From a16988a6dd24b33dd873b3edbbb73a8f76488b6f Mon Sep 17 00:00:00 2001
From: Fabian Peller <fabian.peller-konrad@kit.edu>
Date: Mon, 4 Sep 2023 15:51:12 +0200
Subject: [PATCH] add arrows to locations. Fix boxes
---
.../PriorKnowledge/util/LocationLoader/Visu.cpp | 10 +++++++---
.../PriorKnowledge/util/LocationLoader/Visu.h | 3 +--
2 files changed, 8 insertions(+), 5 deletions(-)
diff --git a/source/RobotAPI/libraries/PriorKnowledge/util/LocationLoader/Visu.cpp b/source/RobotAPI/libraries/PriorKnowledge/util/LocationLoader/Visu.cpp
index 07901817b..80dfd636d 100644
--- a/source/RobotAPI/libraries/PriorKnowledge/util/LocationLoader/Visu.cpp
+++ b/source/RobotAPI/libraries/PriorKnowledge/util/LocationLoader/Visu.cpp
@@ -10,8 +10,12 @@ namespace armarx::priorknowledge::util::location
const Eigen::Matrix4f& locationGlobalPose) const
{
// Add global location to layer
- layer.add(
- armarx::viz::Pose(id).pose(locationGlobalPose).scale(settings.framedLocationsScale));
+ layer.add(armarx::viz::Pose(id).pose(locationGlobalPose));
+ layer.add(armarx::viz::Arrow(id + "_dir")
+ .pose(locationGlobalPose)
+ .length(110)
+ .width(7.5)
+ .color(this->settings.framedLocationArrowColor));
}
void
@@ -23,7 +27,7 @@ namespace armarx::priorknowledge::util::location
// Add global location to layer
layer.add(armarx::viz::Box(id)
.pose(locationGlobalPose)
- .scale(extends)
+ .size(extends)
.color(this->settings.framedBoxedLocationColor));
}
diff --git a/source/RobotAPI/libraries/PriorKnowledge/util/LocationLoader/Visu.h b/source/RobotAPI/libraries/PriorKnowledge/util/LocationLoader/Visu.h
index 7922e307b..a237c48b3 100644
--- a/source/RobotAPI/libraries/PriorKnowledge/util/LocationLoader/Visu.h
+++ b/source/RobotAPI/libraries/PriorKnowledge/util/LocationLoader/Visu.h
@@ -51,11 +51,10 @@ namespace armarx::priorknowledge::util::location
struct Settings
{
// FramedLocation
- float framedLocationsScale = 1.0;
viz::Color framedLocationArrowColor = viz::Color::green();
// FramedBoxedLocation
- viz::Color framedBoxedLocationColor = viz::Color::blue();
+ viz::Color framedBoxedLocationColor = viz::Color(0, 150, 130, 40);
} settings;
--
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