Transformer readability and visualization world frame selection #50

maltewi · 2022-02-18T09:39:12Z

Adds:

Possiblity to configure transformer frame name text size
Possiblity to configure transformer frame text alignment (screen, 3d axes) (cf. Render transformer graph labels in Screen coordinates #35, but configurable)
Possibility to explicitly select the frame that should be used as world frame for visualization of the 3d scene

# Conflicts: # src/TransformerGraph.cpp

…ting transparency

src/TransformerGraph.cpp

maltewi · 2022-02-18T09:48:29Z

test/CMakeLists.txt

@@ -7,3 +7,9 @@ rock_testsuite(testGUI suite.cpp testWidget.cpp
 rock_testsuite(testCore suite.cpp testTransformerGraph.cpp
    DEPS vizkit3d
    LIBS ${Boost_THREAD_LIBRARY} ${Boost_SYSTEM_LIBRARY})
+
+rock_executable(vizkit3d-bin NOINSTALL
+    SOURCES vizkit3d.cpp


this is just for testing purposes but not unit tests.. maybe should be removed, maintainer should decide

maltewi · 2022-02-18T09:48:48Z

test/vizkit3d.cpp

@@ -0,0 +1,46 @@
+#include "../src/Vizkit3DWidget.hpp"


this is just for testing purposes but not unit tests.. maybe should be removed, maintainer should decide

skasperski · 2022-02-23T15:15:53Z

I tried it out and it looks good to me. I was a little confused why there is a new property "transformerRootFrame" instead of using the existend "frame". I always thought "frame" should be the visualization root. With this new setup one has to be extra careful not to use world_osg anymore, which unfortunately is the default for everything.

How do you decide what is the default for transformerRootFrame? Probably should be world_osg to stay consistent with previous behavior?

I also get a lot of messages like this from the rock-display console, which might or might not be related to this PR:

CullVisitor::apply(Geode&) detected NaN,
    depth=-nan, center=(0.183333 0.0833333 0),
    matrix={
	nan nan nan -nan 
	nan nan nan -nan 
	nan nan nan -nan 
	nan nan nan -nan 
}

maltewi · 2022-02-23T15:55:49Z

The 'frame' property is assoviated to the "Frame"-Manipulator, i.e. the camera controller and afaik not at all to the transformer.

How do you decide what is the default for transformerRootFrame? Probably should be world_osg to stay consistent with previous behavior?

I didn't change anything on the behaviour how world_osg is selected initially. But instead added a way to manually change the default selection of 'world_osg'. Practically, if you select 'frame_a' as 'trasnformerRootFrame' that means that 'frame_a' becomes the new 'world_osg'. Do you still think there's need to change the bahavior? What would be more favorable?

I also get a lot of messages like this from the rock-display console, which might or might not be related to this PR:

CullVisitor::apply(Geode&) detected NaN,
    depth=-nan, center=(0.183333 0.0833333 0),
    matrix={
	nan nan nan -nan 
	nan nan nan -nan 
	nan nan nan -nan 
	nan nan nan -nan 
}

Don't know if its related. Can you kind of narrow down when this occurs (minimal steps to reproduce)?

skasperski · 2022-02-24T08:18:04Z

I didn't change anything on the behaviour how world_osg is selected initially. But instead added a way to manually change the default selection of 'world_osg'. Practically, if you select 'frame_a' as 'trasnformerRootFrame' that means that 'frame_a' becomes the new 'world_osg'. Do you still think there's need to change the bahavior? What would be more favorable?

Good question. The thing is when I loaded the Robdekon-Sim, the visualization was like 90° rotated, because it selected one of Sherpa's arm joints as transformerRootFrame. So maybe we can initially choose one of the frames that have no parent? I don't think it's super important, but it might save you setting the parameter in many cases and people will probably be confused when their visualization suddenly is rotated unless they set this new parameter.

haider8645 · 2022-03-08T08:12:57Z

Hello Malte, I am facing an issue with opening vizkit3d visualizations from rock-display. If I open any rock plugin like plot2d etc tthen it works. However, none of vizkit3d visualizations work. Vizkit3d visualizations started via ruby scripts still work. The only problem is when they are opened via rock-display. The vizkit3d widget window opens for a few seconds and then crashes with the following error.

Traceback (most recent call last):
	10633: from /home/dfki.uni-bremen.de/mlodhi/ROCK/artemis_demo/gui/vizkit/bin/rock-display:108:in `<main>'
	10632: from /home/dfki.uni-bremen.de/mlodhi/ROCK/artemis_demo/gui/vizkit/lib/vizkit/vizkit.rb:146:in `exec'
	10631: from /home/dfki.uni-bremen.de/mlodhi/.local/share/autoproj/gems/ruby/2.7.0/bundler/gems/qtbindings-bfe173dd488d/lib/Qt/qtruby4.rb:479:in `exec'
	10630: from /home/dfki.uni-bremen.de/mlodhi/.local/share/autoproj/gems/ruby/2.7.0/bundler/gems/qtbindings-bfe173dd488d/lib/Qt/qtruby4.rb:479:in `method_missing'
	10629: from /home/dfki.uni-bremen.de/mlodhi/.local/share/autoproj/gems/ruby/2.7.0/bundler/gems/qtbindings-bfe173dd488d/lib/Qt/qtruby4.rb:479:in `qt_metacall'
	10628: from /home/dfki.uni-bremen.de/mlodhi/.local/share/autoproj/gems/ruby/2.7.0/bundler/gems/qtbindings-bfe173dd488d/lib/Qt/qtruby4.rb:2470:in `invoke'
	10627: from /home/dfki.uni-bremen.de/mlodhi/ROCK/artemis_demo/gui/vizkit/lib/vizkit/vizkit.rb:142:in `block in exec'
	10626: from /usr/lib/ruby/2.7.0/forwardable.rb:235:in `step'
	 ... 10621 levels...
	    4: from /home/dfki.uni-bremen.de/mlodhi/ROCK/artemis_demo/install/lib/ruby/2.7.0/typelib/container_type.rb:266:in `handle_container_invalidation'
	    3: from /home/dfki.uni-bremen.de/mlodhi/ROCK/artemis_demo/install/lib/ruby/2.7.0/typelib/type.rb:366:in `block in handle_invalidation_protect_containers'
	    2: from /home/dfki.uni-bremen.de/mlodhi/ROCK/artemis_demo/install/lib/ruby/2.7.0/typelib/type.rb:365:in `handle_invalidation_protect_containers'
	    1: from /home/dfki.uni-bremen.de/mlodhi/ROCK/artemis_demo/install/lib/ruby/2.7.0/typelib/container_type.rb:275:in `handle_container_invalidation'
/home/dfki.uni-bremen.de/mlodhi/ROCK/artemis_demo/install/lib/ruby/2.7.0/typelib/container_type.rb:268:in `ensure in handle_container_invalidation': stack level too deep (SystemStackError)

…ns (e.g. Ubuntu 18.04) don't have this function

…ability

planthaber · 2023-02-23T09:24:03Z

@maltewi is this still a draft? Otherwise we could possibly merge #65 to have the viz frame selection before we merge this PR.

maltewi · 2023-02-23T09:27:59Z

The discussion points raised by @skasperski and @haider8645 are not sorted out. Without an update on that (i.e. more testing and validating of falsifying the issues) I'd not consider it as ready

planthaber · 2023-02-23T09:41:18Z

Then I'll merge the other PR, I guess you'll have to resolve the conflict then along solving the other issues

maltewi added 5 commits April 13, 2015 14:36

align font for transformer frame names to screen coordinates

dd7428f

Merge branch 'master' into transformer_readability

d8ee8ea

# Conflicts: # src/TransformerGraph.cpp

in development

3cc0cfc

Making the non-valid parts of the transformation graph visible by set…

d136a75

…ting transparency

Correction in frame name rendering selection

d1affa5

maltewi requested a review from skasperski February 18, 2022 09:39

maltewi commented Feb 18, 2022

View reviewed changes

remove left-over code fragment from debugging

afc4a9f

maltewi added 2 commits March 9, 2022 11:45

don't use PositionAttitudeTransform.asNode() because older OSG versio…

fb5df76

…ns (e.g. Ubuntu 18.04) don't have this function

Merge remote-tracking branch 'rock.core/master' into transformer_read…

01914f9

…ability

skasperski mentioned this pull request Oct 12, 2022

make the root of the transformer display selectable #65

Merged

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Transformer readability and visualization world frame selection #50

Transformer readability and visualization world frame selection #50

maltewi commented Feb 18, 2022 •

edited

Loading

maltewi Feb 18, 2022

maltewi Feb 18, 2022

skasperski commented Feb 23, 2022

maltewi commented Feb 23, 2022

skasperski commented Feb 24, 2022

haider8645 commented Mar 8, 2022 •

edited by doudou

Loading

planthaber commented Feb 23, 2023

maltewi commented Feb 23, 2023

planthaber commented Feb 23, 2023

Transformer readability and visualization world frame selection #50

Are you sure you want to change the base?

Transformer readability and visualization world frame selection #50

Conversation

maltewi commented Feb 18, 2022 • edited Loading

maltewi Feb 18, 2022

Choose a reason for hiding this comment

maltewi Feb 18, 2022

Choose a reason for hiding this comment

skasperski commented Feb 23, 2022

maltewi commented Feb 23, 2022

skasperski commented Feb 24, 2022

haider8645 commented Mar 8, 2022 • edited by doudou Loading

planthaber commented Feb 23, 2023

maltewi commented Feb 23, 2023

planthaber commented Feb 23, 2023

maltewi commented Feb 18, 2022 •

edited

Loading

haider8645 commented Mar 8, 2022 •

edited by doudou

Loading