From 2fd5bfd00d55a8b6764f70b6a4bc426eab9fe4fc Mon Sep 17 00:00:00 2001
From: Fabian Paus <fabian.paus@kit.edu>
Date: Tue, 4 Jan 2022 16:02:06 +0100
Subject: [PATCH] ArViz: Implement selection via double-click
---
.../RobotAPI/components/ArViz/Client/Client.h | 4 +-
.../components/ArViz/Coin/Visualizer.cpp | 51 +++++++++++--------
.../components/ArViz/Coin/Visualizer.h | 1 +
.../components/ArViz/Example/ArVizExample.cpp | 23 ++++++---
.../RobotAPI/gui-plugins/ArViz/ArVizWidget.ui | 4 +-
.../ArViz/ArVizWidgetController.cpp | 12 +++++
.../gui-plugins/ArViz/ArVizWidgetController.h | 1 +
7 files changed, 64 insertions(+), 32 deletions(-)
diff --git a/source/RobotAPI/components/ArViz/Client/Client.h b/source/RobotAPI/components/ArViz/Client/Client.h
index 4b5e09faf..0a93e7025 100644
--- a/source/RobotAPI/components/ArViz/Client/Client.h
+++ b/source/RobotAPI/components/ArViz/Client/Client.h
@@ -313,14 +313,14 @@ namespace viz
return StagedCommit();
}
- CommitResult apply(StagedCommit const& commit)
+ CommitResult commit(StagedCommit const& commit)
{
CommitResult result;
result.data_ = storage->commitAndReceiveInteractions(commit.data_);
return result;
}
- CommitResultAsync applyAsync(StagedCommit const& commit)
+ CommitResultAsync commitAsync(StagedCommit const& commit)
{
CommitResultAsync result;
result.async = storage->begin_commitAndReceiveInteractions(commit.data_);
diff --git a/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp b/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
index b71d5e48d..3ef94f45d 100644
--- a/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
+++ b/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
@@ -548,6 +548,36 @@ namespace coin
}
}
+ void CoinVisualizer::selectElement(int index)
+ {
+ if (index >= (int)elementInteractions.size())
+ {
+ return;
+ }
+
+ ElementInteractionData const* id = elementInteractions[index].get();
+
+ CoinLayer* layer = layers.findLayer(id->layer);
+ if (layer == nullptr)
+ {
+ ARMARX_WARNING << "Selected an element whose layer does not exist: \n"
+ << "Layer: " << id->layer.first << "/" << id->layer.second
+ << ", element: " << id->element;
+ return;
+ }
+ CoinLayerElement* element = layer->findElement(id->element);
+ if (element == nullptr)
+ {
+ ARMARX_WARNING << "Selected an element which does not exist: \n"
+ << "Layer: " << id->layer.first << "/" << id->layer.second
+ << ", element: " << id->element;
+ return;
+ }
+
+ selection->deselectAll();
+ selection->select(element->visu->separator);
+ }
+
static ElementInteractionData* findInteractionDataOnPath(SoPath* path)
{
// Search for user data in the path
@@ -591,27 +621,6 @@ namespace coin
return;
}
- CoinLayer* layer = layers.findLayer(id->layer);
- if (layer == nullptr)
- {
- ARMARX_WARNING << "Selected/Deselected an element whose layer does not exist: \n"
- << "Layer: " << id->layer.first << "/" << id->layer.second
- << ", element: " << id->element;
- return;
- }
- CoinLayerElement* element = layer->findElement(id->element);
- if (element == nullptr)
- {
- ARMARX_WARNING << "Selected/Deselected an element which does not exist: \n"
- << "Layer: " << id->layer.first << "/" << id->layer.second
- << ", element: " << id->element;
- return;
- }
-
- // ARMARX_INFO << "Selected/Deselected element: \n"
- // << "Layer: " << id->layer.first << "/" << id->layer.second
- // << ", element: " << id->element;
-
if (eventType == data::InteractionFeedbackType::SELECT)
{
selectedElement = id;
diff --git a/source/RobotAPI/components/ArViz/Coin/Visualizer.h b/source/RobotAPI/components/ArViz/Coin/Visualizer.h
index a3c9da6fa..adda36b9a 100644
--- a/source/RobotAPI/components/ArViz/Coin/Visualizer.h
+++ b/source/RobotAPI/components/ArViz/Coin/Visualizer.h
@@ -236,6 +236,7 @@ namespace armarx::viz
void emitLayersChanged(std::vector<CoinLayerID> const& layerIDs);
void emitLayerUpdated(CoinLayerID const& layerID, CoinLayer const& layer);
+ void selectElement(int index);
void onSelectEvent(SoPath* path, int eventType);
// These are selectable element IDs and need to be persistent in memory.
// We store a raw pointer to these into the SoSeperator objects of Coin.
diff --git a/source/RobotAPI/components/ArViz/Example/ArVizExample.cpp b/source/RobotAPI/components/ArViz/Example/ArVizExample.cpp
index 97899d9cf..d772854de 100644
--- a/source/RobotAPI/components/ArViz/Example/ArVizExample.cpp
+++ b/source/RobotAPI/components/ArViz/Example/ArVizExample.cpp
@@ -503,8 +503,7 @@ namespace armarx
void fillInteractionLayer(viz::Layer& layer)
{
- // TODO: Add interaction to client code
- // 1. Make box selectable
+ // Make box selectable
viz::Box box = viz::Box("box")
.position(Eigen::Vector3f(2000.0f, 0.0f, 2000.0f))
.size(Eigen::Vector3f(200.0f, 200.0f, 200.0f))
@@ -581,7 +580,7 @@ namespace armarx
stage.add(interactionLayer);
// Apply the staged commits in a single network call
- viz::CommitResult result = arviz.apply(stage);
+ viz::CommitResult result = arviz.commit(stage);
ARMARX_INFO << "Permanent layers committed in revision: "
<< result.revision();
@@ -617,7 +616,7 @@ namespace armarx
stage.requestInteraction(interactionLayer);
// This sends the layer updates and receives interaction feedback in a single network call
- result = arviz.apply(stage);
+ result = arviz.commit(stage);
// Be careful: The interactions are stored in the CommitResult
// So the range is only valid as long as result is in scope and not overriden.
viz::InteractionFeedbackRange interactions = result.interactions();
@@ -626,9 +625,19 @@ namespace armarx
ARMARX_INFO << "We got some interactions: " << interactions.size();
for (viz::InteractionFeedback const& interaction: interactions)
{
- ARMARX_INFO << "[" << interaction.layer()
- << "/" << interaction.element()
- << "] " << toString(interaction.type());
+ if (interaction.type() == viz::InteractionFeedbackType::ContextMenuChosen)
+ {
+ ARMARX_INFO << "[" << interaction.layer()
+ << "/" << interaction.element()
+ << "] Chosen context menu: "
+ << interaction.chosenContextMenuEntry();
+ }
+ else
+ {
+ ARMARX_INFO << "[" << interaction.layer()
+ << "/" << interaction.element()
+ << "] " << toString(interaction.type());
+ }
}
}
diff --git a/source/RobotAPI/gui-plugins/ArViz/ArVizWidget.ui b/source/RobotAPI/gui-plugins/ArViz/ArVizWidget.ui
index 782e9d704..c43cbd71a 100644
--- a/source/RobotAPI/gui-plugins/ArViz/ArVizWidget.ui
+++ b/source/RobotAPI/gui-plugins/ArViz/ArVizWidget.ui
@@ -17,7 +17,7 @@
<item>
<widget class="QTabWidget" name="tabWidget">
<property name="currentIndex">
- <number>2</number>
+ <number>0</number>
</property>
<widget class="QWidget" name="tabLayerSelection">
<attribute name="title">
@@ -655,7 +655,7 @@
<item>
<widget class="QGroupBox" name="groupBoxInteractiveElements">
<property name="title">
- <string>Interactive Elements</string>
+ <string>Interactive Elements (Double click to select in 3D Viewer)</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_10">
<item>
diff --git a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
index 183592534..7aa05e3a1 100644
--- a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
@@ -87,6 +87,7 @@ namespace armarx
connect(widget.exportToVRMLButton, &QPushButton::clicked, this, &This::exportToVRML);
connect(widget.deselectButton, &QPushButton::clicked, this, &This::onDeselectElement);
+ connect(widget.listInteractiveElements, &QListWidget::itemDoubleClicked, this, &This::onInteractiveElementSelected);
connect(this, &This::connectGui, this, &This::onConnectGui, Qt::QueuedConnection);
connect(this, &This::disconnectGui, this, &This::onDisconnectGui, Qt::QueuedConnection);
@@ -461,6 +462,17 @@ namespace armarx
}
}
+ void ArVizWidgetController::onInteractiveElementSelected(QListWidgetItem* item)
+ {
+ int index = widget.listInteractiveElements->row(item);
+ if (index < 0)
+ {
+ return;
+ }
+
+ visualizer.selectElement(index);
+ }
+
static QString toQString(viz::ElementInteractionData const& inter)
{
std::string id = inter.layer.first + "/"
diff --git a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.h b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.h
index 9fd1fa47f..cb10e285b 100644
--- a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.h
+++ b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.h
@@ -140,6 +140,7 @@ namespace armarx
void onDeselectElement();
void onContextMenuClicked();
+ void onInteractiveElementSelected(QListWidgetItem* item);
void onUpdate();
void onTimingObserverUpdate();
--
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