Merge pull request #57 from JustusBraun/fix/cluster-label

Reenable Label tooling

Author: amock

rviz_mesh_tools_plugins/CMakeLists.txt

@@ -37,9 +37,6 @@ find_package(Boost REQUIRED COMPONENTS system filesystem)
 find_package(HDF5 REQUIRED COMPONENTS C CXX HL)
 # find_package(assimp REQUIRED)
 
-# This needs to be optional for non CL devices
-# find_package(OpenCL 2 REQUIRED)
-
 # include_directories(${ASSIMP_INCLUDE_DIRS})
 
 # LVR2 includes HighFive that we need here
@@ -57,7 +54,6 @@ include_directories(
   ${LVR2_INCLUDE_DIRS}
   ${Boost_INCLUDE_DIRS}
   ${HDF5_INCLUDE_DIRS}
-  ${OpenCL_INCLUDE_DIRS}
 )
 
 set(SOURCE_FILES
@@ -84,7 +80,6 @@ set(MOC_HEADER_FILES
   include/rviz_mesh_tools_plugins/MeshDisplay.hpp
   include/rviz_mesh_tools_plugins/MeshVisual.hpp
   include/rviz_mesh_tools_plugins/ClusterLabelTool.hpp
-  include/rviz_mesh_tools_plugins/CLUtil.hpp
   include/rviz_mesh_tools_plugins/RvizFileProperty.hpp
   include/rviz_mesh_tools_plugins/MeshPoseTool.hpp
   include/rviz_mesh_tools_plugins/MeshGoalTool.hpp
@@ -116,7 +111,6 @@ target_link_libraries(${PROJECT_NAME} PUBLIC
 target_link_libraries(${PROJECT_NAME} PRIVATE
   ${HDF5_LIBRARIES}
   ${HDF5_HL_LIBRARIES}
-  ${OpenCL_LIBRARIES}
 )
 
 target_compile_definitions(${PROJECT_NAME} PRIVATE "RVIZ_MESH_TOOLS_PLUGINS_BUILDING_LIBRARY")#

rviz_mesh_tools_plugins/include/rviz_mesh_tools_plugins/CLUtil.hpp

@@ -198,6 +198,11 @@ public Q_SLOTS:  // not sure wether any of those actually need to be q slots ...
    */
   void setData(shared_ptr<Geometry> geometry, vector<Cluster> clusters);
 
+  /**
+   * @brief Slot for changing the culling mode used in the LabelTool, and the LabelVisuals
+   */
+  void setCullingMode(Ogre::CullingMode mode);
+
 private Q_SLOTS:
 
   /**
@@ -232,9 +237,12 @@ private Q_SLOTS:
   void onInitialize();
 
   /**
-   * @brief Programmatically create an instance of the label tool from this package
+   * @brief Find the instance of the ClusterLabelTool or create one.
+   *
+   * We cannot store a pointer to the tool because RViz could sometimes replaces
+   * the Tool instance, and that would invalidate our pointer.
    */
-  void initializeLabelTool();
+  ClusterLabelTool* getOrCreateLabelTool();
 
   /**
    * @brief Create visuals for each cluster in the list
@@ -266,9 +274,6 @@ private Q_SLOTS:
   /// Cluster data
   vector<Cluster> m_clusterList;
 
-  /// Label tool
-  ClusterLabelTool* m_tool;
-
   /// Property for the current active visual
   rviz_common::properties::EnumProperty* m_activeVisualProperty;
 
@@ -293,6 +298,9 @@ private Q_SLOTS:
   /// A variable that will be set to true, once the initial data has arrived
   bool has_data = false;
 
+  /// Current Culling Mode
+  Ogre::CullingMode m_cullingMode;
+
 
 };
 

rviz_mesh_tools_plugins/include/rviz_mesh_tools_plugins/ClusterLabelDisplay.hpp

@@ -52,15 +52,7 @@
 
 #include <rviz_mesh_tools_plugins/Types.hpp>
 
-// TODO: Make CL optional
-// enable exceptions for OpenCL
-// #define CL_HPP_TARGET_OPENCL_VERSION 120
-// #define CL_HPP_MINIMUM_OPENCL_VERSION 110
-// #define CL_HPP_ENABLE_EXCEPTIONS
-// #include <CL/cl2.hpp>
-
 #include <vector>
-#include <map>
 #include <memory>
 #include <boost/lexical_cast.hpp>
 #include <boost/optional.hpp>
@@ -136,6 +128,10 @@ class ClusterLabelTool : public rviz_common::Tool
 {
   Q_OBJECT
 public:
+  // Constants
+  static constexpr float MIN_BRUSH_SIZE = 20.0f;
+  static constexpr float MOUSE_WHEEL_BRUSH_SIZE_STEP = 10;
+
   /**
    * @brief Constructor
    */
@@ -181,10 +177,15 @@ class ClusterLabelTool : public rviz_common::Tool
   void setVisual(std::shared_ptr<ClusterLabelVisual> visual);
 
   /**
-   * @brief Adjust the sphere size for the brush tool
-   * @param size The sphere size
+   * @brief Adjust the circle size for the brush tool
+   * @param size The circle diameter in screen Pixels
+   */
+  void setBrushSize(float size);
+
+  /**
+   * @brief Set the culling mode for selection to match the MeshVisual
    */
-  void setSphereSize(float size);
+  void setCullingMode(Ogre::CullingMode mode);
 
 public Q_SLOTS:
 
@@ -213,71 +214,70 @@ public Q_SLOTS:
 private:
   std::vector<uint32_t> m_selectedFaces;
   std::vector<bool> m_faceSelectedArray;
-  bool m_displayInitialized;
   ClusterLabelDisplay* m_display;
   std::shared_ptr<ClusterLabelVisual> m_visual;
   std::shared_ptr<Geometry> m_meshGeometry;
-  float m_sphereSize = 1.0f;
+  float m_brushSize;
 
   // Selection Box
-  rviz_common::DisplayContext* m_displayContext;
   Ogre::SceneNode* m_sceneNode;
   Ogre::ManualObject* m_selectionBox;
   Ogre::MaterialPtr m_selectionBoxMaterial;
-  
-  // rviz_common::ViewportMouseEvent m_evt_start;
-  // rviz_common::ViewportMouseEvent m_evt_stop;
+
+  // Selection Circle
+  Ogre::ManualObject* m_selectionCircle;
+  Ogre::SceneNode* m_selectionCircleNode;
 
   int m_bb_x1;
   int m_bb_y1;
   int m_bb_x2;
   int m_bb_y2;
 
   rviz_common::RenderPanel* m_evt_panel;
-  
+
+  // Selection Modes
   bool m_multipleSelect = false;
   bool m_singleSelect = false;
-  bool m_singleDeselect = false;
+  bool m_circleSelect = false;
+  // Select = true Deselect = false
+  bool m_selectionMode = false;
 
   std::vector<Ogre::Vector3> m_vertexPositions;
 
+  void initSelectionCircle();
+  void updateSelectionCircle(rviz_common::ViewportMouseEvent& event);
   void updateSelectionBox();
   void selectionBoxStart(rviz_common::ViewportMouseEvent& event);
   void selectionBoxMove(rviz_common::ViewportMouseEvent& event);
   void selectMultipleFaces(rviz_common::ViewportMouseEvent& event, bool selectMode);
-  void selectFacesInBoxParallel(Ogre::PlaneBoundedVolume& volume, bool selectMode);
   void selectSingleFace(rviz_common::ViewportMouseEvent& event, bool selectMode);
-  void selectSingleFaceParallel(Ogre::Ray& ray, bool selectMode);
-  void selectSphereFaces(rviz_common::ViewportMouseEvent& event, bool selectMode);
-  void selectSphereFacesParallel(Ogre::Ray& ray, bool selectMode);
-  boost::optional<std::pair<uint32_t, float>> getClosestIntersectedFaceParallel(Ogre::Ray& ray);
+  void selectCircleFaces(rviz_common::ViewportMouseEvent& event, bool selectMode);
 
   rclcpp::Publisher<mesh_msgs::msg::MeshFaceClusterStamped>::SharedPtr m_labelPublisher;
 
-  std::vector<float> m_vertexData;
-  std::array<float, 6> m_rayData;
-  std::array<float, 4> m_sphereData;
-  std::array<float, 3> m_startNormalData;
-  std::vector<float> m_boxData;
-  std::vector<float> m_resultDistances;
-
-  // OpenCL
-  // cl::Device m_clDevice;
-  // cl::Context m_clContext;
-  // cl::Program::Sources m_clProgramSources;
-  // cl::Program m_clProgram;
-  // cl::CommandQueue m_clQueue;
-  // cl::Buffer m_clVertexBuffer;
-  // cl::Buffer m_clResultBuffer;
-  // cl::Buffer m_clRayBuffer;
-  // cl::Buffer m_clSphereBuffer;
-  // cl::Buffer m_clBoxBuffer;
-  // cl::Buffer m_clStartNormalBuffer;
-  // cl::Kernel m_clKernelSingleRay;
-  // cl::Kernel m_clKernelSphere;
-  // cl::Kernel m_clKernelBox;
-  // cl::Kernel m_clKernelDirAndDist;
+  /**
+   *  @brief Renders the current Mesh to an Offscreen Buffer using the FaceIDs as colors.
+   *
+   *  The resulting Image can be used to determine which faces are visible from the Camera.
+   *  
+   *  @return The rendered Image.
+   */
+  Ogre::Image renderMeshWithFaceID();
+
+  /**
+   *  @brief Setup the Selection Mesh from the current geometry
+   */
+  void updateSelectionMesh();
+
+  // Accelerated area picking via Ogre render pass
+  Ogre::TexturePtr m_selectionTexture;
+  Ogre::MaterialPtr m_selectionMaterial;
+  Ogre::ManualObject* m_selectionMesh;
+  Ogre::SceneNode* m_selectionSceneNode;
+  // Used to render only the selectionMesh to the offscreen Texture
+  uint32_t m_selectionVisibilityBit;
+  Ogre::CullingMode m_cullingMode;
 };
 }  // end namespace rviz_mesh_tools_plugins
 
-#endif
+#endif

rviz_mesh_tools_plugins/include/rviz_mesh_tools_plugins/ClusterLabelTool.hpp

@@ -160,6 +160,11 @@ class ClusterLabelVisual
     return m_faces;
   };
 
+  /**
+   * @brief Set the culling mode to match the MeshDisplay/MeshVisual
+   */
+  void setCullingMode(Ogre::CullingMode mode);
+
 private:
   void initMaterial();
 
@@ -179,4 +184,4 @@ class ClusterLabelVisual
 
 }  // end namespace rviz_mesh_tools_plugins
 
-#endif
+#endif

rviz_mesh_tools_plugins/include/rviz_mesh_tools_plugins/ClusterLabelVisual.hpp

@@ -246,6 +246,12 @@ class MeshDisplay : public rviz_common::Display
    */
   void setPose(Ogre::Vector3& position, Ogre::Quaternion& orientation);
 
+signals:
+  /**
+   *  @brief Signals that the Culling Mode of the MeshDisplay was set.
+   */
+  void signalCullingModeChanged(Ogre::CullingMode mode);
+
 private Q_SLOTS:
   void transformerChangedCallback();