Change the default position of the camera in RenderPanel, plus minor …

…refactoring. (#205)
ros2 · Mar 8, 2018 · 8587f5b · 8587f5b
1 parent 8718ef5
commit 8587f5b
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Showing 3 changed files with 10 additions and 6 deletions.
diff --git a/rviz_common/include/rviz_common/render_panel.hpp b/rviz_common/include/rviz_common/render_panel.hpp
@@ -36,6 +36,7 @@
 #include <mutex>
 #include <vector>
 
+#include <OgreVector3.h>
 #include <QWidget>  // NOLINT: cpplint is unable to handle the include order here
 
 #include "rviz_common/visibility_control.hpp"
@@ -95,6 +96,7 @@ class RVIZ_COMMON_PUBLIC RenderPanel : public QWidget
    */
   QSize
   sizeHint() const override;
+  static const Ogre::Vector3 default_camera_pose_;
 
 // TODO(wjwwood): reenable these and pass down to rviz_rendering::RenderWindow
 #if 0

diff --git a/rviz_common/src/rviz_common/render_panel.cpp b/rviz_common/src/rviz_common/render_panel.cpp
@@ -31,7 +31,7 @@
 #include "rviz_common/render_panel.hpp"
 
 #include <memory>
-#include <sstream>
+#include <string>
 
 #include <OgreCamera.h>
 #include <OgreSceneManager.h>
@@ -104,12 +104,12 @@ void RenderPanel::initialize(DisplayContext * context, bool use_main_scene)
   if (use_main_scene) {
     rviz_rendering::RenderWindowOgreAdapter::setSceneManager(
       render_window_, context_->getSceneManager());
-    std::stringstream ss;
+    std::string camera_name;
     static int count = 0;
-    ss << "RenderPanelCamera" << count++;
-    auto default_camera_ = context_->getSceneManager()->createCamera(ss.str());
+    camera_name = "RenderPanelCamera" + std::to_string(count++);
+    auto default_camera_ = context_->getSceneManager()->createCamera(camera_name);
     default_camera_->setNearClipDistance(0.01f);
-    default_camera_->setPosition(Ogre::Vector3(0, 10, 15));
+    default_camera_->setPosition(default_camera_pose_);
     default_camera_->lookAt(Ogre::Vector3(0, 0, 0));
 
     rviz_rendering::RenderWindowOgreAdapter::setOgreCamera(render_window_, default_camera_);
@@ -288,6 +288,8 @@ RenderPanel::sizeHint() const
   return QSize(320, 240);
 }
 
+const Ogre::Vector3 RenderPanel::default_camera_pose_ = Ogre::Vector3(999999, 999999, 999999);
+
 #if 0
 void RenderPanel::showContextMenu(std::shared_ptr<QMenu> menu)
 {

diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/camera/camera_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/camera/camera_display.cpp
@@ -328,7 +328,7 @@ void CameraDisplay::clear()
     "Topic may not exist.");
 
   rviz_rendering::RenderWindowOgreAdapter::getOgreCamera(
-    render_panel_->getRenderWindow())->setPosition(Ogre::Vector3(999999, 999999, 999999));
+    render_panel_->getRenderWindow())->setPosition(rviz_common::RenderPanel::default_camera_pose_);
 }
 
 void CameraDisplay::update(float wall_dt, float ros_dt)