Feature/qt4 qt5

CMakeLists.txt

@@ -4,6 +4,7 @@ cmake_policy(SET CMP0057 NEW)
 
 find_package(Rock)
 rock_init(base 1.0)
+rock_feature(NOCURDIR)
 
 set(CMAKE_CXX_STANDARD 11)
 

manifest.xml

@@ -19,5 +19,7 @@
     <depend package="rice" optional="1" />
     <depend package="external/sisl" optional="1" />
     <depend package="gui/vizkit3d" optional="1" />
+    <!-- gui/osgviz is directly used here, also pulled in by gui/vizkit3d -->
+    <depend package="gui/osgviz" optional="1" />
     <tags>stable</tags>
 </package>

src/CMakeLists.txt

@@ -8,6 +8,7 @@ if(SISL_FOUND)
         Spline.cpp
         Trajectory.cpp
     )
+    set(BASE-TYPES_EXTRA_DEPS_CMAKE SISL)
 endif()
 
 rock_library(
@@ -118,10 +119,10 @@ rock_library(
     DEPS_PKGCONFIG
         base-logging
         eigen3
+    DEPS_CMAKE ${BASE-TYPES_EXTRA_DEPS_CMAKE}
 )
 
 if(SISL_FOUND)
-    target_link_libraries(base-types ${SISL_LIBRARIES})
     install(FILES ${CMAKE_SOURCE_DIR}/src/Spline.hpp
             DESTINATION include/base/geometry)
     configure_file(base-types-sisl.pc.in ${CMAKE_BINARY_DIR}/base-types-sisl.pc @ONLY)

test/CMakeLists.txt

@@ -1,3 +1,8 @@
+
+rock_find_qt4(OPTIONAL)
+rock_find_qt5(OPTIONAL)
+include(RockQt)
+
 if(SISL_FOUND)
     list(APPEND OPTIONAL_TESTS
         test_Spline.cpp)
@@ -21,9 +26,14 @@ rock_executable(benchmark benchmark.cpp bench_func.cpp
     DEPS base-types
     DEPS_PKGCONFIG base-logging
     NOINSTALL)
-rock_executable(test_DepthMapVisualization test_DepthMapVisualization.cpp
-    DEPS base-types base-viz
-    DEPS_PKGCONFIG vizkit3d
+
+rock_qt_executable(
+    TARGETPREFIX test_DepthMapVisualization
+    QT4_SUFFIX ""
+    SOURCES test_DepthMapVisualization.cpp
+    DEPS base-types
+    DEPS_QT base-viz
+    DEPS_PKGCONFIG_QT vizkit3d
     LIBS ${Boost_SYSTEM_LIBRARY}
     NOINSTALL)
 

viz/CMakeLists.txt

@@ -1,4 +1,7 @@
-rock_find_qt4()
+rock_find_qt4(OPTIONAL)
+rock_find_qt5(OPTIONAL)
+
+include(RockQt)
 
 unset(OPTIONAL_HPP)
 unset(OPTIONAL_MOC)
@@ -15,7 +18,11 @@ if(SISL_FOUND)
     )
 endif()
 
-rock_vizkit_plugin(base-viz
+rock_qt_vizkit_plugin(
+    TARGETPREFIX base-viz
+    QT4_SUFFIX ""
+    MISSINGQTDEPS_NOBUILD
+    SOURCES
         PluginLoader.cpp Uncertainty.cpp Vizkit3DHelper.cpp
         DistanceImageVisualization.cpp
         LaserScanVisualization.cpp
@@ -28,8 +35,10 @@ rock_vizkit_plugin(base-viz
         SonarVisualization.cpp
         PointcloudVisualization.cpp
         DepthMapVisualization.cpp
+        OrientedBoundingBoxVisualization.cpp
         ${OPTIONAL_CPP}
     MOC
+        PluginLoader.hpp
         DistanceImageVisualization.hpp
         LaserScanVisualization.hpp
         MotionCommandVisualization.hpp
@@ -41,6 +50,7 @@ rock_vizkit_plugin(base-viz
         SonarVisualization.hpp
         PointcloudVisualization.hpp
         DepthMapVisualization.hpp
+        OrientedBoundingBoxVisualization.hpp
         ${OPTIONAL_MOC}
     HEADERS
         Uncertainty.hpp
@@ -56,8 +66,17 @@ rock_vizkit_plugin(base-viz
         SonarVisualization.hpp
         PointcloudVisualization.hpp
         DepthMapVisualization.hpp
+        OrientedBoundingBoxVisualization.hpp
         ${OPTIONAL_HPP}
     DEPS base-types
     LIBS ${Boost_SYSTEM_LIBRARY}
-    DEPS_PKGCONFIG base-logging
+    DEPS_PKGCONFIG base-logging PrimitivesFactory
 )
+if(SISL_FOUND)
+    if(TARGET base-viz)
+        target_compile_definitions(base-viz PRIVATE SISL_FOUND)
+    endif()
+    if(TARGET base-viz-qt5)
+        target_compile_definitions(base-viz-qt5 PRIVATE SISL_FOUND)
+    endif()
+endif(SISL_FOUND)

viz/OrientedBoundingBoxVisualization.cpp

@@ -0,0 +1,69 @@
+#include "OrientedBoundingBoxVisualization.hpp"
+
+#include <osg/Geode>
+#include <osg/Geometry>
+#include <osg/Group>
+#include <osg/ShapeDrawable>
+
+#include <vizkit3d/Vizkit3DHelper.hpp>
+
+using namespace vizkit3d;
+
+struct OrientedBoundingBoxVisualization::Data {
+    // Copy of the value given to updateDataIntern.
+    // Making a copy is required because of how OSG works
+    std::vector<base::samples::OrientedBoundingBox> data;
+};
+
+
+OrientedBoundingBoxVisualization::OrientedBoundingBoxVisualization()
+    : p(new Data), color(1.0f, 1.0f, 1.0f, 1.0f) {
+}
+
+OrientedBoundingBoxVisualization::~OrientedBoundingBoxVisualization() {
+    delete p;
+}
+
+void OrientedBoundingBoxVisualization::setColor(QColor q_color) {
+    color = osg::Vec4(q_color.redF(), q_color.greenF(),
+            q_color.blueF(), q_color.alphaF());
+    setDirty();
+    emit propertyChanged("Color");
+}
+
+QColor OrientedBoundingBoxVisualization::getColor() const {
+    QColor q_color;
+    q_color.setRgbF(color[0], color[1], color[2], color[3]);
+    return q_color;
+}
+
+osg::ref_ptr<osg::Node> OrientedBoundingBoxVisualization::createMainNode() {
+    osg::ref_ptr<osg::Group> boxes = new osg::Group();
+
+    addBoxes(boxes);
+
+    return boxes;
+}
+
+void OrientedBoundingBoxVisualization::updateMainNode(osg::Node* node) {
+    node->asGroup()->removeChildren(0, node->asGroup()->getNumChildren());
+    addBoxes(node->asGroup());
+}
+
+void OrientedBoundingBoxVisualization::updateDataIntern(std::vector<base::samples::OrientedBoundingBox> const& data) {
+    p->data = data;
+}
+
+void  OrientedBoundingBoxVisualization::updateDataIntern(base::samples::OrientedBoundingBox const& data) {
+    p->data.clear();
+    p->data.push_back(data);
+}
+
+void OrientedBoundingBoxVisualization::addBoxes(osg::Group* group) {
+    for (const auto & box : p->data) {
+        osg::ref_ptr<osgviz::Object> wireframe = primitives.createWireframeBox(box.dimension.x(), box.dimension.y(), box.dimension.z(), color);
+        wireframe->setPosition(box.position.x(), box.position.y(), box.position.z());
+        wireframe->setOrientation(box.orientation.x(), box.orientation.y(), box.orientation.z(), box.orientation.w());
+        group->addChild(wireframe);
+    }
+}

viz/OrientedBoundingBoxVisualization.hpp

@@ -0,0 +1,88 @@
+#pragma once
+
+#include <vector>
+#include <boost/noncopyable.hpp>
+#include <vizkit3d/Vizkit3DPlugin.hpp>
+#include <base/samples/OrientedBoundingBox.hpp>
+#include <osgViz/modules/viz/Primitives/PrimitivesFactory.h>
+
+namespace osg {
+class Group;
+}
+
+namespace vizkit3d {
+
+
+class OrientedBoundingBoxVisualization
+    : public vizkit3d::Vizkit3DPlugin< std::vector<base::samples::OrientedBoundingBox> >
+    , public vizkit3d::VizPluginAddType<base::samples::OrientedBoundingBox>
+    , boost::noncopyable
+{
+Q_OBJECT
+Q_PROPERTY(QColor Color READ getColor WRITE setColor)
+
+ public:
+    OrientedBoundingBoxVisualization();
+    ~OrientedBoundingBoxVisualization();
+
+    /**
+     * Thread-safe call of 
+     * 'updateDataIntern ( std::vector<base::samples::OrientedBoundingBox> const& data )'.
+     */
+    Q_INVOKABLE void updateData(std::vector<base::samples::OrientedBoundingBox> const &sample) {
+        vizkit3d::Vizkit3DPlugin< std::vector<base::samples::OrientedBoundingBox> >::updateData(sample);
+    }
+
+    /**
+     * Thread-safe call of 'updateDataIntern ( const base::samples::OrientedBoundingBox& data )'.
+     */
+    Q_INVOKABLE void updateData(base::samples::OrientedBoundingBox const &sample) {
+        vizkit3d::Vizkit3DPlugin< std::vector<base::samples::OrientedBoundingBox> >::updateData(sample);
+    }
+
+ public slots:
+    /**
+     * Sets the color of all boxes.
+     */
+    void setColor(QColor q_color);
+
+    /**
+     * Returns the current color of the boxes.
+     */
+    QColor getColor() const;
+
+ protected:
+    /**
+     * OSG tree: Group <- Transformation <- Geode <- Sphere 
+     *                                            <- Triangle
+     */
+    osg::ref_ptr<osg::Node> createMainNode();
+
+    /**
+     * Clears the group and redraws all boxes.
+     */
+    void updateMainNode(osg::Node* node);
+
+    /**
+     * Replaces the current list of boxes with the passed one.
+     */
+    void updateDataIntern(std::vector<base::samples::OrientedBoundingBox> const& data);
+
+    /**
+     * Clears the current list of boxes and adds the new waypoint.
+     */
+    void updateDataIntern(base::samples::OrientedBoundingBox const& data);
+
+ private:
+    osg::ref_ptr<osg::Group> group;
+    struct Data;
+    Data* p;
+    osg::Vec4 color;
+    osgviz::PrimitivesFactory primitives;
+    /**
+     * Inserts all boxes into the tree using the tree structure shown 
+     * in \a createMainNode() and the currently set color.
+     */
+    void addBoxes(osg::Group* group);
+};
+}  // namespace vizkit3d