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wubw1656 2023-10-07 21:06:49 +08:00
parent 86d0b5519f
commit 48d6c63740
2 changed files with 107 additions and 122 deletions
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178
librviz_tutorial/src/myviz.cpp Normal file → Executable file
View File

@ -4,7 +4,7 @@
#include <QLabel> #include <QLabel>
#include<QPlainTextEdit> #include<QPlainTextEdit>
#include<QPushButton> #include<QPushButton>
#include<QPushButton> #include<QCheckBox>
#include <QVBoxLayout> #include <QVBoxLayout>
#include <QHBoxLayout> #include <QHBoxLayout>
@ -39,38 +39,14 @@
#include "rviz/selection/selection_manager.h" #include "rviz/selection/selection_manager.h"
#include "rviz/panel.h" #include "rviz/panel.h"
#include<QDebug>
#include<QKeyEvent>
#include <QMutex>
#include<QTimer>
#include<QObject>
#include <QMetaEnum>
#include <QRegExp>
#include <cmath>
#include<QMessageBox>
#include<QCoreApplication>
#include <QProgressBar>
#include <rosbag/bag.h>
#include <rosbag/view.h>
#include <rosbag/query.h>
#include<string>
#include<QFileDialog>
#include "rviz/properties/property_tree_widget.h"
#include "rviz/selection/selection_manager.h"
#include "rviz/panel.h"
#include "rviz/visualization_manager.h" #include "rviz/visualization_manager.h"
#include"rviz/tool_manager.h" #include"rviz/tool_manager.h"
#include"rviz/tool_manager.h"
#include "rviz/render_panel.h" #include "rviz/render_panel.h"
#include "rviz/display.h" #include "rviz/display.h"
#include "myviz.h" #include "myviz.h"
#include "../tools/color.h" #include "../tools/color.h"
#include "qthread.h" #include "qthread.h"
#include "qthread.h"
// BEGIN_TUTORIAL // BEGIN_TUTORIAL
// Constructor for MyViz. This does most of the work of the class. // Constructor for MyViz. This does most of the work of the class.
MyViz::MyViz( QWidget* parent) MyViz::MyViz( QWidget* parent)
@ -84,8 +60,9 @@ MyViz::MyViz( QWidget* parent)
// 全局变量存放处 // 全局变量存放处
// 颜色名称，可添加，待设置rgb类型设置颜色 // 颜色名称，可添加，待设置rgb类型设置颜色
color_name = {"white","red","green","black","blue","yellow","pink","purple","skyblue","lightgreen","orange", color_name = {
color_name = {"white","red","green","black","blue","yellow","pink","purple","skyblue","lightgreen","orange", "white","red","green","black","blue","yellow",
"pink","purple","skyblue","lightgreen","orange",
}; };
// 颜色路径名 // 颜色路径名
color_icon_filename = QString("../Rviz/librviz_ws/src/librviz_tutorial/sources/images/%1.png"); color_icon_filename = QString("../Rviz/librviz_ws/src/librviz_tutorial/sources/images/%1.png");
@ -117,19 +94,18 @@ MyViz::MyViz( QWidget* parent)
controls_layout->addWidget( login_button, ctl_index, 0); controls_layout->addWidget( login_button, ctl_index, 0);
controls_layout->addWidget( quit_login_button, ctl_index++, 1); controls_layout->addWidget( quit_login_button, ctl_index++, 1);
controls_layout->addWidget( move_camera_button, ctl_index, 0);
controls_layout->addWidget( selection_button, ctl_index++ ,1);
// offline 布局 // offline 布局
// QPushButton setting!//////////////////////////////////////////////////////////////////////////////////////////////// // QPushButton setting!////////////////////////////////////////////////////////////////////////////////////////////////
QPushButton* play = new QPushButton("play", this); QPushButton* play = new QPushButton("播放", this);
QPushButton* pause = new QPushButton("pause", this); QPushButton* pause = new QPushButton("暂停", this);
QPushButton* but_save = new QPushButton("save", this);// buttonn: save one frame QPushButton* but_save = new QPushButton("保存一帧", this);// buttonn: save one frame
QPushButton* but_saveMul = new QPushButton("saveMul", this);// button: save multiple frames QPushButton* but_saveMul = new QPushButton("保存多帧", this);// button: save multiple frames
QPushButton* but_file = new QPushButton("file", this);// button: select file QPushButton* but_file = new QPushButton("打开文件", this);// button: select file
// QLabel setting!///////////////////////////////////////////////////////////////////////////////////////////////////// // QLabel setting!/////////////////////////////////////////////////////////////////////////////////////////////////////
QLabel* label_speed = new QLabel("speed:");//speed combobox QLabel* label_speed = new QLabel("播放速度:");//speed combobox
QLabel* label_split = new QLabel("");//speed combobox QLabel* label_split = new QLabel("");//speed combobox
// QSlider setting!//////////////////////////////////////////////////////////////////////////////////////////////////// // QSlider setting!////////////////////////////////////////////////////////////////////////////////////////////////////
@ -144,11 +120,11 @@ MyViz::MyViz( QWidget* parent)
but_file->setEnabled(false); but_file->setEnabled(false);
// setting button size!//////////////////////////////////////////////////////////////////////////////////////////////// // setting button size!////////////////////////////////////////////////////////////////////////////////////////////////
play->setFixedSize(100, 30); play->setFixedSize(120, 30);
pause->setFixedSize(100, 30); pause->setFixedSize(120, 30);
but_save->setFixedSize(100, 30); but_save->setFixedSize(120, 30);
but_saveMul->setFixedSize(100, 30); but_saveMul->setFixedSize(120, 30);
but_file->setFixedSize(100, 30); but_file->setFixedSize(120, 30);
for(int i = 0; i < speed_name.size(); i++) for(int i = 0; i < speed_name.size(); i++)
speed_combobox->addItem(speed_name[i] + "x"); speed_combobox->addItem(speed_name[i] + "x");
@ -159,6 +135,9 @@ MyViz::MyViz( QWidget* parent)
controls_layout->addWidget( but_save, ctl_index++, 1 ); controls_layout->addWidget( but_save, ctl_index++, 1 );
controls_layout->addWidget( but_saveMul, ctl_index++, 0 ); controls_layout->addWidget( but_saveMul, ctl_index++, 0 );
controls_layout->addWidget( move_camera_button, ctl_index, 0);
controls_layout->addWidget( selection_button, ctl_index++ ,1);
controls_layout->addWidget(label_speed,ctl_index,0); controls_layout->addWidget(label_speed,ctl_index,0);
controls_layout->addWidget(speed_combobox,ctl_index++,1); controls_layout->addWidget(speed_combobox,ctl_index++,1);
@ -169,26 +148,29 @@ MyViz::MyViz( QWidget* parent)
controls_layout->setSpacing(5); controls_layout->setSpacing(5);
// 是否选择显示坐标轴 // 是否选择显示坐标轴
QLabel* label_axes = new QLabel("Display Axes:"); QLabel* label_axes = new QLabel("参考坐标系:");
QComboBox * axesBox = new QComboBox(); QCheckBox *axes_checkbox = new QCheckBox("", this);
axesBox->addItem("no"); // QComboBox * axesBox = new QComboBox();
axesBox->addItem("yes"); // axesBox->addItem("不显示");
// axesBox->addItem("显示");
// 选择圆圈范围 // 选择圆圈范围
QLabel* label_circle = new QLabel("Circle Scale(m): "); QLabel* label_circle = new QLabel("参考圆(m): ");
QSpinBox* circel_r_text=new QSpinBox(); QLineEdit* circleLineEdit = new QLineEdit();
circleLineEdit->setPlaceholderText("请输入数字");
circleLineEdit->setFixedWidth(120);
controls_layout->addWidget(label_axes, ctl_index,0); controls_layout->addWidget(label_axes, ctl_index,0);
controls_layout->addWidget(axesBox, ctl_index++,1); controls_layout->addWidget(axes_checkbox, ctl_index++,1);
controls_layout->addWidget(label_circle, ctl_index,0); controls_layout->addWidget(label_circle, ctl_index,0);
controls_layout->addWidget(circel_r_text, ctl_index++,1); controls_layout->addWidget(circleLineEdit, ctl_index++,1);
// 第二个layout // 第二个layout
QGridLayout* display_layout = new QGridLayout(); //QGridLayout* display_layout = new QGridLayout();
int display_index = 0; //int display_index = 0;
// Tree 全局变量存放地方 // Tree 全局变量存放地方
Tree_Display(display_layout, display_index++); Tree_Display(controls_layout, ctl_index++);
// 待解锁子组件设置父组件，方便寻找，登陆后解锁可编辑属性 // 待解锁子组件设置父组件，方便寻找，登陆后解锁可编辑属性
@ -196,6 +178,8 @@ MyViz::MyViz( QWidget* parent)
login_button->setParent(this); login_button->setParent(this);
quit_login_button->setObjectName("quit_login_button"); quit_login_button->setObjectName("quit_login_button");
quit_login_button->setParent(this); quit_login_button->setParent(this);
quit_login_button->setEnabled(false);
but_file->setObjectName("open_file"); but_file->setObjectName("open_file");
but_file->setParent(this); but_file->setParent(this);
@ -216,9 +200,10 @@ MyViz::MyViz( QWidget* parent)
connect(move_camera_button, SIGNAL(clicked()), this, SLOT( slot_move_camera())); connect(move_camera_button, SIGNAL(clicked()), this, SLOT( slot_move_camera()));
// 增加坐标变换 // 增加坐标变换
connect(axesBox, SIGNAL(currentIndexChanged(int)), this, SLOT(AxesDisplayChanged(int))); // connect(axesBox, SIGNAL(currentIndexChanged(int)), this, SLOT(AxesDisplayChanged(int)));
connect(axes_checkbox, SIGNAL(stateChanged(int)), this, SLOT(AxesDisplayChanged(int)));
// 增加圆圈变换 // 增加圆圈变换
connect(circel_r_text,SIGNAL(valueChanged(int)),this,SLOT(CircleDisplayChanged(int))); connect(circleLineEdit, SIGNAL(textChanged(const QString&)), this, SLOT(CircleDisplayChanged(const QString&)));
//off //off
connect(progress,&QSlider::valueChanged,this,[=](){// 变动会触发 connect(progress,&QSlider::valueChanged,this,[=](){// 变动会触发
if(!ismoved){ if(!ismoved){
@ -325,10 +310,6 @@ MyViz::MyViz( QWidget* parent)
render_panel_ = new rviz::RenderPanel(); // RVIZ在QT上显示的类 render_panel_ = new rviz::RenderPanel(); // RVIZ在QT上显示的类
QHBoxLayout* main_layout = new QHBoxLayout; // 主要layout QV垂直，QH水平 QHBoxLayout* main_layout = new QHBoxLayout; // 主要layout QV垂直，QH水平
// QSplitter *splitter = new QSplitter();
// main_layout->addWidget(splitter);
// splitter->addWidget(render_panel_);
// Next we initialize the main RViz classes. // Next we initialize the main RViz classes.
// //
// The VisualizationManager is the container for Display objects, // The VisualizationManager is the container for Display objects,
@ -350,12 +331,13 @@ MyViz::MyViz( QWidget* parent)
// qDebug()<< cur_fixed_frame; // qDebug()<< cur_fixed_frame;
// 创建select panel // 创建select panel
QLabel *select_label = new QLabel("Select Display:"); QLabel *select_label = new QLabel("坐标点显示:");
tree_widget_ = new rviz::PropertyTreeWidget(); tree_widget_ = new rviz::PropertyTreeWidget();
tree_widget_->setModel(manager_->getSelectionManager()->getPropertyModel()); tree_widget_->setModel(manager_->getSelectionManager()->getPropertyModel());
ctl_index++;
display_layout->addWidget(select_label, display_index++, 0); controls_layout->addWidget(select_label, ctl_index++, 0);
display_layout->addWidget(tree_widget_, display_index++, 0); // controls_layout->addWidget(tree_widget_, ctl_index++, 0);
controls_layout->addWidget(tree_widget_, ctl_index++, 0, 1, 2);
// 设置网格某一行伸缩比例,放最后一行 // 设置网格某一行伸缩比例,放最后一行
// controls_layout->setRowStretch(--ctl_index, 6); // controls_layout->setRowStretch(--ctl_index, 6);
@ -367,8 +349,6 @@ MyViz::MyViz( QWidget* parent)
// cloud = manager_->createDisplay( "rviz/PointCloud2", "point cloud", true ); // cloud = manager_->createDisplay( "rviz/PointCloud2", "point cloud", true );
// ROS_ASSERT( cloud != NULL ); // ROS_ASSERT( cloud != NULL );
laser_ = manager_->createDisplay( "rviz/LaserScan", "Qlaser", true );
ROS_ASSERT( laser_ );
laser_ = manager_->createDisplay( "rviz/LaserScan", "Qlaser", true ); laser_ = manager_->createDisplay( "rviz/LaserScan", "Qlaser", true );
ROS_ASSERT( laser_ ); ROS_ASSERT( laser_ );
// 新增雷达 // 新增雷达
@ -398,7 +378,7 @@ MyViz::MyViz( QWidget* parent)
// Set the top-level layout for this MyViz widget. // Set the top-level layout for this MyViz widget.
main_layout->addLayout( controls_layout ); main_layout->addLayout( controls_layout );
main_layout->addLayout( display_layout ); //main_layout->addLayout( controls_layout );
main_layout->addWidget( render_panel_,2); // 存放rviz的位置, stretch 拉伸系数 main_layout->addWidget( render_panel_,2); // 存放rviz的位置, stretch 拉伸系数
setLayout( main_layout ); setLayout( main_layout );
@ -422,10 +402,10 @@ void MyViz::Tree_Display(QGridLayout* controls_layout, int index){
global->setExpanded(true); global->setExpanded(true);
// fix frame // fix frame
QTreeWidgetItem *fixed_frame = new QTreeWidgetItem(global, QStringList("Fixed Frame")); QTreeWidgetItem *fixed_frame = new QTreeWidgetItem(global, QStringList("固定参考系"));
QLineEdit* fixed_frame_text = new QLineEdit(); QLineEdit* fixed_frame_text = new QLineEdit();
fixed_frame_text->setText("laser"); fixed_frame_text->setText("world");
fixed_frame_text->setStyleSheet("background:transparent;border-width:0;border-style:inset"); fixed_frame_text->setStyleSheet("background:transparent;border-width:0;border-style:inset");
// 初始化固定坐标系 // 初始化固定坐标系
cur_fixed_frame = fixed_frame_text->text(); cur_fixed_frame = fixed_frame_text->text();
@ -434,7 +414,7 @@ void MyViz::Tree_Display(QGridLayout* controls_layout, int index){
// 将其他控件(非TreeWidgetItem)放入treeItem中 // 将其他控件(非TreeWidgetItem)放入treeItem中
menu->setItemWidget(fixed_frame, 1, fixed_frame_text); // 将container 放到 Item ,数字为列数 menu->setItemWidget(fixed_frame, 1, fixed_frame_text); // 将container 放到 Item ,数字为列数
QTreeWidgetItem *bg_color = new QTreeWidgetItem(global, QStringList("BackGround Color")); QTreeWidgetItem *bg_color = new QTreeWidgetItem(global, QStringList("背景颜色"));
QLineEdit* bg_color_text = new QLineEdit(); QLineEdit* bg_color_text = new QLineEdit();
bg_color_text->setText("48;48;48"); bg_color_text->setText("48;48;48");
bg_color_text->setStyleSheet("border-width:0;border-style:outset"); bg_color_text->setStyleSheet("border-width:0;border-style:outset");
@ -444,23 +424,20 @@ void MyViz::Tree_Display(QGridLayout* controls_layout, int index){
// global->addChild(fixed_frame); // global->addChild(fixed_frame);
// global->setTextAlignment(1, 2); // (列数，对齐方式) // global->setTextAlignment(1, 2); // (列数，对齐方式)
// grid - 一层树 // grid - 一层树
QTreeWidgetItem * grid = new QTreeWidgetItem(menu, QStringList("Grid")); QTreeWidgetItem * grid = new QTreeWidgetItem(menu, QStringList("栅格"));
// 二层 // 二层
QTreeWidgetItem *grid_color = new QTreeWidgetItem(grid, QStringList("Color")); QTreeWidgetItem *grid_color = new QTreeWidgetItem(grid, QStringList("颜色"));
QComboBox * grid_color_cbox = new QComboBox(); QComboBox * grid_color_cbox = new QComboBox();
for(int i =0 ; i < color_name.size(); ++i){ for(int i =0 ; i < color_name.size(); ++i){
QString color_path = color_icon_filename.arg(color_name[i]); QString color_path = color_icon_filename.arg(color_name[i]);
QIcon color_icon(color_path); QIcon color_icon(color_path);
grid_color_cbox->addItem(color_icon, color_name[i]); grid_color_cbox->addItem(color_icon, color_name[i]);
QString color_path = color_icon_filename.arg(color_name[i]);
QIcon color_icon(color_path);
grid_color_cbox->addItem(color_icon, color_name[i]);
} }
connect(grid_color_cbox, SIGNAL(currentIndexChanged(int)), this, SLOT(GridColorChanged(int))); connect(grid_color_cbox, SIGNAL(currentIndexChanged(int)), this, SLOT(GridColorChanged(int)));
menu->setItemWidget(grid_color, 1, grid_color_cbox); menu->setItemWidget(grid_color, 1, grid_color_cbox);
// grid cell size // grid cell size
QTreeWidgetItem *grid_cell = new QTreeWidgetItem(grid, QStringList("Cell Size")); QTreeWidgetItem *grid_cell = new QTreeWidgetItem(grid, QStringList("网格大小"));
QSlider* cell_size_slider = new QSlider( Qt::Horizontal ); QSlider* cell_size_slider = new QSlider( Qt::Horizontal );
cell_size_slider->setMinimum( 1 ); cell_size_slider->setMinimum( 1 );
cell_size_slider->setMaximum( 100 ); cell_size_slider->setMaximum( 100 );
@ -469,7 +446,7 @@ void MyViz::Tree_Display(QGridLayout* controls_layout, int index){
menu->setItemWidget(grid_cell, 1, cell_size_slider); menu->setItemWidget(grid_cell, 1, cell_size_slider);
// grid Line Thickness // grid Line Thickness
QTreeWidgetItem *grid_thickness = new QTreeWidgetItem(grid, QStringList("Line Thickness")); QTreeWidgetItem *grid_thickness = new QTreeWidgetItem(grid, QStringList("线条粗细"));
QSlider* thickness_slider = new QSlider( Qt::Horizontal ); QSlider* thickness_slider = new QSlider( Qt::Horizontal );
thickness_slider->setMinimum( 1 ); thickness_slider->setMinimum( 1 );
thickness_slider->setMaximum( 100 ); thickness_slider->setMaximum( 100 );
@ -478,9 +455,9 @@ void MyViz::Tree_Display(QGridLayout* controls_layout, int index){
menu->setItemWidget(grid_thickness, 1, thickness_slider); menu->setItemWidget(grid_thickness, 1, thickness_slider);
// laser - 一层树 // laser - 一层树
QTreeWidgetItem * laser = new QTreeWidgetItem(menu, QStringList("Laser")); QTreeWidgetItem * laser = new QTreeWidgetItem(menu, QStringList("雷达"));
// 二层 // 二层
QTreeWidgetItem *laser_topic = new QTreeWidgetItem(laser, QStringList("Topic ")); QTreeWidgetItem *laser_topic = new QTreeWidgetItem(laser, QStringList("话题"));
// Topic_Laser 输入雷达 // Topic_Laser 输入雷达
QLineEdit* laser_topic_text = new QLineEdit(); QLineEdit* laser_topic_text = new QLineEdit();
@ -493,13 +470,13 @@ void MyViz::Tree_Display(QGridLayout* controls_layout, int index){
menu->setItemWidget(laser_topic, 1, laser_topic_text); menu->setItemWidget(laser_topic, 1, laser_topic_text);
// Laser size // Laser size
QTreeWidgetItem *laser_size = new QTreeWidgetItem(laser, QStringList("Size ")); QTreeWidgetItem *laser_size = new QTreeWidgetItem(laser, QStringList("大小"));
QSpinBox* laser_size_text=new QSpinBox(); QSpinBox* laser_size_text=new QSpinBox();
connect(laser_size_text,SIGNAL(valueChanged(int)),this,SLOT(setLaserSize(int))); connect(laser_size_text,SIGNAL(valueChanged(int)),this,SLOT(setLaserSize(int)));
menu->setItemWidget(laser_size, 1, laser_size_text); menu->setItemWidget(laser_size, 1, laser_size_text);
// Laser color // Laser color
QTreeWidgetItem *laser_color = new QTreeWidgetItem(laser, QStringList("Color ")); QTreeWidgetItem *laser_color = new QTreeWidgetItem(laser, QStringList("颜色"));
QComboBox * laser_color_comboBox = new QComboBox(); QComboBox * laser_color_comboBox = new QComboBox();
for(int i =0 ; i < color_name.size(); ++i){ for(int i =0 ; i < color_name.size(); ++i){
QString color_path = color_icon_filename.arg(color_name[i]); QString color_path = color_icon_filename.arg(color_name[i]);
@ -513,19 +490,28 @@ void MyViz::Tree_Display(QGridLayout* controls_layout, int index){
connect(laser_color_comboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(LaserColorChanged(int))); connect(laser_color_comboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(LaserColorChanged(int)));
menu->setItemWidget(laser_color, 1, laser_color_comboBox); menu->setItemWidget(laser_color, 1, laser_color_comboBox);
controls_layout->addWidget(menu, index, 0 ); //controls_layout->addWidget(menu, index, 0 );
controls_layout->addWidget(menu, index, 0, 1, 2);
} }
void MyViz::quit_login_button_clicked(){ void MyViz::quit_login_button_clicked(){
landed = 0;
// 退出设置登录按钮可用
QWidget * login_button = this->findChild<QWidget*>("login_button"); QWidget * login_button = this->findChild<QWidget*>("login_button");
if (login_button) { if (login_button) {
// 找到了指定的子组件 在这里可以对子组件进行操作
login_button->setEnabled(true); login_button->setEnabled(true);
landed = 0;
}else{ }else{
qDebug() << "login_button组件未找到" ; qDebug() << "login_button组件未找到" ;
} }
// 退出设置退出按钮不可用
QWidget * quit_button = this->findChild<QWidget*>("quit_login_button");
if (quit_button) {
quit_button->setEnabled(false);
}else{
qDebug() << "quit_login_button组件未找到" ;
}
// 退出设置其他组件不可用
if(dlg != NULL){ if(dlg != NULL){
for (int i=0; i< dlg->setting_name.size(); i++){ for (int i=0; i< dlg->setting_name.size(); i++){
QWidget *foundChild = this->findChild<QWidget*>(dlg->setting_name[i]); QWidget *foundChild = this->findChild<QWidget*>(dlg->setting_name[i]);
@ -545,23 +531,29 @@ void MyViz::login_button_clicked(){
// dlg->open();// 非模态级别对话框 // dlg->open();// 非模态级别对话框
if(dlg->exec() == QDialog::Accepted){ if(dlg->exec() == QDialog::Accepted){
// 登录成功后 // 登录成功后
landed = 1;
qDebug() << "login accepted"; qDebug() << "login accepted";
// 登录设置其他组件和退出可用
QWidget * quit_button = this->findChild<QWidget*>("quit_login_button");
if (quit_button) {
quit_button->setEnabled(true);
}else{
qDebug() << "quit_login_button组件未找到" ;
}
// 登录设置登录不可用
QWidget * login_button = this->findChild<QWidget*>("login_button"); QWidget * login_button = this->findChild<QWidget*>("login_button");
if (login_button) { if (login_button) {
// 找到了指定的子组件 在这里可以对子组件进行操作
login_button->setEnabled(false); login_button->setEnabled(false);
landed = 1;
}else{ }else{
qDebug()<<"login_button组件未找到" ; qDebug()<<"login_button组件未找到" ;
} }
}else{ }else{
// 登录失败 // 登录失败
qDebug() << "login refused"; qDebug() << "login refused";
} }
} }
void MyViz::PlayCircle(int index){ void MyViz::PlayCircle(double index){
int argc =0; int argc =0;
char** argv; char** argv;
ros::init(argc, argv, "basic_shapes"); ros::init(argc, argv, "basic_shapes");
@ -645,27 +637,29 @@ void MyViz::PlayCircle(int index){
} }
void MyViz::CircleDisplayChanged(int r){ void MyViz::CircleDisplayChanged(const QString& text){
if(r == 0){ double index = text.toDouble();
if(index <= 0){
marker_->setValue(false); marker_->setValue(false);
}else }else
{ {
marker_->setValue(true); marker_->setValue(true);
std::thread ThreadCircle(&MyViz::PlayCircle, this, r);// 新开线程执行操作 std::thread ThreadCircle(&MyViz::PlayCircle, this, index);// 新开线程执行操作
ThreadCircle.detach();// 执行完成后自动回收资源 ThreadCircle.detach();// 执行完成后自动回收资源
} }
} }
void MyViz::AxesDisplayChanged(int index) void MyViz::AxesDisplayChanged(int stage)
{ {
switch (index) // 0未被选中，1被部分选中，2 被选中
switch (stage)
{ {
case 0: // "yes" 选项被选择 case 0: // 未被选中
if (axes_display != NULL) if (axes_display != NULL)
axes_display->setValue(false); axes_display->setValue(false);
break; break;
case 1: // "no" 选项被选择 case 2: // 被选择
if (axes_display != NULL) if (axes_display != NULL)
axes_display->setValue(true); axes_display->setValue(true);
break; break;

13
librviz_tutorial/src/myviz.h
View File

@ -70,9 +70,7 @@ public:
virtual ~MyViz(); virtual ~MyViz();
void subCallback(const std_msgs::String& msg); void subCallback(const std_msgs::String& msg);
void pubThread(); void pubThread();
void PlayCircle(int index); // 圆圈线程执行函数 void PlayCircle(double index); // 圆圈线程执行函数
rosbag::View *view;
void PlayCircle(int index); // 圆圈线程执行函数
rosbag::View *view; rosbag::View *view;
private Q_SLOTS: // QT信号和槽 private Q_SLOTS: // QT信号和槽
void setThickness( int thickness_percent ); void setThickness( int thickness_percent );
@ -87,9 +85,7 @@ private Q_SLOTS: // QT信号和槽
void setFixedFrame(const QString &FixedFrame); void setFixedFrame(const QString &FixedFrame);
void setBackgroundColor(const QString& bg_color); // 背景颜色 void setBackgroundColor(const QString& bg_color); // 背景颜色
void AxesDisplayChanged(int index); // axe void AxesDisplayChanged(int index); // axe
void CircleDisplayChanged(int index); // circle void CircleDisplayChanged(const QString& text); // 圆圈变化
void AxesDisplayChanged(int index); // axe
void CircleDisplayChanged(int index); // circle
void Tree_Display(QGridLayout* layout, int index); void Tree_Display(QGridLayout* layout, int index);
void login_button_clicked(); void login_button_clicked();
@ -106,17 +102,12 @@ private:
rviz::VisualizationManager* manager_; // rviz::VisualizationManager* manager_; //
rviz::RenderPanel* render_panel_; rviz::RenderPanel* render_panel_;
rviz::ToolManager* tool_manager_; rviz::ToolManager* tool_manager_;
rviz::ToolManager* tool_manager_;
rviz::Display* grid_; rviz::Display* grid_;
rviz::Display* cloud; rviz::Display* cloud;
rviz::Display* laser_; rviz::Display* laser_;
rviz::Display* axes_display; rviz::Display* axes_display;
rviz::Display* marker_; rviz::Display* marker_;
rviz::PropertyTreeWidget* tree_widget_ ; rviz::PropertyTreeWidget* tree_widget_ ;
rviz::Display* laser_;
rviz::Display* axes_display;
rviz::Display* marker_;
rviz::PropertyTreeWidget* tree_widget_ ;
ros::NodeHandle nh; ros::NodeHandle nh;
ros::Subscriber sub; ros::Subscriber sub;
ros::Publisher pub; ros::Publisher pub;