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[Personalrobots-commit] SF.net SVN: personalrobots: [586] pkg/trunk/visualization/irrlicht_viewer
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From: <tf...@us...> - 2008-05-31 00:43:06
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Revision: 586
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=586&view=rev
Author: tfoote
Date: 2008-05-30 17:43:08 -0700 (Fri, 30 May 2008)
Log Message:
-----------
basic cloud plotting demonstrated
Modified Paths:
--------------
pkg/trunk/visualization/irrlicht_viewer/Makefile
pkg/trunk/visualization/irrlicht_viewer/PPILRender.hh
pkg/trunk/visualization/irrlicht_viewer/manifest.xml
Added Paths:
-----------
pkg/trunk/visualization/irrlicht_viewer/test2.cc
Modified: pkg/trunk/visualization/irrlicht_viewer/Makefile
===================================================================
--- pkg/trunk/visualization/irrlicht_viewer/Makefile 2008-05-31 00:41:37 UTC (rev 585)
+++ pkg/trunk/visualization/irrlicht_viewer/Makefile 2008-05-31 00:43:08 UTC (rev 586)
@@ -35,13 +35,16 @@
test: ILRenderTest.cc ILRender.o ILClient.o $(ILRENDER_LIB)
$(CPP) $(CPPFLAGS) -o $@ $^ $(LDFLAGS)
+test2: test2.cc ILRender.o ILClient.o $(ILRENDER_LIB)
+ $(CPP) $(CPPFLAGS) -o $@ $^ $(LDFLAGS)
+
build_lib: $(ILRENDER_LIB)
# Special Targets
clean:
- $(CLEANCOMMAND)
- rm -rf test
- cd $(ILRENDER_PATH)/CustomNodes && $(CLEANCOMMAND)
+ rm -rf *.o *.a
+ rm -rf test test2
+ cd CustomNodes && rm -rf *.o
Modified: pkg/trunk/visualization/irrlicht_viewer/PPILRender.hh
===================================================================
--- pkg/trunk/visualization/irrlicht_viewer/PPILRender.hh 2008-05-31 00:41:37 UTC (rev 585)
+++ pkg/trunk/visualization/irrlicht_viewer/PPILRender.hh 2008-05-31 00:43:08 UTC (rev 586)
@@ -28,10 +28,7 @@
// POSSIBILITY OF SUCH DAMAGE.
//////////////////////////////////////////////////////////////////////////////
-// Feeder includes
-#include <feeder/UCData.hh>
-#include <feeder/PostProcessor.hh>
-#include "UCDPointCloud.hh"
+#include "rosthread/member_thread.h"
// Renderer includes
#include <irrlicht.h>
@@ -40,35 +37,34 @@
#include "CustomNodes/ILPointCloud.hh"
#include "CustomNodes/ILGrid.hh"
+#include "ros/node.h"
+#include "std_msgs/MsgPointCloudFloat32.h"
+#include "std_msgs/MsgEmpty.h"
+
class PPILRender :
- public PostProcessor<UCDPointCloud, UCData>
+ public ros::node
{
public:
- typedef UCDPointCloud input_t;
- typedef UCData output_t;
+ MsgPointCloudFloat32 cloudIn;
+ MsgEmpty shutter;
+
+ ILClient localClient;
+ ILRender *pLocalRenderer;
+ ILPointCloud *ilCloud;
+ ILGrid *ilGrid;
+
// Constructor
- PPILRender(PPInfo<input_t> p_info, int scans_to_plot) : PostProcessor<input_t, output_t>(p_info) {
- m_name = "PPILRender";
- m_pOutputBuffer = new UCRingBuffer<output_t>(8);
- };
+ PPILRender() : ros::node("ILRender"), localClient() {
- ~PPILRender() {
- disable();
- };
+ pLocalRenderer = ILClient::getSingleton();
- void activeLoop() {
- input_t* p_ibuff;
-
- ILClient localClient;
- ILRender *pLocalRenderer = ILClient::getSingleton();
-
pLocalRenderer->lock();
- ILPointCloud *ilCloud = new ILPointCloud(pLocalRenderer->manager()->getRootSceneNode(), pLocalRenderer->manager(), 666);
- ILGrid *ilGrid = new ILGrid(pLocalRenderer->manager()->getRootSceneNode(), pLocalRenderer->manager(), 667);
+ ilCloud = new ILPointCloud(pLocalRenderer->manager()->getRootSceneNode(), pLocalRenderer->manager(), 666);
+ ilGrid = new ILGrid(pLocalRenderer->manager()->getRootSceneNode(), pLocalRenderer->manager(), 667);
pLocalRenderer->unlock();
- ilCloud->preallocatePoints(100000);
+ ilCloud->preallocatePoints(65000); //Can this go over MAX_RENDERABLE?
pLocalRenderer->addNode(ilCloud);
pLocalRenderer->enable(ilCloud);
@@ -76,24 +72,48 @@
pLocalRenderer->addNode(ilGrid);
pLocalRenderer->enable(ilGrid);
- while (m_enabled) {
- p_ibuff = m_rInputBuffer.getLatestAndRetain(); // Block for new data
+ subscribe("cloud", cloudIn, &PPILRender::callback, this);
+ subscribe("shutter", shutter, &PPILRender::clear, this);
- // Process data (this takes about 2500 usec for a 10Hz velodyne cycle)
- pLocalRenderer->lock();
- ilCloud->resetCount();
- for(size_t i=0; i<p_ibuff->num_points; i++) {
- ilCloud->addPoint(p_ibuff->rgX[i],
- p_ibuff->rgZ[i],
- p_ibuff->rgY[i],
- (int)(50+205*(p_ibuff->rgZ[i]/3)),0,0);
- }
- pLocalRenderer->unlock();
- m_rInputBuffer.release(p_ibuff);
- incrementMonitor();
+ };
+
+ ~PPILRender() {
+ delete ilCloud;
+ delete ilGrid;
+ };
+
+ void clear()
+ {
+ std::cerr<< "Shutter"<<std::endl;
+ pLocalRenderer->lock();
+ ilCloud->resetCount();
+ pLocalRenderer->unlock();
+ }
+
+ void callback() {
+ //std::cerr<<"recieved cloud"<<std::endl;
+ // Process data (this takes about 2500 usec for a 10Hz velodyne cycle)
+ pLocalRenderer->lock();
+ // unsigned int temp = ilCloud->getCount();
+ //if (temp + cloudIn.get_pts_size() > ILPointCloud::MAX_RENDERABLE)
+ // {
+ // std::cerr<< "Point Cloud Overflow, clearing" << std::endl;
+ // ilCloud->resetCount();
+ // }
+
+ // std::cerr<<"Points: " << cloudIn.get_pts_size() << std::endl;
+ for(size_t i=0; i < cloudIn.get_pts_size(); i = i + 3) { //FIXME protect form cloud overruns 65k
+ // usleep(10);
+ //std::cerr<<"i = " << i << std::endl;
+ ilCloud->addPoint(cloudIn.pts[i].y,
+ cloudIn.pts[i].z,
+ cloudIn.pts[i].x,
+ (int)(128-100*(cloudIn.pts[i].z)),255,0);
}
- }
+ pLocalRenderer->unlock();
+ };
+
};
#endif // ifndef __PP_IL_RENDER_HH
Modified: pkg/trunk/visualization/irrlicht_viewer/manifest.xml
===================================================================
--- pkg/trunk/visualization/irrlicht_viewer/manifest.xml 2008-05-31 00:41:37 UTC (rev 585)
+++ pkg/trunk/visualization/irrlicht_viewer/manifest.xml 2008-05-31 00:43:08 UTC (rev 586)
@@ -9,6 +9,8 @@
<url>http://pr.willowgarage.com/wiki/ROS</url>
<depend package="irrlicht"/>
<depend package="rosthread"/>
+<depend package="roscpp"/>
+<depend package="std_msgs"/>
<export>
</export>
</package>
Added: pkg/trunk/visualization/irrlicht_viewer/test2.cc
===================================================================
--- pkg/trunk/visualization/irrlicht_viewer/test2.cc (rev 0)
+++ pkg/trunk/visualization/irrlicht_viewer/test2.cc 2008-05-31 00:43:08 UTC (rev 586)
@@ -0,0 +1,17 @@
+#include "PPILRender.hh"
+
+int main(int argc, char ** argv)
+{
+ ros::init(argc, argv);
+
+ PPILRender* myRenderer = new PPILRender();
+
+ while(1)
+ {
+ sleep(1);
+ }
+
+ ros::fini();
+
+ return 0;
+}
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