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Add style property to change shape of rendered voxels #20

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Add style property to change shape of rendered voxels #20

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2 changes: 2 additions & 0 deletions include/octomap_rviz_plugins/occupancy_grid_display.h
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Original file line number Diff line number Diff line change
Expand Up @@ -82,6 +82,7 @@ private Q_SLOTS:
void updateAlpha();
void updateMaxHeight();
void updateMinHeight();
void updateStyle();

protected:
// overrides from Display
Expand Down Expand Up @@ -118,6 +119,7 @@ private Q_SLOTS:
rviz::RosTopicProperty* octomap_topic_property_;
rviz::EnumProperty* octree_render_property_;
rviz::EnumProperty* octree_coloring_property_;
rviz::EnumProperty* style_property_;
rviz::IntProperty* tree_depth_property_;
rviz::FloatProperty* alpha_property_;
rviz::FloatProperty* max_height_property_;
Expand Down
19 changes: 18 additions & 1 deletion src/occupancy_grid_display.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -140,6 +140,15 @@ OccupancyGridDisplay::OccupancyGridDisplay() :
"Defines the minimum height to display",
this,
SLOT (updateMinHeight() ));

style_property_ = new EnumProperty( "Style", "Boxes",
"Rendering mode to use, in order of computational complexity.",
this, SLOT( updateStyle() ));
style_property_->addOption( "Points", PointCloud::RM_POINTS );
style_property_->addOption( "Squares", PointCloud::RM_SQUARES );
style_property_->addOption( "Flat Squares", PointCloud::RM_FLAT_SQUARES );
style_property_->addOption( "Spheres", PointCloud::RM_SPHERES );
style_property_->addOption( "Boxes", PointCloud::RM_BOXES );
}

void OccupancyGridDisplay::onInitialize()
Expand All @@ -157,7 +166,7 @@ void OccupancyGridDisplay::onInitialize()
sname << "PointCloud Nr." << i;
cloud_[i] = new rviz::PointCloud();
cloud_[i]->setName(sname.str());
cloud_[i]->setRenderMode(rviz::PointCloud::RM_BOXES);
cloud_[i]->setRenderMode(static_cast<PointCloud::RenderMode>(style_property_->getOptionInt()));
scene_node_->attachObject(cloud_[i]);
}
}
Expand Down Expand Up @@ -315,6 +324,14 @@ void OccupancyGridDisplay::updateMinHeight()
{
}

void OccupancyGridDisplay::updateStyle()
{
for (std::size_t i = 0; i < max_octree_depth_; ++i)
{
cloud_[i]->setRenderMode(static_cast<PointCloud::RenderMode>(style_property_->getOptionInt()));
}
}

void OccupancyGridDisplay::clear()
{

Expand Down