diff --git a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp
index 141e205be8b11e11bed7c584b792f492536eea38..1506e7acb0a4b6630f70b1f7bc20a60436646a7c 100644
--- a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp
+++ b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp
@@ -253,7 +253,7 @@ namespace armarx
removeSelectionCallbacks();
selectionNode->deselectAll();
- for (auto & e : selectedElements)
+ for (auto& e : selectedElements)
{
SoNode* n = SoSelection::getByName(SELECTION_NAME(e.layerName, e.elementName));
if (n)
@@ -293,7 +293,7 @@ namespace armarx
name = name.substr(index + strlen(SELECTION_NAME_SPLITTER));
// Check if selected element is 'selectable'
- for (auto & l : layers)
+ for (auto& l : layers)
{
std::string layer = l.first;
if (layers[layer].addedBoxVisualizations.find(name) != layers[layer].addedBoxVisualizations.end()
@@ -2135,7 +2135,7 @@ namespace armarx
d.layerName = layerName;
d.name = robotName;
- for (auto & it : configuration)
+ for (auto& it : configuration)
{
d.configuration[it.first] = it.second;
}
@@ -2210,7 +2210,7 @@ namespace armarx
void DebugDrawerComponent::clearAll(const Ice::Current&)
{
- for (auto & i : layers)
+ for (auto& i : layers)
{
clearLayer(i.first);
}
@@ -2253,72 +2253,72 @@ namespace armarx
Layer& layer = layers.at(layerName);
- for (const auto & i : layer.addedCoordVisualizations)
+ for (const auto& i : layer.addedCoordVisualizations)
{
removePoseVisu(layerName, i.first);
}
- for (const auto & i : layer.addedLineVisualizations)
+ for (const auto& i : layer.addedLineVisualizations)
{
removeLineVisu(layerName, i.first);
}
- for (const auto & i : layer.addedLineSetVisualizations)
+ for (const auto& i : layer.addedLineSetVisualizations)
{
removeLineSetVisu(layerName, i.first);
}
- for (const auto & i : layer.addedBoxVisualizations)
+ for (const auto& i : layer.addedBoxVisualizations)
{
removeBoxVisu(layerName, i.first);
}
- for (const auto & i : layer.addedTextVisualizations)
+ for (const auto& i : layer.addedTextVisualizations)
{
removeTextVisu(layerName, i.first);
}
- for (const auto & i : layer.addedSphereVisualizations)
+ for (const auto& i : layer.addedSphereVisualizations)
{
removeSphereVisu(layerName, i.first);
}
- for (const auto & i : layer.addedCylinderVisualizations)
+ for (const auto& i : layer.addedCylinderVisualizations)
{
removeCylinderVisu(layerName, i.first);
}
- for (const auto & i : layer.addedPointCloudVisualizations)
+ for (const auto& i : layer.addedPointCloudVisualizations)
{
removePointCloudVisu(layerName, i.first);
}
- for (const auto & i : layer.addedPolygonVisualizations)
+ for (const auto& i : layer.addedPolygonVisualizations)
{
removePolygonVisu(layerName, i.first);
}
- for (const auto & i : layer.addedTriMeshVisualizations)
+ for (const auto& i : layer.addedTriMeshVisualizations)
{
removeTriMeshVisu(layerName, i.first);
}
- for (const auto & i : layer.added24BitColoredPointCloudVisualizations)
+ for (const auto& i : layer.added24BitColoredPointCloudVisualizations)
{
remove24BitColoredPointCloudVisu(layerName, i.first);
}
- for (const auto & i : layer.addedArrowVisualizations)
+ for (const auto& i : layer.addedArrowVisualizations)
{
removeArrowVisu(layerName, i.first);
}
- for (const auto & i : layer.addedRobotVisualizations)
+ for (const auto& i : layer.addedRobotVisualizations)
{
removeRobotVisu(layerName, i.first);
}
- for (const auto & i : layer.addedCustomVisualizations)
+ for (const auto& i : layer.addedCustomVisualizations)
{
removeCustomVisu(layerName, i.first);
}
@@ -2391,80 +2391,80 @@ namespace armarx
// check for clear&remove
//(updates only contain elements to add for each layer after the last clear for this layer was executed)
//this prevents a sequence add,clear,add to result in an empty layer
- for (const auto & layer : accumulatedUpdateData.clearLayers)
+ for (const auto& layer : accumulatedUpdateData.clearLayers)
{
clearLayerQt(layer);
}
accumulatedUpdateData.clearLayers.clear();
- for (const auto & layer : accumulatedUpdateData.removeLayers)
+ for (const auto& layer : accumulatedUpdateData.removeLayers)
{
removeLayerQt(layer);
}
accumulatedUpdateData.removeLayers.clear();
//add elements
- for (auto & e : accumulatedUpdateData.coord)
+ for (auto& e : accumulatedUpdateData.coord)
{
drawCoordSystem(e.second);
}
accumulatedUpdateData.coord.clear();
- for (auto & e : accumulatedUpdateData.box)
+ for (auto& e : accumulatedUpdateData.box)
{
drawBox(e.second);
}
accumulatedUpdateData.box.clear();
- for (auto & e : accumulatedUpdateData.line)
+ for (auto& e : accumulatedUpdateData.line)
{
drawLine(e.second);
}
accumulatedUpdateData.line.clear();
- for (auto & e : accumulatedUpdateData.lineSet)
+ for (auto& e : accumulatedUpdateData.lineSet)
{
drawLineSet(e.second);
}
accumulatedUpdateData.lineSet.clear();
- for (auto & e : accumulatedUpdateData.sphere)
+ for (auto& e : accumulatedUpdateData.sphere)
{
drawSphere(e.second);
}
accumulatedUpdateData.sphere.clear();
- for (auto & e : accumulatedUpdateData.cylinder)
+ for (auto& e : accumulatedUpdateData.cylinder)
{
drawCylinder(e.second);
}
accumulatedUpdateData.cylinder.clear();
- for (auto & e : accumulatedUpdateData.circle)
+ for (auto& e : accumulatedUpdateData.circle)
{
drawCircle(e.second);
}
accumulatedUpdateData.circle.clear();
- for (auto & e : accumulatedUpdateData.text)
+ for (auto& e : accumulatedUpdateData.text)
{
drawText(e.second);
}
accumulatedUpdateData.text.clear();
- for (auto & e : accumulatedUpdateData.pointcloud)
+ for (auto& e : accumulatedUpdateData.pointcloud)
{
drawPointCloud(e.second);
}
accumulatedUpdateData.pointcloud.clear();
- for (auto & e : accumulatedUpdateData.polygons)
+ for (auto& e : accumulatedUpdateData.polygons)
{
drawPolygon(e.second);
}
accumulatedUpdateData.polygons.clear();
- for (auto & e : accumulatedUpdateData.arrows)
+ for (auto& e : accumulatedUpdateData.arrows)
{
drawArrow(e.second);
}
@@ -2476,7 +2476,7 @@ namespace armarx
}
accumulatedUpdateData.triMeshes.clear();
- for (auto & e : accumulatedUpdateData.robots)
+ for (auto& e : accumulatedUpdateData.robots)
{
ARMARX_DEBUG << "update visu / drawRobot for robot " << e.first;
ensureExistingRobotNodes(e.second);
@@ -2485,13 +2485,13 @@ namespace armarx
}
accumulatedUpdateData.robots.clear();
- for (auto & e : accumulatedUpdateData.coloredpointcloud)
+ for (auto& e : accumulatedUpdateData.coloredpointcloud)
{
drawColoredPointCloud(e.second);
}
accumulatedUpdateData.coloredpointcloud.clear();
- for (auto & e : accumulatedUpdateData.colored24Bitpointcloud)
+ for (auto& e : accumulatedUpdateData.colored24Bitpointcloud)
{
draw24BitColoredPointCloud(e.second);
}
@@ -2596,7 +2596,7 @@ namespace armarx
ScopedRecursiveLockPtr l = getScopedVisuLock();
Ice::StringSeq seq {};
- for (const auto & layer : layers)
+ for (const auto& layer : layers)
{
seq.push_back(layer.first);
}
@@ -2609,7 +2609,7 @@ namespace armarx
::armarx::LayerInformationSequence seq {};
ScopedRecursiveLockPtr l = getScopedVisuLock();
- for (const auto & layer : layers)
+ for (const auto& layer : layers)
{
int count = layer.second.addedCoordVisualizations.size() +
layer.second.addedLineVisualizations.size() +
@@ -2777,6 +2777,7 @@ namespace armarx
);
pclMat->diffuseColor.setValues(0, colors.size(), colors.data());
pclMat->ambientColor.setValues(0, colors.size(), colors.data());
+ pclMat->transparency = d.pointCloud.transparency;
pclSep->addChild(pclMat);
SoMaterialBinding* pclMatBind = new SoMaterialBinding;
diff --git a/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice b/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice
index f30cdc1d8a1b5a047acb6029eabae16bfc056d94..1e629a61b88b7941bc7a828f104009981eb1caca 100644
--- a/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice
+++ b/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice
@@ -131,6 +131,7 @@ module armarx
const int three = 3;
+ const float zero = 0;
struct DebugDrawerPointCloudElement
{
@@ -174,6 +175,7 @@ module armarx
{
DebugDrawer24BitColoredPointCloudElementList points;
float pointSize = three;
+ float transparency = zero;
};
sequence<DebugDrawerPointCloudElement> DebugDrawerLineSetPointList;