public JavaFXPlanarRegionsViewer() { TextureColorPalette2D colorPalette = new TextureColorPalette2D(); colorPalette.setHueBrightnessBased(0.9); meshBuilder = new JavaFXMultiColorMeshBuilder(colorPalette); renderer = new AnimationTimer() { @Override public void handle(long now) { render(); } }; }
public LidarScanLogViewer() { JavaFXCoordinateSystem lidarFrame = new JavaFXCoordinateSystem(0.1); lidarFrame.getTransforms().add(lidarPose); root.getChildren().addAll(lidarFrame, scans); TextureColorPalette1D scanColorPalette = new TextureColorPalette1D(); scanColorPalette.setHueBased(1.0, 1.0); scanMeshBuilder = new JavaFXMultiColorMeshBuilder(scanColorPalette); }
public LidarScanLogViewer() { JavaFXCoordinateSystem lidarFrame = new JavaFXCoordinateSystem(0.1); lidarFrame.getTransforms().add(lidarPose); root.getChildren().addAll(lidarFrame, scans); TextureColorPalette1D scanColorPalette = new TextureColorPalette1D(); scanColorPalette.setHueBased(1.0, 1.0); scanMeshBuilder = new JavaFXMultiColorMeshBuilder(scanColorPalette); }
public PlanarRegionsMeshBuilder(REAUIMessager uiMessager) { this.uiMessager = uiMessager; enable = uiMessager.createInput(REAModuleAPI.OcTreeEnable, false); clear = uiMessager.createInput(REAModuleAPI.PlanarRegionsPolygonizerClear, false); clearOcTree = uiMessager.createInput(REAModuleAPI.OcTreeClear, false); planarRegionsListMessage = uiMessager.createInput(REAModuleAPI.PlanarRegionsState); TextureColorPalette2D colorPalette = new TextureColorPalette2D(); colorPalette.setHueBrightnessBased(0.9); meshBuilder = new JavaFXMultiColorMeshBuilder(colorPalette); }
private Node createConvexPolygonGraphics(PlanarRegion data) { List<ConvexPolygon2D> convexPolygons = new ArrayList<>(); for (int i = 0; i < data.getNumberOfConvexPolygons(); i++) convexPolygons.add(data.getConvexPolygon(i)); JavaFXMultiColorMeshBuilder meshBuilder = new JavaFXMultiColorMeshBuilder(new TextureColorAdaptivePalette(64)); int regionId = data.getRegionId(); RigidBodyTransform rigidBodyTransform = new RigidBodyTransform(); data.getTransformToWorld(rigidBodyTransform); Color regionColor = OcTreeMeshBuilder.getRegionColor(regionId); for (int i = 0; i < convexPolygons.size(); i++) { ConvexPolygon2D convexPolygon = convexPolygons.get(i); Color color = Color.hsb(regionColor.getHue(), 0.9, 0.5 + 0.5 * ((double) i / (double) convexPolygons.size())); meshBuilder.addPolygon(rigidBodyTransform, convexPolygon, color); } MeshView meshView = new MeshView(meshBuilder.generateMesh()); meshView.setMaterial(meshBuilder.generateMaterial()); return meshView; }
private Node createConcaveHullGraphics(PlanarRegion data) { int regionId = data.getRegionId(); JavaFXMultiColorMeshBuilder meshBuilder = new JavaFXMultiColorMeshBuilder(new TextureColorAdaptivePalette(16)); RigidBodyTransform transform = new RigidBodyTransform(); data.getTransformToWorld(transform); Point2D[] concaveHullVerticesLocal = data.getConcaveHull(); Color regionColor = OcTreeMeshBuilder.getRegionColor(regionId); List<Point3D> concaveHullVertices = Arrays.stream(concaveHullVerticesLocal).map(Point3D::new).map(p -> { transform.transform(p); return p; }).collect(Collectors.toList()); for (int vertexIndex = 0; vertexIndex < concaveHullVertices.size(); vertexIndex++) { Point3D vertex = concaveHullVertices.get(vertexIndex); Point3D nextVertex = ListWrappingIndexTools.getNext(vertexIndex, concaveHullVertices); Color lineColor = Color.hsb(regionColor.getHue(), regionColor.getSaturation(), regionColor.getBrightness()); meshBuilder.addLine(vertex, nextVertex, 0.0015, lineColor); } MeshView meshView = new MeshView(meshBuilder.generateMesh()); meshView.setMaterial(meshBuilder.generateMaterial()); meshView.setMouseTransparent(true); return meshView; }
private Node createBorderTrianglesGraphics(PlanarRegionSegmentationRawData rawData, ConcaveHullFactoryResult concaveHullFactoryResult) { JavaFXMultiColorMeshBuilder meshBuilder = new JavaFXMultiColorMeshBuilder(new TextureColorAdaptivePalette(512)); Point3D planeOrigin = rawData.getOrigin(); Vector3D planeNormal = rawData.getNormal(); for (ConcaveHullVariables intermediateVariables : concaveHullFactoryResult.getIntermediateVariables()) { Set<QuadEdgeTriangle> borderTriangles = intermediateVariables.getBorderTriangles(); for (QuadEdgeTriangle borderTriangle : borderTriangles) { List<Point2D> triangleVerticesLocal = Arrays.stream(borderTriangle.getVertices()).map(v -> new Point2D(v.getX(), v.getY())) .collect(Collectors.toList()); List<Point3D> triangleVerticesWorld = PolygonizerTools.toPointsInWorld(triangleVerticesLocal, planeOrigin, planeNormal); double hue = 360.0 * random.nextDouble(); double saturation = 0.8 * random.nextDouble() + 0.1; double brightness = 0.9; meshBuilder.addPolyon(triangleVerticesWorld, Color.hsb(hue, saturation, brightness)); } } MeshView trianglesMeshView = new MeshView(meshBuilder.generateMesh()); trianglesMeshView.setMaterial(meshBuilder.generateMaterial()); return trianglesMeshView; }
private Node createDelaunayTriangulationGraphics(PlanarRegionSegmentationRawData rawData, ConcaveHullFactoryResult concaveHullFactoryResult) { JavaFXMultiColorMeshBuilder meshBuilder = new JavaFXMultiColorMeshBuilder(new TextureColorAdaptivePalette(512)); Point3D planeOrigin = rawData.getOrigin(); Vector3D planeNormal = rawData.getNormal(); List<QuadEdgeTriangle> allTriangles = concaveHullFactoryResult.getAllTriangles(); for (QuadEdgeTriangle triangle : allTriangles) { List<Point2D> triangleVerticesLocal = Arrays.stream(triangle.getVertices()).map(v -> new Point2D(v.getX(), v.getY())).collect(Collectors.toList()); triangleVerticesLocal.forEach(vertex -> { vertex.setX(vertex.getX() * scaleX); vertex.setY(vertex.getY() * scaleY); }); List<Point3D> triangleVerticesWorld = PolygonizerTools.toPointsInWorld(triangleVerticesLocal, planeOrigin, planeNormal); double hue = 360.0 * random.nextDouble(); double saturation = 0.8 * random.nextDouble() + 0.1; double brightness = 0.9; meshBuilder.addPolyon(triangleVerticesWorld, Color.hsb(hue, saturation, brightness)); } MeshView trianglesMeshView = new MeshView(meshBuilder.generateMesh()); trianglesMeshView.setMaterial(meshBuilder.generateMaterial()); return trianglesMeshView; }
private Node createConvexDecompositionGraphics(PlanarRegionSegmentationRawData rawData, ConcaveHullFactoryResult concaveHullFactoryResult) { ConcaveHullCollection concaveHullCollection = concaveHullFactoryResult.getConcaveHullCollection(); double depthThreshold = polygonizerParameters.getDepthThreshold(); List<ConvexPolygon2D> convexPolygons = new ArrayList<>(); ConcaveHullDecomposition.recursiveApproximateDecomposition(concaveHullCollection, depthThreshold, convexPolygons); JavaFXMultiColorMeshBuilder meshBuilder = new JavaFXMultiColorMeshBuilder(new TextureColorAdaptivePalette(64)); int regionId = rawData.getRegionId(); RigidBodyTransform rigidBodyTransform = rawData.getTransformFromLocalToWorld(); Color regionColor = OcTreeMeshBuilder.getRegionColor(regionId); for (int i = 0; i < convexPolygons.size(); i++) { ConvexPolygon2D convexPolygon = convexPolygons.get(i); Color color = Color.hsb(regionColor.getHue(), 0.9, 0.5 + 0.5 * ((double) i / (double) convexPolygons.size())); meshBuilder.addPolygon(rigidBodyTransform, convexPolygon, color); } MeshView meshView = new MeshView(meshBuilder.generateMesh()); meshView.setMaterial(meshBuilder.generateMaterial()); return meshView; }
public NodeCheckerRenderer(Messager messager) { nodeCheckerEnabled = messager.createInput(EnableNodeChecking, false); planarRegionsReference = messager.createInput(PlanarRegionDataTopic); footPositionReference = messager.createInput(NodeCheckingPosition); footOrientationReference = messager.createInput(NodeCheckingOrientation, new Quaternion()); initialSupportSideReference = messager.createInput(InitialSupportSideTopic, RobotSide.LEFT); TextureColorPalette2D colorPalette = new TextureColorPalette2D(); colorPalette.setHueBrightnessBased(0.9); meshBuilder = new JavaFXMultiColorMeshBuilder(colorPalette); }
public ArrowGraphic(double radius, double length, Color color) { TextureColorPalette1D colorPalette = new TextureColorPalette1D(); colorPalette.setHueBased(1.0, 1.0); JavaFXMultiColorMeshBuilder meshBuilder = new JavaFXMultiColorMeshBuilder(colorPalette); double coneHeight = 0.10 * length; double coneRadius = 1.5 * radius; meshBuilder.addCylinder(length, radius, new Point3D(), new AxisAngle(0.0, 1.0, 0.0, Math.PI / 2.0), color); meshBuilder.addCone(coneHeight, coneRadius, new Point3D(length, 0.0, 0.0), new AxisAngle(0.0, 1.0, 0.0, Math.PI / 2.0), color); this.arrow = new MeshView(meshBuilder.generateMesh()); arrow.setMaterial(meshBuilder.generateMaterial()); getChildren().add(arrow); }
private void processOccupancyMapMessage(FootstepPlannerOccupancyMapMessage message) { palette.clearPalette(); JavaFXMultiColorMeshBuilder meshBuilder = new JavaFXMultiColorMeshBuilder(palette); Object<FootstepPlannerCellMessage> occupiedCells = message.getOccupiedCells(); for (int i = 0; i < occupiedCells.size(); i++) { FootstepPlannerCellMessage cell = occupiedCells.get(i); double x = cell.getXIndex() * FootstepNode.gridSizeXY; double y = cell.getYIndex() * FootstepNode.gridSizeXY; double z = getHeightAtPoint(x, y) + nodeOffsetZ; RigidBodyTransform transform = new RigidBodyTransform(); transform.setTranslation(x, y, z); if (cell.getNodeIsValid()) meshBuilder.addPolygon(transform, cellPolygon, validCellColor); else meshBuilder.addPolygon(transform, cellPolygon, rejectedCellColor); } footstepGraphToRender.set(new Pair<>(meshBuilder.generateMesh(), meshBuilder.generateMaterial())); }
JavaFXMultiColorMeshBuilder meshBuilder = new JavaFXMultiColorMeshBuilder(new TextureColorPalette2D());
public OcTreeMeshBuilder(REAUIMessager uiMessager) { this.uiMessager = uiMessager; enable = uiMessager.createInput(REAModuleAPI.OcTreeEnable, false); clear = uiMessager.createInput(REAModuleAPI.OcTreeClear, false); treeDepthForDisplay = uiMessager.createPropertyInput(REAModuleAPI.UIOcTreeDepth, Integer.MAX_VALUE); treeDepthForDisplay.addListener(this::setProcessChange); coloringType = uiMessager.createPropertyInput(REAModuleAPI.UIOcTreeColoringMode, ColoringType.DEFAULT); coloringType.addListener(this::setProcessChange); displayType = uiMessager.createPropertyInput(REAModuleAPI.UIOcTreeDisplayType, DisplayType.PLANE); displayType.addListener(this::setProcessChange); hidePlanarRegionNodes = uiMessager.createPropertyInput(REAModuleAPI.UIPlanarRegionHideNodes, false); hidePlanarRegionNodes.addListener(this::setProcessChange); ocTreeState = uiMessager.createInput(REAModuleAPI.OcTreeState); planarRegionSegmentationState = uiMessager.createInput(REAModuleAPI.PlanarRegionsSegmentationState); normalBasedColorPalette1D.setHueBased(0.9, 0.8); meshBuilder = new JavaFXMultiColorMeshBuilder(normalBasedColorPalette1D); }
private Node createIntersectionsGraphics(PlanarRegionSegmentationRawData rawData) { JavaFXMultiColorMeshBuilder meshBuilder = new JavaFXMultiColorMeshBuilder(new TextureColorAdaptivePalette(32)); List<LineSegment2D> intersections2d = rawData.getIntersections(); Point3D planeOrigin = rawData.getOrigin(); Vector3D planeNormal = rawData.getNormal(); List<LineSegment3D> intersections = PolygonizerTools.toLineSegmentsInWorld(intersections2d, planeOrigin, planeNormal); for (LineSegment3D intersection : intersections) { meshBuilder.addLine(intersection.getFirstEndpoint(), intersection.getSecondEndpoint(), 0.0025, Color.RED); } MeshView meshView = new MeshView(meshBuilder.generateMesh()); meshView.setMaterial(meshBuilder.generateMaterial()); meshView.visibleProperty().bind(showIntersections); return meshView; }
@SuppressWarnings("unchecked") private static Node createPrimaryEdgesGraphics(QuadEdgeSubdivision quadEdgeSubdivision, PlanarRegionSegmentationRawData rawData) { List<QuadEdge> primaryEdges = (List<QuadEdge>) quadEdgeSubdivision.getPrimaryEdges(false); int regionId = rawData.getRegionId(); JavaFXMultiColorMeshBuilder meshBuilder = new JavaFXMultiColorMeshBuilder(new TextureColorAdaptivePalette(16)); Point3D planeOrigin = rawData.getOrigin(); Quaternion planeOrientation = rawData.getOrientation(); Color regionColor = OcTreeMeshBuilder.getRegionColor(regionId); for (QuadEdge edge : primaryEdges) { Point3D dest = PolygonizerTools.toPointInWorld(edge.dest().getX(), edge.dest().getY(), planeOrigin, planeOrientation); Point3D orig = PolygonizerTools.toPointInWorld(edge.orig().getX(), edge.orig().getY(), planeOrigin, planeOrientation); meshBuilder.addLine(dest, orig, 0.0015, regionColor); } MeshView meshView = new MeshView(meshBuilder.generateMesh()); meshView.setMaterial(meshBuilder.generateMaterial()); meshView.setMouseTransparent(true); return meshView; }
@SuppressWarnings("unchecked") private static Node createEdgesGraphics(QuadEdgeSubdivision quadEdgeSubdivision, PlanarRegionSegmentationRawData rawData) { List<QuadEdge> edges = (List<QuadEdge>) quadEdgeSubdivision.getEdges(); int regionId = rawData.getRegionId(); JavaFXMultiColorMeshBuilder meshBuilder = new JavaFXMultiColorMeshBuilder(new TextureColorAdaptivePalette(16)); Point3D planeOrigin = rawData.getOrigin(); Quaternion planeOrientation = rawData.getOrientation(); Color regionColor = OcTreeMeshBuilder.getRegionColor(regionId); for (QuadEdge edge : edges) { Point3D dest = PolygonizerTools.toPointInWorld(edge.dest().getX(), edge.dest().getY(), planeOrigin, planeOrientation); Point3D orig = PolygonizerTools.toPointInWorld(edge.orig().getX(), edge.orig().getY(), planeOrigin, planeOrientation); meshBuilder.addLine(dest, orig, 0.0015, regionColor); } MeshView meshView = new MeshView(meshBuilder.generateMesh()); meshView.setMaterial(meshBuilder.generateMaterial()); meshView.setMouseTransparent(true); return meshView; }
public JavaFXCoordinateSystem(double length) { TextureColorPalette1D colorPalette = new TextureColorPalette1D(); colorPalette.setHueBased(1.0, 1.0); JavaFXMultiColorMeshBuilder meshBuilder = new JavaFXMultiColorMeshBuilder(colorPalette); double radius = 0.02 * length; double coneHeight = 0.10 * length; double coneRadius = 0.05 * length; meshBuilder.addCylinder(length, radius, new Point3d(), new AxisAngle4d(0.0, 1.0, 0.0, Math.PI / 2.0), Color.RED); meshBuilder.addCone(coneHeight, coneRadius, new Point3d(length, 0.0, 0.0), new AxisAngle4d(0.0, 1.0, 0.0, Math.PI / 2.0), Color.RED); meshBuilder.addCylinder(length, radius, new Point3d(), new AxisAngle4d(1.0, 0.0, 0.0, -Math.PI / 2.0), Color.GREEN); meshBuilder.addCone(coneHeight, coneRadius, new Point3d(0.0, length, 0.0), new AxisAngle4d(1.0, 0.0, 0.0, -Math.PI / 2.0), Color.GREEN); meshBuilder.addCylinder(length, radius, new Point3d(), Color.BLUE); meshBuilder.addCone(coneHeight, coneRadius, new Point3d(0.0, 0.0, length), Color.BLUE); MeshView coordinateSystem = new MeshView(meshBuilder.generateMesh()); coordinateSystem.setMaterial(meshBuilder.generateMaterial()); getChildren().addAll(coordinateSystem); } }
public JavaFXCoordinateSystem(double length) { TextureColorPalette1D colorPalette = new TextureColorPalette1D(); colorPalette.setHueBased(1.0, 1.0); JavaFXMultiColorMeshBuilder meshBuilder = new JavaFXMultiColorMeshBuilder(colorPalette); double radius = 0.02 * length; double coneHeight = 0.10 * length; double coneRadius = 0.05 * length; meshBuilder.addCylinder(length, radius, new Point3D(), new AxisAngle(0.0, 1.0, 0.0, Math.PI / 2.0), Color.RED); meshBuilder.addCone(coneHeight, coneRadius, new Point3D(length, 0.0, 0.0), new AxisAngle(0.0, 1.0, 0.0, Math.PI / 2.0), Color.RED); meshBuilder.addCylinder(length, radius, new Point3D(), new AxisAngle(1.0, 0.0, 0.0, -Math.PI / 2.0), Color.GREEN); meshBuilder.addCone(coneHeight, coneRadius, new Point3D(0.0, length, 0.0), new AxisAngle(1.0, 0.0, 0.0, -Math.PI / 2.0), Color.GREEN); meshBuilder.addCylinder(length, radius, new Point3D(), Color.BLUE); meshBuilder.addCone(coneHeight, coneRadius, new Point3D(0.0, 0.0, length), Color.BLUE); MeshView coordinateSystem = new MeshView(meshBuilder.generateMesh()); coordinateSystem.setMaterial(meshBuilder.generateMaterial()); getChildren().addAll(coordinateSystem); } }
private Node createBorderEdgesGraphics(PlanarRegionSegmentationRawData rawData, ConcaveHullFactoryResult concaveHullFactoryResult) { int regionId = rawData.getRegionId(); JavaFXMultiColorMeshBuilder meshBuilder = new JavaFXMultiColorMeshBuilder(new TextureColorAdaptivePalette(16)); Point3D planeOrigin = rawData.getOrigin(); Quaternion planeOrientation = rawData.getOrientation(); Color regionColor = OcTreeMeshBuilder.getRegionColor(regionId); for (ConcaveHullVariables intermediateVariables : concaveHullFactoryResult.getIntermediateVariables()) { Set<QuadEdge> borderEdges = intermediateVariables.getBorderEdges(); for (QuadEdge edge : borderEdges) { Point3D dest = PolygonizerTools.toPointInWorld(edge.dest().getX(), edge.dest().getY(), planeOrigin, planeOrientation); Point3D orig = PolygonizerTools.toPointInWorld(edge.orig().getX(), edge.orig().getY(), planeOrigin, planeOrientation); boolean isEdgeTooLong = dest.distance(orig) > parameters.getEdgeLengthThreshold(); Color lineColor = Color.hsb(regionColor.getHue(), regionColor.getSaturation(), isEdgeTooLong ? 0.25 : regionColor.getBrightness()); meshBuilder.addLine(dest, orig, 0.0015, lineColor); } } MeshView meshView = new MeshView(meshBuilder.generateMesh()); meshView.setMaterial(meshBuilder.generateMaterial()); meshView.setMouseTransparent(true); return meshView; }