Skip to content

Commit

Permalink
removed comments. replaced std::cout with RCLCPP_INFO_STREAM
Browse files Browse the repository at this point in the history
  • Loading branch information
@amock
amock committed Dec 23, 2024
1 parent 066623e commit 291cca4
Show file tree
Hide file tree
Showing 2 changed files with 1 addition and 92 deletions.
3 changes: 0 additions & 3 deletions rviz_mesh_tools_plugins/CMakeLists.txt
View file
Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,6 @@ find_package(rviz_ogre_vendor REQUIRED)
find_package(rviz_assimp_vendor REQUIRED)
find_package(std_msgs REQUIRED)
find_package(mesh_msgs REQUIRED)
find_package(resource_retriever REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(pluginlib REQUIRED)
find_package(message_filters REQUIRED)
Expand Down Expand Up @@ -133,7 +132,6 @@ ament_target_dependencies(${PROJECT_NAME}
rviz_assimp_vendor
std_msgs
mesh_msgs
resource_retriever
tf2_ros
message_filters
std_msgs
Expand All @@ -153,7 +151,6 @@ ament_export_dependencies(
rviz_assimp_vendor
std_msgs
mesh_msgs
resource_retriever
tf2_ros
message_filters
std_msgs
Expand Down
90 changes: 1 addition & 89 deletions rviz_mesh_tools_plugins/src/MapDisplay.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -396,7 +396,7 @@ bool MapDisplay::loadData()
// the mesh buffer is a map from a string to a Channel
// example:
// "vertices" -> Channel<float>
std::cout << *mesh_buffer << std::endl;
RCLCPP_INFO_STREAM(rclcpp::get_logger("rviz_mesh_tools_plugins"), "Loaded: " << *mesh_buffer);

// "mesh_navigatio_tutorials/maps/floor_is_lava.h5"
// [ VariantChannelMap ]
Expand Down Expand Up @@ -438,62 +438,6 @@ bool MapDisplay::loadData()
}
}

// TODO: Read textures/materials is missing
// Description:
// the old code was including loading texutures. However this was never tested for ROS 2 nor do we have any h5 files
// to test this (only h5 files with vertex colors). Therefore I removed it until we have a working test case.

// RCLCPP_INFO(rclcpp::get_logger("rviz_mesh_tools_plugins"), "Map Display: Load textures");

// vector<hdf5_map_io::MapImage> textures = map_io.getTextures();
// m_textures.resize(textures.size());
// for (size_t i = 0; i < textures.size(); i++)
// {
// // Find out the texture index because textures are not stored in ascending order
// int textureIndex = std::stoi(textures[i].name);

// // Copy metadata
// m_textures[textureIndex].width = textures[i].width;
// m_textures[textureIndex].height = textures[i].height;
// m_textures[textureIndex].channels = textures[i].channels;
// m_textures[textureIndex].data = textures[i].data;
// m_textures[textureIndex].pixelFormat = "rgb8";
// }

// RCLCPP_INFO(rclcpp::get_logger("rviz_mesh_tools_plugins"), "Map Display: Load materials");

// // Read materials
// vector<hdf5_map_io::MapMaterial> materials = map_io.getMaterials();
// vector<uint32_t> faceToMaterialIndexArray = map_io.getMaterialFaceIndices();
// m_materials.resize(materials.size());
// for (size_t i = 0; i < materials.size(); i++)
// {
// // Copy material color
// m_materials[i].color.r = materials[i].r / 255.0f;
// m_materials[i].color.g = materials[i].g / 255.0f;
// m_materials[i].color.b = materials[i].b / 255.0f;
// m_materials[i].color.a = 1.0f;

// // Look for texture index
// if (materials[i].textureIndex == -1)
// {
// // texture index -1: no texture
// m_materials[i].textureIndex = boost::none;
// }
// else
// {
// m_materials[i].textureIndex = materials[i].textureIndex;
// }

// m_materials[i].faceIndices.clear();
// }

// // Copy face indices
// for (size_t k = 0; k < faceToMaterialIndexArray.size(); k++)
// {
// m_materials[faceToMaterialIndexArray[k]].faceIndices.push_back(k);
// }

RCLCPP_INFO(rclcpp::get_logger("rviz_mesh_tools_plugins"), "Map Display: Load vertex colors");

// Read vertex colors
Expand Down Expand Up @@ -535,38 +479,6 @@ bool MapDisplay::loadData()
}
}

// Same problem as above: This is a piece of code we cannot test. Therefore I removed it.
// RCLCPP_INFO(rclcpp::get_logger("rviz_mesh_tools_plugins"), "Map Display: Load texture coordinates");

// // Read tex cords
// vector<float> texCoords = map_io.getVertexTextureCoords();
// m_texCoords.clear();
// m_texCoords.reserve(texCoords.size() / 3);
// for (size_t i = 0; i < texCoords.size(); i += 3)
// {
// m_texCoords.push_back(TexCoords(texCoords[i], texCoords[i + 1]));
// }

// RCLCPP_INFO(rclcpp::get_logger("rviz_mesh_tools_plugins"), "Map Display: Load clusters");

// Same problem as above: This is a piece of code we cannot test. Therefore I removed it.
// // Read labels
// m_clusterList.clear();
// // m_clusterList.push_back(Cluster("__NEW__", vector<uint32_t>()));
// for (auto labelGroup : map_io.getLabelGroups())
// {
// for (auto labelObj : map_io.getAllLabelsOfGroup(labelGroup))
// {
// auto faceIds = map_io.getFaceIdsOfLabel(labelGroup, labelObj);

// std::stringstream ss;
// ss << labelGroup << "_" << labelObj;
// std::string label = ss.str();

// m_clusterList.push_back(Cluster(label, faceIds));
// }
// }

RCLCPP_INFO(rclcpp::get_logger("rviz_mesh_tools_plugins"), "Map Display: Load costs");
std::unordered_set<std::string> channels_to_exclude = {
"vertices",
Expand Down

0 comments on commit 291cca4

Please sign in to comment.