public override Action CreateGUI(DisparityImageMsg message, MessageMetadata meta, Texture2D tex)
{
if (s_Material == null)
{
s_Material = new Material(Shader.Find("Unlit/DisparityImage"));
}
Material material = new Material(s_Material);
material.SetFloat("_MinDisparity", message.min_disparity);
material.SetFloat("_MaxDisparity", message.max_disparity);
return(() =>
{
message.image.header.GUI();
GUILayout.Label($"f: {message.f}, T: {message.t}, delta_d:{message.delta_d}");
GUILayout.Label($"Disparity: [{message.min_disparity}..{message.max_disparity}]");
GUILayout.Label($"Region of interest: ");
message.valid_window.GUI();
tex.GUITexture(material);
});
}
public virtual void AddMessage(Message message)
{
MessageMetadata meta = new MessageMetadata(m_Topic, Time.time, DateTime.Now);
if (!VisualizationUtils.AssertMessageType <T>(message, m_Topic))
{
return;
}
m_Message = (T)message;
m_Meta = meta;
m_GUIAction = null;
// If messages are coming in faster than 1 per frame, we only update the drawing once per frame
if (m_IsDrawingEnabled && Time.time > m_LastDrawingFrameTime)
{
Redraw();
}
m_LastDrawingFrameTime = Time.time;
}
public override Action CreateGUI(WrenchStampedMsg message, MessageMetadata meta) => () =>
{
message.header.GUI();
message.wrench.GUI();
};
public override void Draw(Drawing3d drawing, WrenchStampedMsg message, MessageMetadata meta)
{
drawing.SetTFTrackingSettings(m_TFTrackingSettings, message.header);
WrenchDefaultVisualizer.Draw <FLU>(message.wrench, drawing, SelectColor(m_Color, meta), origin.transform.position, lengthScale, sphereRadius, thickness);
}
public override void Draw(Drawing3d drawing, PolygonStampedMsg message, MessageMetadata meta)
{
drawing.SetTFTrackingSettings(m_TFTrackingSettings, message.header);
PolygonDefaultVisualizer.Draw <FLU>(message.polygon, drawing, SelectColor(m_Color, meta), m_Thickness);
}
public override void Draw(Drawing3d drawing, TwistWithCovarianceStampedMsg message, MessageMetadata meta)
{
drawing.SetTFTrackingSettings(m_TFTrackingSettings, message.header);
var orig = origin == null ? Vector3.zero : origin.transform.position;
TwistWithCovarianceDefaultVisualizer.Draw <FLU>(message.twist, drawing, SelectColor(m_Color, meta), orig, lengthScale, sphereRadius, thickness);
}
public override Action CreateGUI(GoalStatusArrayMsg message, MessageMetadata meta) => () =>
{
GUI(message);
};
public override void Draw(Drawing3d drawing, TwistMsg message, MessageMetadata meta)
{
var orig = origin == null ? Vector3.zero : origin.transform.position;
Draw <FLU>(message, drawing, SelectColor(m_Color, meta), orig, lengthScale, sphereRadius, thickness);
}
public override void Draw(Drawing3d drawing, Vector3StampedMsg message, MessageMetadata meta)
{
drawing.SetTFTrackingSettings(m_TFTrackingSettings, message.header);
Vector3DefaultVisualizer.Draw <FLU>(message.vector, drawing, SelectColor(m_Color, meta), SelectLabel(m_Label, meta), m_Radius);
}
public virtual Action CreateGUI(T message, MessageMetadata meta)
{
return(VisualizationUtils.CreateDefaultGUI(message, meta));
}
public virtual void Draw(Drawing3d drawing, T message, MessageMetadata meta)
{
}
public virtual void Draw(DrawingVisual drawing, T message, MessageMetadata meta)
{
Draw(drawing.Drawing, message, meta);
}
public string SelectLabel(string userLabel, MessageMetadata meta)
{
return(VisualizationUtils.SelectLabel(userLabel, meta));
}
public Color SelectColor(Color userColor, MessageMetadata meta)
{
return(VisualizationUtils.SelectColor(userColor, meta));
}
public override Action CreateGUI(TwistStampedMsg message, MessageMetadata meta) => () =>
{
message.header.GUI();
message.twist.GUI();
};
public static Action CreateDefaultGUI(Message message, MessageMetadata meta)
{
string text = message.ToString();
return(() => { GUILayout.Label(text); });
}
public override void Draw(Drawing3d drawing, QuaternionStampedMsg message, MessageMetadata meta)
{
drawing.SetTFTrackingSettings(m_TFTrackingSettings, message.header);
QuaternionDefaultVisualizer.Draw <FLU>(message.quaternion, drawing, m_DrawAtPosition, m_Size, m_DrawUnityAxes);
drawing.DrawLabel(SelectLabel(m_Label, meta), transform.position, SelectColor(m_Color, meta), m_Size);
}
public override void Draw(Drawing3d drawing, TransformMsg message, MessageMetadata meta)
{
Draw <FLU>(message, drawing, m_Size, m_DrawUnityAxes);
drawing.DrawLabel(SelectLabel(m_Label, meta), message.translation.From <FLU>(), SelectColor(m_Color, meta), m_Size);
}
public override Action CreateGUI(DiagnosticArrayMsg message, MessageMetadata meta) => () =>
{
GUI(message);
};
public override void Draw(Drawing3d drawing, TransformStampedMsg message, MessageMetadata meta)
{
drawing.SetTFTrackingSettings(m_TFTrackingSettings, message.header);
TransformDefaultVisualizer.Draw <FLU>(message.transform, drawing, m_Size, m_DrawUnityAxes);
drawing.DrawLabel(SelectLabel(m_Label, meta), message.transform.translation.From <FLU>(), SelectColor(m_Color, meta), m_Size);
}
public override Action CreateGUI(TwistMsg message, MessageMetadata meta) => () =>
{
message.GUI();
};
public override void Draw(Drawing3d drawing, PolygonMsg message, MessageMetadata meta)
{
Draw <FLU>(message, drawing, SelectColor(m_Color, meta), m_Thickness);
}
public override void Draw(Drawing3d drawing, PointMsg message, MessageMetadata meta)
{
Draw <FLU>(message, drawing, SelectColor(m_Color, meta), SelectLabel(m_Label, meta), m_Radius);
}
public override void Draw(Drawing3d drawing, QuaternionMsg message, MessageMetadata meta)
{
Draw <FLU>(message, drawing, m_DrawAtPosition, m_Size, m_DrawUnityAxes);
drawing.DrawLabel(SelectLabel(m_Label, meta), transform.position, SelectColor(m_Color, meta), m_Size);
}
public override Action CreateGUI(TwistWithCovarianceStampedMsg message, MessageMetadata meta) => () =>
{
message.header.GUI();
message.twist.twist.GUI();
VisualizationUtils.GUIGrid(message.twist.covariance, 6, ref m_ViewCovariance);
};
public override void Draw(Drawing3d drawing, WrenchMsg message, MessageMetadata meta)
{
Draw <FLU>(message, drawing, SelectColor(m_Color, meta), origin.transform.position, lengthScale, sphereRadius, thickness);
}
