArrays->size(); i++ ) {
+                        osg::Vec4 *color = &colorArrays->operator [](i);
+                        color->set( color->r(), color->g(), color->b(), opacity);
+                    }
+                }
+            }
+        }
+    }
 }

src/OsgVisitors.hpp

@@ -21,5 +21,21 @@ namespace vizkit3d
             ::osg::ref_ptr< ::osg::Node> node;
             std::string name;
     };
+
+
+    class SetOpacity : public ::osg::NodeVisitor
+    {
+        public:
+            static void setOpacity(::osg::Node &node, double opacity);
+
+            SetOpacity();
+            SetOpacity(double opacity);
+
+            void apply(osg::Node &node );
+            void apply(::osg::Geode &geode);
+        private:
+            ::osg::ref_ptr< ::osg::Node> node;
+            double opacity;
+    };
 }
 #endif

src/TransformerGraph.cpp

@@ -54,10 +54,17 @@ osg::PositionAttitudeTransform *createFrame(const std::string &name,bool root=fa
     osgText::Text *text= new osgText::Text;
     text->setText(name);
     text->setCharacterSize(textSize);
+
+    bool screenCoords = false;
+    if(screenCoords){
+        text->setAxisAlignment(osgText::Text::SCREEN);
+    }
+
     if(root)
         text->setPosition(osg::Vec3d(textSize/2,-textSize*1.5,0));
     else
         text->setPosition(osg::Vec3d(textSize/2,textSize/2,0));
+
     text_geode->addDrawable(text);
     switch_node->addChild(text_geode,true);
 
@@ -267,6 +274,38 @@ class TextSizeSetter: public ::osg::NodeVisitor
         float size;
 };
 
+class TextAxisAlignmentSetter: public ::osg::NodeVisitor
+{
+    public:
+        static void set(::osg::Node &node, osgText::Text::AxisAlignment alignment)
+        {
+            TextAxisAlignmentSetter setter(alignment);
+            node.accept(setter);
+        }
+
+        TextAxisAlignmentSetter(osgText::Text::AxisAlignment alignment)
+            : ::osg::NodeVisitor(::osg::NodeVisitor::TRAVERSE_ACTIVE_CHILDREN)
+            , alignment(alignment) {}
+
+        void apply(::osg::Node &node)
+        {
+            // Just stop if the node is not a PositionAttitudeTransform to prevent
+            // traversing the hole graph.
+            // The assumption here is that all custom nodes are always added
+            // to a group child node of the transformation nodes.
+            osg::PositionAttitudeTransform *trans = getTransform(&node, false);
+            if(!trans)
+                return;
+
+            osgText::Text* text = getFrameText(trans);
+            text->setAxisAlignment(alignment);
+
+            traverse(node);
+        }
+    private:
+        osgText::Text::AxisAlignment alignment;
+};
+
 class NodeRemover: public ::osg::NodeVisitor
 {
     public:
@@ -439,6 +478,11 @@ void TransformerGraph::setTextSize(osg::Node &transformer, float size)
     TextSizeSetter::set(transformer, size);
 }
 
+void TransformerGraph::setTextAxisAlignment(osg::Node &transformer, osgText::Text::AxisAlignment alignment)
+{
+    TextAxisAlignmentSetter::set(transformer, alignment);
+}
+
 float TransformerGraph::getTextSize(osg::Node &transformer)
 {
     osgText::Text *text= getFrameText(&transformer);
@@ -491,6 +535,14 @@ static void makeRoot(osg::Node& _transformer,
 {
     PositionAttitudeTransform* transformer = getTransform(&_transformer);
 
+    // Visit all child transforms and mark as outdated
+    // According to createFrame and addTRansform, the children are sorted like:
+    //   [user data group, axes, text, link (line between frames), switch for annotation, transform_to_root_frame_1, transform_to_root_frame_2, ...]
+    for(size_t i = 5; i<transformer->getNumChildren(); i++){
+        SetOpacity::setOpacity(*transformer->getChild(6), 0.25);
+    }
+
+
     osg::Vec3d trans = osg::Vec3d(0, 0, 0);
     osg::Quat  rot   = osg::Quat(0, 0, 0, 1);
 
@@ -511,6 +563,9 @@ static void makeRoot(osg::Node& _transformer,
         lastNode = currentNode;
         currentNode = parent;
     }
+
+    // Set unset opacity of all connected children of new root such they are fully visible
+    SetOpacity::setOpacity(*(desiredRoot->asNode()), 1);
 }
 
 void TransformerGraph::makeRoot(osg::Node& _transformer, std::string const& frame)

src/TransformerGraph.hpp

@@ -4,6 +4,7 @@
 
 #include <osg/Node>
 #include <osg/Geometry>
+#include <osgText/Text>
 
 #include <vector>
 #include <string>
@@ -46,6 +47,8 @@ namespace vizkit3d
          */
         static void setTextSize(osg::Node &transformer, float size);
 
+        static void setTextAxisAlignment(osg::Node &transformer, osgText::Text::AxisAlignment alignment);
+
         /**
          * Returns the size of the frame annotations
          */
@@ -212,3 +215,4 @@ namespace vizkit3d
 }
 
 #endif
+

src/Vizkit3DWidget.cpp

@@ -73,6 +73,13 @@ QStringList Vizkit3DConfig::getVisualizationFrames() const
     return frames;
 }
 
+QStringList Vizkit3DConfig::getTransformerFrames() const
+{
+    QStringList frames = getVisualizationFrames();
+    frames.removeAll(getWidget()->getWorldName());
+    return frames;
+}
+
 void Vizkit3DConfig::setVisualizationFrame(const QStringList &frames)
 {
     return getWidget()->setVisualizationFrame(frames.front(),false);
@@ -108,6 +115,12 @@ void Vizkit3DConfig::setTransformerTextSize(float value)
     return getWidget()->setTransformerTextSize(value);
 }
 
+void Vizkit3DConfig::setRootFrame(const QStringList &frames) const
+{
+    getWidget()->setRootFrame(frames.front());
+}
+
+
 QColor Vizkit3DConfig::getBackgroundColor() const
 {
     return getWidget()->getBackgroundColor();
@@ -128,6 +141,7 @@ bool Vizkit3DConfig::isAxesLabels() const
     return getWidget()->isAxesLabels();
 }
 
+#include <osgText/Text>
 namespace
 {
     struct ManipulatorDefinition
@@ -148,6 +162,21 @@ namespace
         { "None", NO_MANIPULATOR, true },
         { 0, FIRST_PERSON_MANIPULATOR } // only the empty string is used as guard
     };
+
+    struct AxisAlignmentDefinition
+    {
+        QString name;
+        osgText::Text::AxisAlignment id;
+        bool is_public;
+    };
+    AxisAlignmentDefinition KNOWN_AXIS_ALIGNMENTS[] = {
+        { "Default", osgText::Text::AxisAlignment::USER_DEFINED_ROTATION, true },
+        { "SCREEN", osgText::Text::AxisAlignment::SCREEN, true },
+        { "XY_PLANE", osgText::Text::AxisAlignment::XY_PLANE, true },
+        { "XZ_PLANE", osgText::Text::AxisAlignment::XZ_PLANE, true },
+        { "YZ_PLANE", osgText::Text::AxisAlignment::YZ_PLANE, true },
+        { 0, osgText::Text::AxisAlignment::USER_DEFINED_ROTATION } // only the empty string is used as guard
+    };
 }
 
 
@@ -173,6 +202,18 @@ QStringList Vizkit3DConfig::getAvailableCameraManipulators() const
     return names;
 }
 
+QStringList Vizkit3DConfig::getAvailableAxisAlignments() const
+{
+    QStringList names;
+    for (int i = 0; KNOWN_AXIS_ALIGNMENTS[i].name != 0; ++i)
+    {
+        if (KNOWN_AXIS_ALIGNMENTS[i].is_public)
+            names.append(KNOWN_AXIS_ALIGNMENTS[i].name);
+    }
+
+    return names;
+}
+
 QString Vizkit3DConfig::manipulatorIDToName(CAMERA_MANIPULATORS id)
 {
     for (int i = 0; KNOWN_MANIPULATORS[i].name != 0; ++i)
@@ -202,6 +243,35 @@ void Vizkit3DConfig::setCameraManipulator(QStringList const& manipulator)
     return getWidget()->setCameraManipulator(id);
 }
 
+QString Vizkit3DConfig::axisAlignmentIDToName(osgText::Text::AxisAlignment id)
+{
+    for (int i = 0; KNOWN_AXIS_ALIGNMENTS[i].name != 0; ++i)
+    {
+        if (id == KNOWN_AXIS_ALIGNMENTS[i].id)
+            return KNOWN_AXIS_ALIGNMENTS[i].name;
+    }
+    throw std::invalid_argument("axis alignment ID " + boost::lexical_cast<std::string>(id) + " has no declared name");
+}
+
+osgText::Text::AxisAlignment Vizkit3DConfig::axisAlignmentNameToID(QString const& name)
+{
+    for (int i = 0; KNOWN_AXIS_ALIGNMENTS[i].name != 0; ++i)
+    {
+        if (name == KNOWN_AXIS_ALIGNMENTS[i].name)
+            return KNOWN_AXIS_ALIGNMENTS[i].id;
+    }
+    throw std::invalid_argument("axis alignment name " + name.toStdString() + " does not exist");
+}
+
+void Vizkit3DConfig::setTextAxisAlignment(QStringList const& axisAlignment)
+{
+    osgText::Text::AxisAlignment id = axisAlignmentNameToID(axisAlignment.front());
+    return getWidget()->setTextAxisAlignment(id);
+}
+
+
+
+
 Vizkit3DWidget::Vizkit3DWidget(QWidget* parent,const QString &world_name,bool auto_update)
     : QMainWindow(parent)
     , env_plugin(NULL), clickHandler(new osgviz::ManipulationClickHandler),
@@ -926,6 +996,7 @@ void Vizkit3DWidget::setTransformation(const QString &source_frame,const QString
         registerClickHandler(target_frame.toStdString());
 
         emit propertyChanged("frame");
+        emit propertyChanged("transformerRootFrame");
         // first: VizPluginBase*
         // second: osg::ref_ptr<osg::Group>
 
@@ -993,6 +1064,11 @@ void Vizkit3DWidget::setTransformerTextSize(float size)
     emit propertyChanged("transformerTextSize");
 }
 
+void Vizkit3DWidget::setTextAxisAlignment(osgText::Text::AxisAlignment alignment)
+{
+    TransformerGraph::setTextAxisAlignment(*getRootNode(), alignment);
+}
+
 void Vizkit3DWidget::setAxesLabels(bool value)
 {
     osg::Node *node = FindNode::find(*getRootNode(),"axes_node");
@@ -1108,7 +1184,7 @@ QStringList* Vizkit3DWidget::getAvailablePlugins()
                 for(;iter3 != lib_plugins->end();++iter3)
                     *plugins_str_list << QString(*iter3 + "@" + file_info.absoluteFilePath());
             }
-            catch(std::runtime_error e)
+            catch(std::runtime_error& e)
             {
                 std::cerr << "WARN: cannot load vizkit plugin library " << e.what() << std::endl;
             }

src/Vizkit3DWidget.hpp

@@ -156,7 +156,10 @@ namespace vizkit3d
             Q_PROPERTY( bool transformer READ isTransformer WRITE setTransformer)
             Q_ENUMS( CAMERA_MANIPULATORS )
             Q_PROPERTY( QStringList manipulator READ getAvailableCameraManipulators WRITE setCameraManipulator )
-            Q_PROPERTY( double transformerTextSize READ getTransformerTextSize WRITE setTransformerTextSize );
+            Q_ENUMS( osgText::Text::AxisAlignment )
+            Q_PROPERTY( QStringList textAxisAlignment READ getAvailableAxisAlignments WRITE setTextAxisAlignment )
+            Q_PROPERTY( double transformerTextSize READ getTransformerTextSize WRITE setTransformerTextSize )
+            Q_PROPERTY( QStringList transformerRootFrame READ getTransformerFrames WRITE setRootFrame )
 
         public:
             Vizkit3DConfig(Vizkit3DWidget *parent);
@@ -183,6 +186,9 @@ namespace vizkit3d
             float getTransformerTextSize() const;
             void setTransformerTextSize(float value);
 
+            QStringList getTransformerFrames() const;
+            void setRootFrame(const QStringList &frames) const;
+
             QColor getBackgroundColor()const;
             void setBackgroundColor(QColor color);
 
@@ -197,6 +203,11 @@ namespace vizkit3d
              * current one at the top
              */
             QStringList getAvailableCameraManipulators() const;
+
+            static QString axisAlignmentIDToName(osgText::Text::AxisAlignment id);
+            static osgText::Text::AxisAlignment axisAlignmentNameToID(QString const& name);
+            void setTextAxisAlignment(QStringList const& axisAlignment);
+            QStringList getAvailableAxisAlignments() const;
     };
 
     class QDESIGNER_WIDGET_EXPORT Vizkit3DWidget : public QMainWindow
@@ -308,6 +319,7 @@ namespace vizkit3d
             void setTransformer(bool value);
             float getTransformerTextSize() const;
             void setTransformerTextSize(float value);
+            void setTextAxisAlignment(osgText::TextBase::AxisAlignment alignment);
             bool isAxes() const;
             void setAxes(bool value);
 

test/CMakeLists.txt

@@ -7,3 +7,9 @@ rock_testsuite(testGUI suite.cpp testWidget.cpp
 rock_testsuite(testCore suite.cpp testTransformerGraph.cpp
     DEPS vizkit3d
     LIBS ${Boost_THREAD_LIBRARY} ${Boost_SYSTEM_LIBRARY})
+
+rock_executable(vizkit3d-bin NOINSTALL
+    SOURCES vizkit3d.cpp
+    DEPS vizkit3d vizkit3d-viz
+    LIBS ${Boost_THREAD_LIBRARY} ${Boost_SYSTEM_LIBRARY}
+    )