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tutorials/Point2Visualization.C

Tutorial: Creating an advanced 2D Visualization

/*
* Copyright (C) 2012 by
* MetraLabs GmbH (MLAB), GERMANY
* and
* Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
* All rights reserved.
*
* Contact: info@mira-project.org
*
* Commercial Usage:
* Licensees holding valid commercial licenses may use this file in
* accordance with the commercial license agreement provided with the
* software or, alternatively, in accordance with the terms contained in
* a written agreement between you and MLAB or NICR.
*
* GNU General Public License Usage:
* Alternatively, this file may be used under the terms of the GNU
* General Public License version 3.0 as published by the Free Software
* Foundation and appearing in the file LICENSE.GPL3 included in the
* packaging of this file. Please review the following information to
* ensure the GNU General Public License version 3.0 requirements will be
* met: http://www.gnu.org/copyleft/gpl.html.
* Alternatively you may (at your option) use any later version of the GNU
* General Public License if such license has been publicly approved by
* MLAB and NICR (or its successors, if any).
*
* IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
* INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF
* THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF "MLAB" OR
* "NICR" HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
* "MLAB" AND "NICR" SPECIFICALLY DISCLAIM ANY WARRANTIES, INCLUDING,
* BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
* FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS
* ON AN "AS IS" BASIS, AND "MLAB" AND "NICR" HAVE NO OBLIGATION TO
* PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS OR MODIFICATIONS.
*/
#include <QGraphicsEllipseItem>
#include <QGraphicsScene>
using namespace mira;
class Point2Visualization : public Visualization2D
{
MIRA_META_OBJECT(Point2Visualization,
("Name", "Point")
("Category", "Geometry")
("Description", "Visualizes a point."))
public:
Point2Visualization() :
mRoot(NULL),
mEllipse(NULL)
{
mPointChannel.setDataChangedCallback(boost::bind(&Point2Visualization::dataChanged, this, _1));
}
virtual ~Point2Visualization()
{
delete mEllipse;
}
template <typename Reflector>
void reflect(Reflector& r)
{
// call base class reflect
// our channel property for a channel named "Point"
channelProperty(r, "Point", mPointChannel, "The point channel to visualize");
}
virtual void setupScene(IVisualization2DSite* site)
{
QGraphicsScene* sceneManager = site->getSceneManager();
// we will use an ellipse to render our point
mEllipse = new QGraphicsEllipseItem();
// give it a size of 1 cm
mEllipse->setRect(-0.05, -0.05, 0.1, 0.1);
sceneManager->addItem(mEllipse);
}
virtual DataConnection getDataConnection()
{
return DataConnection(mPointChannel);
}
void dataChanged(ChannelRead<Point2f> read)
{
// set position of our scene point
mEllipse->setPos(read->x(), read->y());
mFrameID = read->frameID;
mDataTimestamp = read->timestamp;
}
protected:
virtual void update(Duration dt)
{
if (!mPointChannel.isValid())
return;
// get the transformation between
// our data frame and the selected frame of the 2D editor view
RigidTransform2f d = getAuthority().getTransform<RigidTransform2f>(
mFrameID, mDataTimestamp,
getSite()->getCameraFrame(), Time::now(),
getSite()->getFixedFrame());
// set the transform on the node (indirectly move mEllipse)
}
protected:
ChannelProperty<Point2f> mPointChannel;
QGraphicsItem* mRoot;
QGraphicsEllipseItem* mEllipse;
std::string mFrameID;
Time mDataTimestamp;
};