Merge pull request #21 from aock/feature/mesh-file-import

Feature: mesh file import
naturerobots · Jan 18, 2024 · a743dd4 · a743dd4
2 parents b93b1c1 + 1823ab8
commit a743dd4
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Showing 5 changed files with 245 additions and 110 deletions.
diff --git a/rviz_map_plugin/CMakeLists.txt b/rviz_map_plugin/CMakeLists.txt
@@ -17,6 +17,14 @@ find_package(Boost REQUIRED COMPONENTS system)
 find_package(HDF5 REQUIRED COMPONENTS C CXX HL)
 find_package(OpenCL 2 REQUIRED)
 
+find_package(assimp)
+
+if(assimp_FOUND)
+  include_directories(${ASSIMP_INCLUDE_DIRS})
+  add_definitions(-DWITH_ASSIMP)
+endif(assimp_FOUND)
+
+
 catkin_package(
   CATKIN_DEPENDS ${THIS_PACKAGE_ROS_DEPS}
   DEPENDS Boost OpenCL HDF5 OpenCL

diff --git a/rviz_map_plugin/include/MapDisplay.hpp b/rviz_map_plugin/include/MapDisplay.hpp
@@ -67,6 +67,7 @@
 #include <QMessageBox>
 #include <QApplication>
 #include <QIcon>
+#include <QString>
 
 #include <ros/ros.h>
 #include <ros/console.h>
@@ -78,6 +79,7 @@
 #include <rviz/display_context.h>
 #include <rviz/frame_manager.h>
 #include <rviz/display.h>
+#include <rviz/config.h>
 
 #include <rviz/tool.h>
 #include <rviz/tool_manager.h>
@@ -149,6 +151,8 @@ class MapDisplay : public rviz::Display
    */
   ~MapDisplay();
 
+  virtual void load(const rviz::Config& config);
+
 public Q_SLOTS:
 
   /**
@@ -210,8 +214,12 @@ private Q_SLOTS:
 
   std::map<std::string, std::vector<float>> m_costs;
 
+  std::shared_ptr<ros::NodeHandle> m_nh;
+  std::shared_ptr<ros::NodeHandle> m_nh_p;
+
   /// Path to map file
   rviz::FileProperty* m_mapFilePath;
+  std::string m_map_file_loaded;
 
   /// Subdisplay: ClusterLabel (for showing the clusters)
   rviz_map_plugin::ClusterLabelDisplay* m_clusterLabelDisplay;