Add support for configuring point size in Visualize Lidar GUI plugin (#…

…1021) * add spinbox to configure point size Signed-off-by: Ian Chen <[email protected]> * cap letter Signed-off-by: Ian Chen <[email protected]> * remove empty line Signed-off-by: Ian Chen <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>
gazebosim · Oct 6, 2021 · c603710 · c603710
1 parent 447e5c2
commit c603710
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Showing 3 changed files with 28 additions and 1 deletion.
diff --git a/src/gui/plugins/visualize_lidar/VisualizeLidar.cc b/src/gui/plugins/visualize_lidar/VisualizeLidar.cc
@@ -364,6 +364,13 @@ void VisualizeLidar::UpdateType(int _type)
   this->dataPtr->lidar->SetType(this->dataPtr->visualType);
 }
 
+//////////////////////////////////////////////////
+void VisualizeLidar::UpdateSize(int _size)
+{
+  std::lock_guard<std::mutex> lock(this->dataPtr->serviceMutex);
+  this->dataPtr->lidar->SetSize(_size);
+}
+
 //////////////////////////////////////////////////
 void VisualizeLidar::OnTopic(const QString &_topicName)
 {

diff --git a/src/gui/plugins/visualize_lidar/VisualizeLidar.hh b/src/gui/plugins/visualize_lidar/VisualizeLidar.hh
@@ -90,6 +90,10 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
     /// \param[in] _type Index of selected visual type
     public: Q_INVOKABLE void UpdateType(int _type);
 
+    /// \brief Set lidar visualization size
+    /// \param[in] _size Size of lidar visualization
+    public: Q_INVOKABLE void UpdateSize(int _size);
+
     /// \brief Get the topic list as a string
     /// \return Message type
     public: Q_INVOKABLE QStringList TopicList() const;

diff --git a/src/gui/plugins/visualize_lidar/VisualizeLidar.qml b/src/gui/plugins/visualize_lidar/VisualizeLidar.qml
@@ -25,7 +25,7 @@ GridLayout {
   columns: 6
   columnSpacing: 10
   Layout.minimumWidth: 350
-  Layout.minimumHeight: 300
+  Layout.minimumHeight: 400
   anchors.fill: parent
   anchors.leftMargin: 10
   anchors.rightMargin: 10
@@ -131,4 +131,20 @@ GridLayout {
       VisualizeLidar.UpdateType(typeCombo.currentIndex);
     }
   }
+
+  Text {
+    Layout.columnSpan: 2
+    id: pointSizeText
+    color: "dimgrey"
+    text: "Point Size"
+  }
+
+  IgnSpinBox {
+    Layout.columnSpan: 2
+    id: pointSize
+    maximumValue: 1000
+    minimumValue: 1
+    value: 1
+    onEditingFinished: VisualizeLidar.UpdateSize(pointSize.value)
+  }
 }