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add more visualization options for BoundingBox and BoundingBoxArray #844

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add more visualization options for BoundingBox and BoundingBoxArray #844

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f32a6b5
add alpha = value option
joachim-p Jan 25, 2022
d091d14
add alpha min max value properties
joachim-p Jan 25, 2022
16967f1
hide min max properties in flat mode
joachim-p Jan 25, 2022
02172ba
property naming consistency
joachim-p Jan 25, 2022
918e6c7
add value threshold filtering and fix unintended state behaviour for …
joachim-p Jan 25, 2022
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88 changes: 88 additions & 0 deletions jsk_rviz_plugins/src/bounding_box_array_display.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,12 @@ namespace jsk_rviz_plugins
coloring_property_->addOption("Label", 2);
coloring_property_->addOption("Value", 3);

alpha_method_property_ = new rviz::EnumProperty(
"alpha method", "flat", "alpha method",
this, SLOT(updateAlphaMethod()));
alpha_method_property_->addOption("flat", 0);
alpha_method_property_->addOption("value", 1);

color_property_ = new rviz::ColorProperty(
"color", QColor(25, 255, 0),
"color to draw the bounding boxes",
Expand All @@ -57,6 +63,14 @@ namespace jsk_rviz_plugins
"alpha", 0.8,
"alpha value to draw the bounding boxes",
this, SLOT(updateAlpha()));
alpha_min_property_ = new rviz::FloatProperty(
"alpha min", 0.0,
"alpha value corresponding to value = 0",
this, SLOT(updateAlphaMin()));
alpha_max_property_ = new rviz::FloatProperty(
"alpha max", 1.0,
"alpha value corresponding to value = 1",
this, SLOT(updateAlphaMax()));
only_edge_property_ = new rviz::BoolProperty(
"only edge", false,
"show only the edges of the boxes",
Expand All @@ -69,15 +83,23 @@ namespace jsk_rviz_plugins
"show coords", false,
"show coordinate of bounding box",
this, SLOT(updateShowCoords()));
value_threshold_property_ = new rviz::FloatProperty(
"value threshold", 0.0,
"filter all boxes with value < threshold",
this, SLOT(updateValueThreshold()));
}

BoundingBoxArrayDisplay::~BoundingBoxArrayDisplay()
{
delete color_property_;
delete alpha_property_;
delete alpha_min_property_;
delete alpha_max_property_;
delete only_edge_property_;
delete coloring_property_;
delete alpha_method_property_;
delete show_coords_property_;
delete value_threshold_property_;
}

void BoundingBoxArrayDisplay::onInitialize()
Expand All @@ -87,10 +109,14 @@ namespace jsk_rviz_plugins

updateColor();
updateAlpha();
updateAlphaMin();
updateAlphaMax();
updateOnlyEdge();
updateColoring();
updateAlphaMethod();
updateLineWidth();
updateShowCoords();
updateValueThreshold();
}

void BoundingBoxArrayDisplay::updateLineWidth()
Expand All @@ -117,6 +143,34 @@ namespace jsk_rviz_plugins
}
}

void BoundingBoxArrayDisplay::updateAlphaMin()
{
if (alpha_min_property_->getFloat() > alpha_max_)
{
ROS_WARN("alpha_min must be <= alpha_max");
alpha_min_property_->setFloat(alpha_min_);
return;
}
alpha_min_ = alpha_min_property_->getFloat();
if (latest_msg_) {
processMessage(latest_msg_);
}
}

void BoundingBoxArrayDisplay::updateAlphaMax()
{
if (alpha_max_property_->getFloat() < alpha_min_)
{
ROS_WARN("alpha_min must be <= alpha_max");
alpha_max_property_->setFloat(alpha_max_);
return;
}
alpha_max_ = alpha_max_property_->getFloat();
if (latest_msg_) {
processMessage(latest_msg_);
}
}

void BoundingBoxArrayDisplay::updateOnlyEdge()
{
only_edge_ = only_edge_property_->getBool();
Expand Down Expand Up @@ -161,6 +215,26 @@ namespace jsk_rviz_plugins
}
}

void BoundingBoxArrayDisplay::updateAlphaMethod()
{
if (alpha_method_property_->getOptionInt() == 0) {
alpha_method_ = "flat";
alpha_property_->show();
alpha_min_property_->hide();
alpha_max_property_->hide();
}
else if (alpha_method_property_->getOptionInt() == 1) {
alpha_method_ = "value";
alpha_property_->hide();
alpha_min_property_->show();
alpha_max_property_->show();
}

if (latest_msg_) {
processMessage(latest_msg_);
}
}

void BoundingBoxArrayDisplay::updateShowCoords()
{
show_coords_ = show_coords_property_->getBool();
Expand Down Expand Up @@ -204,6 +278,20 @@ namespace jsk_rviz_plugins
}
}

void BoundingBoxArrayDisplay::updateValueThreshold()
{
if (value_threshold_property_->getFloat() < 0.0 || value_threshold_property_->getFloat() > 1.0)
{
ROS_WARN("value threshold must be in [0,1]");
value_threshold_property_->setFloat(value_threshold_);
return;
}
value_threshold_ = value_threshold_property_->getFloat();
if (latest_msg_) {
processMessage(latest_msg_);
}
}

} // namespace jsk_rviz_plugins

#include <pluginlib/class_list_macros.h>
Expand Down
8 changes: 8 additions & 0 deletions jsk_rviz_plugins/src/bounding_box_array_display.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -68,19 +68,27 @@ namespace jsk_rviz_plugins
// Properties
rviz::EnumProperty* coloring_property_;
rviz::ColorProperty* color_property_;
rviz::EnumProperty* alpha_method_property_;
rviz::FloatProperty* alpha_property_;
rviz::FloatProperty* alpha_min_property_;
rviz::FloatProperty* alpha_max_property_;
rviz::BoolProperty* only_edge_property_;
rviz::FloatProperty* line_width_property_;
rviz::BoolProperty* show_coords_property_;
rviz::FloatProperty* value_threshold_property_;

jsk_recognition_msgs::BoundingBoxArray::ConstPtr latest_msg_;
protected Q_SLOTS:
void updateColor();
void updateAlpha();
void updateAlphaMin();
void updateAlphaMax();
void updateOnlyEdge();
void updateColoring();
void updateAlphaMethod();
void updateLineWidth();
void updateShowCoords();
void updateValueThreshold();
private:
void processMessage(
const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& msg);
Expand Down
88 changes: 88 additions & 0 deletions jsk_rviz_plugins/src/bounding_box_display.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,12 @@ namespace jsk_rviz_plugins
coloring_property_->addOption("Label", 1);
coloring_property_->addOption("Value", 2);

alpha_method_property_ = new rviz::EnumProperty(
"alpha_method", "flat", "alpha method",
this, SLOT(updateAlphaMethod()));
alpha_method_property_->addOption("flat", 0);
alpha_method_property_->addOption("value", 1);

color_property_ = new rviz::ColorProperty(
"color", QColor(25, 255, 0),
"color to draw the bounding boxes",
Expand All @@ -57,6 +63,14 @@ namespace jsk_rviz_plugins
"alpha", 0.8,
"alpha value to draw the bounding boxes",
this, SLOT(updateAlpha()));
alpha_min_property_ = new rviz::FloatProperty(
"alpha min", 0.0,
"alpha value corresponding to value = 0",
this, SLOT(updateAlphaMin()));
alpha_max_property_ = new rviz::FloatProperty(
"alpha max", 1.0,
"alpha value corresponding to value = 1",
this, SLOT(updateAlphaMax()));
only_edge_property_ = new rviz::BoolProperty(
"only edge", false,
"show only the edges of the boxes",
Expand All @@ -69,15 +83,23 @@ namespace jsk_rviz_plugins
"show coords", false,
"show coordinate of bounding box",
this, SLOT(updateShowCoords()));
value_threshold_property_ = new rviz::FloatProperty(
"value threshold", 0.0,
"filter all boxes with value < threshold",
this, SLOT(updateValueThreshold()));
}

BoundingBoxDisplay::~BoundingBoxDisplay()
{
delete color_property_;
delete alpha_property_;
delete alpha_min_property_;
delete alpha_max_property_;
delete only_edge_property_;
delete coloring_property_;
delete alpha_method_property_;
delete show_coords_property_;
delete value_threshold_property_;
}

void BoundingBoxDisplay::onInitialize()
Expand All @@ -87,10 +109,14 @@ namespace jsk_rviz_plugins

updateColor();
updateAlpha();
updateAlphaMin();
updateAlphaMax();
updateOnlyEdge();
updateColoring();
updateAlphaMethod();
updateLineWidth();
updateShowCoords();
updateValueThreshold();
}

void BoundingBoxDisplay::updateLineWidth()
Expand All @@ -117,6 +143,34 @@ namespace jsk_rviz_plugins
}
}

void BoundingBoxDisplay::updateAlphaMin()
{
if (alpha_min_property_->getFloat() > alpha_max_)
{
ROS_WARN("alpha_min must be <= alpha_max");
alpha_min_property_->setFloat(alpha_min_);
return;
}
alpha_min_ = alpha_min_property_->getFloat();
if (latest_msg_) {
processMessage(latest_msg_);
}
}

void BoundingBoxDisplay::updateAlphaMax()
{
if (alpha_max_property_->getFloat() < alpha_min_)
{
ROS_WARN("alpha_min must be <= alpha_max");
alpha_max_property_->setFloat(alpha_max_);
return;
}
alpha_max_ = alpha_max_property_->getFloat();
if (latest_msg_) {
processMessage(latest_msg_);
}
}

void BoundingBoxDisplay::updateOnlyEdge()
{
only_edge_ = only_edge_property_->getBool();
Expand Down Expand Up @@ -151,6 +205,26 @@ namespace jsk_rviz_plugins
}
}

void BoundingBoxDisplay::updateAlphaMethod()
{
if (alpha_method_property_->getOptionInt() == 0) {
alpha_method_ = "flat";
alpha_property_->show();
alpha_min_property_->hide();
alpha_max_property_->hide();
}
else if (alpha_method_property_->getOptionInt() == 1) {
alpha_method_ = "value";
alpha_property_->hide();
alpha_min_property_->show();
alpha_max_property_->show();
}

if (latest_msg_) {
processMessage(latest_msg_);
}
}

void BoundingBoxDisplay::updateShowCoords()
{
show_coords_ = show_coords_property_->getBool();
Expand Down Expand Up @@ -201,6 +275,20 @@ namespace jsk_rviz_plugins
}
}

void BoundingBoxDisplay::updateValueThreshold()
{
if (value_threshold_property_->getFloat() < 0.0 || value_threshold_property_->getFloat() > 1.0)
{
ROS_WARN("value threshold must be in [0,1]");
value_threshold_property_->setFloat(value_threshold_);
return;
}
value_threshold_ = value_threshold_property_->getFloat();
if (latest_msg_) {
processMessage(latest_msg_);
}
}

} // namespace jsk_rviz_plugins

#include <pluginlib/class_list_macros.h>
Expand Down
8 changes: 8 additions & 0 deletions jsk_rviz_plugins/src/bounding_box_display.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -68,19 +68,27 @@ namespace jsk_rviz_plugins
// Properties
rviz::EnumProperty* coloring_property_;
rviz::ColorProperty* color_property_;
rviz::EnumProperty* alpha_method_property_;
rviz::FloatProperty* alpha_property_;
rviz::FloatProperty* alpha_min_property_;
rviz::FloatProperty* alpha_max_property_;
rviz::BoolProperty* only_edge_property_;
rviz::FloatProperty* line_width_property_;
rviz::BoolProperty* show_coords_property_;
rviz::FloatProperty* value_threshold_property_;

jsk_recognition_msgs::BoundingBox::ConstPtr latest_msg_;
protected Q_SLOTS:
void updateColor();
void updateAlpha();
void updateAlphaMin();
void updateAlphaMax();
void updateOnlyEdge();
void updateColoring();
void updateAlphaMethod();
void updateLineWidth();
void updateShowCoords();
void updateValueThreshold();
private:
void processMessage(
const jsk_recognition_msgs::BoundingBox::ConstPtr& msg);
Expand Down
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