From 42393dac76229a206ffae50ee8554216b5bdce0f Mon Sep 17 00:00:00 2001
From: Fabian Paus <fabian.paus@kit.edu>
Date: Thu, 23 Mar 2017 12:52:44 +0100
Subject: [PATCH] Added subpage for LaserScannerGUI
---
etc/doxygen/pages/GuiPlugins.dox | 2 ++
.../LaserScannerPluginWidgetController.cpp | 29 +++++++++++++++++--
.../LaserScannerPluginWidgetController.h | 6 ++--
3 files changed, 31 insertions(+), 6 deletions(-)
diff --git a/etc/doxygen/pages/GuiPlugins.dox b/etc/doxygen/pages/GuiPlugins.dox
index 8f8fe7c3b..5bde34684 100644
--- a/etc/doxygen/pages/GuiPlugins.dox
+++ b/etc/doxygen/pages/GuiPlugins.dox
@@ -18,4 +18,6 @@ The following Gui Plugins are available:
\subpage RobotAPI-GuiPlugins-ViewSelection
\subpage ArmarXGui-GuiPlugins-DebugDrawerViewer
+
+\subpage ArmarXGui-GuiPlugins-LaserScannerPlugin
*/
diff --git a/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.cpp b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.cpp
index 036f956a4..4ed9add23 100644
--- a/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.cpp
@@ -134,7 +134,7 @@ void LaserScannerPluginWidgetController::onNewSensorValuesReported()
int outerR = std::min(view->width() / 2, view->height() / 2);
scene.addEllipse(-outerR, -outerR, 2 * outerR, 2 * outerR, QPen(QColor(255, 255, 255)));
int r = outerR - 10;
- scene.addEllipse(-r, -r, 2 * r, 2 * r, QPen(QColor(200, 200, 200)));
+ //scene.addEllipse(-r, -r, 2 * r, 2 * r, QPen(QColor(200, 200, 200)));
QColor stepColor(QColor::fromRgb(100, 100, 255));
QPen stepPen(stepColor);
QBrush stepBrush(stepColor);
@@ -148,9 +148,34 @@ void LaserScannerPluginWidgetController::onNewSensorValuesReported()
};
LaserScan& scan = scans[deviceName];
+ float maxDistance = 1000.0f;
for (LaserScanStep & step : scan)
{
- line(step.angle, step.distance / 10000.0f);
+ if (step.distance > maxDistance)
+ {
+ maxDistance = step.distance;
+ }
+ }
+ float ringDistance = 1000.0f;
+ int numberOfRings = (std::size_t)std::ceil(maxDistance / ringDistance);
+ std::deque<int>& history = numberOfRingsHistory[deviceName];
+ history.push_back(numberOfRings);
+ if (history.size() > 256)
+ {
+ history.pop_front();
+ }
+ int maxNumberOfRings = *std::max_element(history.begin(), history.end());
+ float outerRadius = maxNumberOfRings * ringDistance;
+
+ for (LaserScanStep & step : scan)
+ {
+ line(step.angle, step.distance / outerRadius);
+ }
+
+ for (int ringIndex = 1; ringIndex <= maxNumberOfRings; ++ringIndex)
+ {
+ float ri = 1.0f * ringIndex / maxNumberOfRings * r;
+ scene.addEllipse(-ri, -ri, 2 * ri, 2 * ri, QPen(QColor(200, 200, 200)));
}
view->fitInView(scene.itemsBoundingRect(), Qt::KeepAspectRatio);
diff --git a/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.h b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.h
index a98917b3e..f0310dba0 100644
--- a/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.h
+++ b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.h
@@ -35,10 +35,7 @@ namespace armarx
{
/**
\page ArmarXGui-GuiPlugins-LaserScannerPlugin LaserScannerPlugin
- \brief The LaserScannerPlugin allows visualizing ...
-
- \image html LaserScannerPlugin.png
- The user can
+ \brief The LaserScannerPlugin allows visualizing the raw sensor data captured from multiple laser scanners.
API Documentation \ref LaserScannerPluginWidgetController
@@ -125,6 +122,7 @@ namespace armarx
Mutex scanMutex;
std::unordered_map<std::string, LaserScan> scans;
+ std::unordered_map<std::string, std::deque<int>> numberOfRingsHistory;
QGraphicsScene scene;
--
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