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fix/save and load roi polygons #411

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fix/save and load roi polygons #411

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271017a
save and load roi polygons
youliangtan Dec 31, 2021
41c114c
typo
youliangtan Dec 31, 2021
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1 change: 1 addition & 0 deletions rmf_traffic_editor/gui/editor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1014,6 +1014,7 @@ const QString Editor::tool_id_to_string(const int id)
case TOOL_ADD_MODEL: return "add m&odel";
case TOOL_ADD_FLOOR: return "add &floor";
case TOOL_ADD_HOLE: return "add hole";
case TOOL_ADD_ROI: return "add roi";
case TOOL_EDIT_POLYGON: return "&edit polygon";
case TOOL_ADD_HUMAN_LANE: return "add human lane";
case TOOL_ADD_FEATURE: return "add &feature";
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22 changes: 22 additions & 0 deletions rmf_traffic_editor/gui/level.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -160,6 +160,17 @@ bool Level::from_yaml(
}
}

if (_data["rois"] && _data["rois"].IsSequence())
{
const YAML::Node& yf = _data["rois"];
for (YAML::const_iterator it = yf.begin(); it != yf.end(); ++it)
{
Polygon p;
p.from_yaml(*it, Polygon::ROI);
polygons.push_back(p);
}
}

if (_data["elevation"])
elevation = _data["elevation"].as<double>();

Expand Down Expand Up @@ -277,6 +288,9 @@ YAML::Node Level::to_yaml() const
case Polygon::HOLE:
y["holes"].push_back(polygon.to_yaml());
break;
case Polygon::ROI:
y["rois"].push_back(polygon.to_yaml());
break;
default:
printf("tried to save an unknown polygon type: %d\n",
static_cast<int>(polygon.type));
Expand Down Expand Up @@ -1035,6 +1049,7 @@ void Level::draw_polygons(QGraphicsScene* scene) const
{
const QBrush floor_brush(QColor::fromRgbF(0.9, 0.9, 0.9, 0.8));
const QBrush hole_brush(QColor::fromRgbF(0.3, 0.3, 0.3, 0.5));
const QBrush roi_brush(QColor::fromRgbF(0.5, 0.5, 0.3, 0.3));

// first draw the floor polygons
for (const auto& polygon : polygons)
Expand All @@ -1050,6 +1065,13 @@ void Level::draw_polygons(QGraphicsScene* scene) const
draw_polygon(scene, hole_brush, polygon);
}

// now draw the region of interests
for (const auto& polygon : polygons)
{
if (polygon.type == Polygon::ROI)
draw_polygon(scene, roi_brush, polygon);
}

#if 0
// ahhhhh only for debugging...
// plot the nearest projection point to a polygon, if it's set
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