search

gazebosim / gazebo-classic

Gazebo classic. For the latest version, see https://github.com/gazebosim/gz-sim
http://classic.gazebosim.org/
Other
1.19k stars 481 forks source link

Toggle the GUI visualization of light frustrums / green lines #2327

Open osrf-migration opened 7 years ago

osrf-migration commented 7 years ago

Original report (archived issue) by Andrew Symington (Bitbucket: asymingt).

I would like to be able to turn off the visualization of lights in the GUI, as I have a green laser plugin for my model that looks confusingly like the lines used to visualize all directional/spot lights! The method would be similar to the <visualize> child of <sensor> in SDF.

Perhaps something along these lines: 

<light type="...">
  <visualize>false</visualize>
  ...
</light>

In addition, since one cannot attach a VisualPlugin to a light visual, it would be extremely useful to set visibility flags in the msgs::Light, so that one can programatically create / update light visibility.

osrf-migration commented 6 years ago

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

We already have ways to toggle visualization of the Grid, Origin, Contacts, Link Frames, Joints, etc. I think we could add this for lights as well.

osrf-migration commented 6 years ago

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

osrf-migration commented 6 years ago

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

We added Link Frame visualizations to the GUI in pull request #1762, which may provide an example for some of the changes to be made, for example adding a new bool to ScenePrivate.hh for showLights. Since the visual already exists, it should be easier to solve this problem, just adding the enable/disable visualization logic.

osrf-migration commented 6 years ago

Original comment by Ian Chen (Bitbucket: Ian Chen, GitHub: iche033).

Issue #2508 was marked as a duplicate of this issue.

osrf-migration commented 6 years ago

Original comment by Ian Chen (Bitbucket: Ian Chen, GitHub: iche033).

pull request #3011

shonigmann commented 3 years ago

With #3011, is there anything exposed to the end user to toggle light visualization (e.g. from the CLI, GUI or within URDF)? Thanks!

iche033 commented 3 years ago

not that I know of. In the end, we wrote a plugin that loops through the lights in the scene and call ShowVisual(false) to turn them off.

len0rd commented 3 years ago

@iche033 Would you be able to point me to this plugin you wrote that disables the light visual? I'm attempting to do something similar. Thanks!

iche033 commented 3 years ago

looks like that particular branch with the plugin was lost when migrating a repo from bitbucket to github. So I'll just post the code here. I took out some include headers related to other projects so there maybe additional gazebo headers you'll need to add to the code to build it.

LightVisualPlugin.cc ``` /* * Copyright (C) 2018 Open Source Robotics Foundation * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. * */ #include #include #include #include "LightVisualPlugin.hh" namespace gazebo { /// \internal /// \brief Private data for the Light class class LightVisualPluginPrivate { /// \brief Map of light names to visualize flag public: std::map lights; /// \brief PreRender connection public: event::ConnectionPtr preRenderCon; /// \brief PreRender connection public: rendering::ScenePtr scene; }; } using namespace gazebo; GZ_REGISTER_VISUAL_PLUGIN(LightVisualPlugin) ///////////////////////////////////////////////// LightVisualPlugin::LightVisualPlugin() : dataPtr(new LightVisualPluginPrivate) { } ///////////////////////////////////////////////// void LightVisualPlugin::Load(rendering::VisualPtr _parent, sdf::ElementPtr _sdf) { GZ_ASSERT(_parent, "LightVisualPlugin parent pointer is NULL"); this->dataPtr->scene = _parent->GetScene(); rendering::VisualPtr linkVis = _parent->GetParent(); if (_sdf->HasElement("light")) { auto sdfLight = _sdf->GetElement("light"); while (sdfLight) { if (sdfLight->HasElement("id") && sdfLight->HasElement("visualize")) { std::string lightId = sdfLight->Get("id"); size_t pos = 0; while ((pos = lightId.find("/", pos)) != std::string::npos) { lightId = lightId.replace(pos, 1, "::"); pos += 2; } bool visualize = sdfLight->Get("visualize"); std::string lightName = linkVis->Name() + "::" + lightId; this->dataPtr->lights[lightName] = visualize; } sdfLight = sdfLight->GetNextElement("light"); } } if (!this->dataPtr->lights.empty()) { this->dataPtr->preRenderCon = event::Events::ConnectPreRender( std::bind(&LightVisualPlugin::PreRender, this)); } } ///////////////////////////////////////////////// void LightVisualPlugin::PreRender() { for (auto lightIt = this->dataPtr->lights.begin(); lightIt != this->dataPtr->lights.end();) { rendering::LightPtr light = this->dataPtr->scene->LightByName(lightIt->first); if (light) { light->ShowVisual(lightIt->second); this->dataPtr->lights.erase(lightIt++); } else { ++lightIt; } } if (this->dataPtr->lights.empty()) { this->dataPtr->preRenderCon.reset(); return; } } ```
LightVisualPlugin.hh ``` /* * Copyright (C) 2018 Open Source Robotics Foundation * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. * */ #ifndef GAZEBO_LIGHTVISUALPLUGIN_HH_ #define GAZEBO_LIGHTVISUALPLUGIN_HH_ #include #include #include #include namespace gazebo { // forward declaration class LightVisualPluginPrivate; /// \brief A plugin that toggles light visuals class LightVisualPlugin : public VisualPlugin { /// \brief Constructor public: LightVisualPlugin(); // Documentation inherited public: virtual void Load(rendering::VisualPtr _parent, sdf::ElementPtr _sdf); /// \brief PreRender event callback public: virtual void PreRender(); /// \internal /// \brief Pointer to private data private: std::unique_ptr dataPtr; }; } #endif ```

If I remember correctly, the usage is:

<plugin ....>
  <light>
    <id>some_light_name</id> 
    <visualize>false</visualize>
  </light>
  <light>
    ...
  </light>
</plugin>