From 74eb77b5943fc396169b7c9de554ba76fd7d0446 Mon Sep 17 00:00:00 2001
From: Adrian Knobloch <adrian.knobloch@student.kit.edu>
Date: Fri, 24 Mar 2017 16:58:14 +0100
Subject: [PATCH] Add possibility to draw the debug layer line set using heat
map colors
---
.../components/DebugDrawer/DebugDrawerComponent.cpp | 13 +++++++++++--
.../visualization/DebugDrawerInterface.ice | 2 ++
2 files changed, 13 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp
index 9dabab63d..ebf8cfff1 100644
--- a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp
+++ b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp
@@ -25,6 +25,7 @@
#include "DebugDrawerComponent.h"
+#include <RobotAPI/libraries/core/math/ColorUtils.h>
#include <VirtualRobot/VirtualRobot.h>
#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h>
@@ -621,8 +622,16 @@ namespace armarx
coordinateValues[2 * i].setValue(d.lineSet.points[2 * i].x, d.lineSet.points[2 * i].y, d.lineSet.points[2 * i].z);
coordinateValues[2 * i + 1].setValue(d.lineSet.points[2 * i + 1].x, d.lineSet.points[2 * i + 1].y, d.lineSet.points[2 * i + 1].z);
- VirtualRobot::VisualizationFactory::Color c = visualizationColorMap.getColor(d.lineSet.intensities[i]);
- colorValues[i].setValue(c.r, c.g, c.b);
+ if (d.lineSet.useHeatMap)
+ {
+ auto c = colorutils::HeatMapRGBAColor(d.lineSet.intensities[i]);
+ colorValues[i].setValue(c.r, c.g, c.b);
+ }
+ else
+ {
+ VirtualRobot::VisualizationFactory::Color c = visualizationColorMap.getColor(d.lineSet.intensities[i]);
+ colorValues[i].setValue(c.r, c.g, c.b);
+ }
}
coordinateNode->point.setValuesPointer(d.lineSet.points.size(), coordinateValues);
diff --git a/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice b/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice
index 1e629a61b..0a25c6ee6 100644
--- a/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice
+++ b/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice
@@ -189,6 +189,8 @@ module armarx
DebugDrawerLineSetPointList points;
DebugDrawerLineSetIntensityList intensities;
+
+ bool useHeatMap = false;
};
sequence< Vector3Base > PolygonPointList;
--
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