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Fix "Plot Scene Graph" function #133

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merged 1 commit into from
Nov 19, 2024
Merged

Fix "Plot Scene Graph" function #133

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2 changes: 1 addition & 1 deletion common/src/utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -67,7 +67,7 @@ bool saveDotImage(const tesseract_common::fs::path& dot_path,
gvc = gvContext();
fp = fopen(dot_path.c_str(), "r");
g = agread(fp, 0);
agsafeset(g, const_cast<char*>("dpi"), const_cast<char*>("300"), const_cast<char*>("300"));
agsafeset(g, const_cast<char*>("dpi"), const_cast<char*>("1000"), const_cast<char*>("1000"));
gvLayout(gvc, g, "dot");
gvRender(gvc, g, format.c_str(), fopen(save_path.c_str(), "w"));
gvFreeLayout(gvc, g);
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3 changes: 0 additions & 3 deletions environment/include/tesseract_qt/environment/widgets/environment_widget.h
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Expand Up @@ -52,9 +52,6 @@ class EnvironmentWidget : public QWidget
void setComponentInfo(std::shared_ptr<const ComponentInfo> component_info);
std::shared_ptr<const ComponentInfo> getComponentInfo() const;

public Q_SLOTS:
virtual void onPlotSceneGraph();

private:
struct Implementation;
std::unique_ptr<Ui::EnvironmentWidget> ui;
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12 changes: 0 additions & 12 deletions environment/src/widgets/environment_widget.cpp
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Expand Up @@ -62,16 +62,4 @@ void EnvironmentWidget::setComponentInfo(std::shared_ptr<const ComponentInfo> co

std::shared_ptr<const ComponentInfo> EnvironmentWidget::getComponentInfo() const { return data_->component_info; }

void EnvironmentWidget::onPlotSceneGraph()
{
// tesseract_common::fs::path dot_path("/tmp/environment_widget_scene_graph.dot");
// tesseract_common::fs::path image_path("/tmp/environment_widget_scene_graph.png");
// data_->config->getEnvironment()->getSceneGraph()->saveDOT(dot_path.c_str());
// saveDotImage(dot_path, image_path, "png");

// auto* image_viewer = new ImageViewerWidget();
// image_viewer->loadImage(image_path.c_str());
// image_viewer->show();
}

} // namespace tesseract_gui
24 changes: 24 additions & 0 deletions scene_graph/src/models/scene_graph_model.cpp
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Expand Up @@ -32,7 +32,10 @@
#include <tesseract_qt/common/component_info.h>
#include <tesseract_qt/common/environment_manager.h>
#include <tesseract_qt/common/environment_wrapper.h>
#include <tesseract_qt/common/utils.h>
#include <tesseract_qt/common/widgets/image_viewer_widget.h>

#include <tesseract_common/utils.h>
#include <tesseract_scene_graph/graph.h>
#include <tesseract_scene_graph/link.h>
#include <tesseract_scene_graph/joint.h>
Expand Down Expand Up @@ -273,6 +276,27 @@ bool SceneGraphModel::eventFilter(QObject* obj, QEvent* event)
}
}
}
else if (event->type() == events::SceneGraphPlot::kType)
{
assert(dynamic_cast<events::SceneGraphPlot*>(event) != nullptr);
auto* e = static_cast<events::SceneGraphPlot*>(event);
if (e->getComponentInfo() == data_->component_info)
{
auto env_wrapper = EnvironmentManager::get(data_->component_info);
if (env_wrapper != nullptr && env_wrapper->getEnvironment()->isInitialized())
{
tesseract_common::fs::path dot_path(tesseract_common::getTempPath() + "environment_widget_scene_graph.dot");
tesseract_common::fs::path image_path(tesseract_common::getTempPath() + "environment_widget_scene_graph.png");

env_wrapper->getEnvironment()->getSceneGraph()->saveDOT(dot_path.c_str());
saveDotImage(dot_path, image_path, "png");

auto* image_viewer = new ImageViewerWidget();
image_viewer->loadImage(image_path.c_str());
image_viewer->show();
}
}
}

// Standard event processing
return QObject::eventFilter(obj, event);
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