Triangle lists support textures #719

gbalke · 2021-06-25T22:06:35Z

This is tied to ros2/common_interfaces#153. It adds the ability to apply textures defined via URI to arbitrary triangle lists using UV Coordinates.

This functionality is demonstrated here:
https://github.com/gbalke/rviz_shader_tester

There were a couple of things I wasn't sure where to put so I'm holding off on them pending suggestions/review:

getResource is copied from rviz_common/load_resource.cpp. I'm not sure if it's best to expose this function as part of the .hpp or to instead make loadImage part of load_resource.hpp.
loadImage may be better named loadTexture

Signed-off-by: Greg Balke <greg@openrobotics.org>

ahcorde

Did you run uncrustify ?

colcon test --event-handlers console_direct+ --ctest-args -R uncrustify

if should look like (curly brace in the same line as the if ) and 100 characters per line:

if () {

rviz_default_plugins/src/rviz_default_plugins/displays/marker/markers/triangle_list_marker.cpp

Signed-off-by: Greg Balke <greg@openrobotics.org>

gbalke · 2021-06-29T17:23:46Z

Did you run uncrustify ?
colcon test --event-handlers console_direct+ --ctest-args -R uncrustify
if should look like (curly brace in the same line as the if ) and 100 characters per line:
if () {

My bad. I just ran ament_uncrustify --remormat which should take care of this!

gbalke · 2021-06-29T19:53:33Z

Errors are caused by not building against the updated message type.

jacobperron

Do you foresee textures also applying to other marker types in the future? If so, we should take that into consideration when deciding where to put some of the common logic.

rviz_default_plugins/src/rviz_default_plugins/displays/marker/markers/triangle_list_marker.cpp

jacobperron · 2021-07-15T20:49:25Z

rviz_default_plugins/src/rviz_default_plugins/displays/marker/markers/triangle_list_marker.cpp

+{
+  bool image_loaded = false;
+  resource_retriever::MemoryResource res = getResource(texture_path);
+  Ogre::String tex_ext;


nitpick: I prefer full words for variables names to make it clear what they refer to. E.g. memory_resource and texture_extension.

rviz_default_plugins/src/rviz_default_plugins/displays/marker/markers/triangle_list_marker.cpp

jacobperron · 2021-07-15T20:56:29Z

rviz_default_plugins/src/rviz_default_plugins/displays/marker/markers/triangle_list_marker.cpp

+  return !new_message->texture_map.empty() &&
+         new_message->uv_coordinates.size() == new_message->points.size();


It doesn't appear that this method needs any information about the TriangleListMarker object. I think it would be better to make this a free function. Then we could alternatively use it for other Marker types as well.

For things like the arrow marker messages, the points will not equal the uv_coordinates. This is because the arrow has a pre-determined geometry. In other words, points == coordinates is particular to this message type.

rviz_default_plugins/src/rviz_default_plugins/displays/marker/markers/triangle_list_marker.cpp

gbalke · 2021-07-15T21:49:13Z

Do you foresee textures also applying to other marker types in the future? If so, we should take that into consideration when deciding where to put some of the common logic.

@jacobperron Yes I was! In fact I was hoping for suggestions on where to put the texture loading logic as that should be general to the entire marker system. I copy pasted the getResource function from https://github.com/ros2/rviz/blob/ros2/rviz_common/src/rviz_common/load_resource.cpp as mentioned in the original comment. I could put the loadImage function in the same place or somewhere more specific to the visualization plugin depending on your recommendation.

Signed-off-by: Greg Balke <greg@openrobotics.org>

…markers/triangle_list_marker.cpp Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

Signed-off-by: Greg Balke <greg@openrobotics.org>

…triangle_list_textures

gbalke · 2021-08-20T20:19:49Z

CI up to rviz:

Linux
Linux-aarch64
macOS
Windows

…bedded:// Signed-off-by: Greg Balke <greg@openrobotics.org>

gbalke · 2021-08-20T20:26:36Z

Wrong package name...

CI up to rviz2*:

Linux
Linux-aarch64
macOS
Windows

ahcorde · 2021-08-24T11:43:10Z

rviz_default_plugins/src/rviz_default_plugins/displays/marker/markers/triangle_list_marker.cpp

+    return "";
+  }
+
+  return new_message->texture_resource.substr(index + 3);


can you add a comment here to explain the + 3

ahcorde · 2021-08-24T15:30:14Z

@osrf-jenkins retest this please

gbalke · 2021-08-24T22:55:20Z

Tests should pass following: ros/rosdistro#30563

gbalke · 2021-08-26T21:08:22Z

@osrf-jenkins retest this please

Signed-off-by: Greg Balke <greg@openrobotics.org>

ahcorde · 2021-08-27T08:45:09Z

@osrf-jenkins retest this please

ahcorde

cpplint is failing https://build.ros2.org/job/Rpr__rviz__ubuntu_focal_amd64/214/testReport/junit/(root)/projectroot/cpplint/

Signed-off-by: Greg Balke <greg@openrobotics.org>

gbalke · 2021-08-27T21:16:37Z

CI up to rviz2:

Linux
Linux-aarch64
macOS
Windows

Triangle lists support textures

4584283

Signed-off-by: Greg Balke <greg@openrobotics.org>

gbalke added the enhancement New feature or request label Jun 25, 2021

ahcorde requested changes Jun 28, 2021

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rviz_default_plugins/src/rviz_default_plugins/displays/marker/markers/triangle_list_marker.cpp Outdated Show resolved Hide resolved

rviz_default_plugins/src/rviz_default_plugins/displays/marker/markers/triangle_list_marker.cpp Outdated Show resolved Hide resolved

Uncrustify Format

a4e3eff

Signed-off-by: Greg Balke <greg@openrobotics.org>

jacobperron reviewed Jul 15, 2021

View reviewed changes

clalancette assigned ahcorde Jul 22, 2021

Greg Balke and others added 5 commits August 3, 2021 15:28

Texture loaded from message directly

3e6c301

Signed-off-by: Greg Balke <greg@openrobotics.org>

Update to support latest marker message format

686aaff

Signed-off-by: Greg Balke <greg@openrobotics.org>

Update rviz_default_plugins/src/rviz_default_plugins/displays/marker/…

dd3dce0

…markers/triangle_list_marker.cpp Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

Remove unused includes

a1f1d7c

Signed-off-by: Greg Balke <greg@openrobotics.org>

Merge branch 'triangle_list_textures' of github.com:gbalke/rviz into …

1906b47

…triangle_list_textures

Adjust string matching to meet updated spec texture_embedded:// -> em…

f0609ec

…bedded:// Signed-off-by: Greg Balke <greg@openrobotics.org>

Merge branch 'ros2' into triangle_list_textures

11e5163

ahcorde requested changes Aug 24, 2021

View reviewed changes

Comment on constant

0d09910

Signed-off-by: Greg Balke <greg@openrobotics.org>

ahcorde requested changes Aug 27, 2021

View reviewed changes

Fix errors

2b24a3e

Signed-off-by: Greg Balke <greg@openrobotics.org>

ahcorde approved these changes Aug 27, 2021

View reviewed changes

gbalke merged commit b30097c into ros2:ros2 Aug 27, 2021

gbalke deleted the triangle_list_textures branch August 27, 2021 22:57

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Ignition Marker improvements for LRAUV osrf/lrauv#52

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Triangle lists support textures #719

Triangle lists support textures #719

gbalke commented Jun 25, 2021

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gbalke commented Jun 29, 2021

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ahcorde Aug 24, 2021

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gbalke commented Aug 27, 2021

		return !new_message->texture_map.empty() &&
		new_message->uv_coordinates.size() == new_message->points.size();

Triangle lists support textures #719

Triangle lists support textures #719

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