Major Updates

.gitignore

@@ -2,4 +2,5 @@ CMakeFiles/
 CMakeCache.txt
 Makefile
 .vs/
-out/
+out/
+.tile_cache/

CMakeLists.txt

@@ -34,7 +34,7 @@ target_include_directories(sackviz PUBLIC
   ${pubsub_INCLUDE_DIRS}
   ${librucksack_INCLUDE_DIRS})
 target_link_libraries(sackviz GWEN_opengl GWEN_static ${pubsub_LIBRARIES} 
-  debug ${librucksack_DEBUG_LIBRARIES}
+  debug ${librucksack_LIBRARIES}
   optimized ${librucksack_LIBRARIES})
 set_property(TARGET sackviz PROPERTY CXX_STANDARD 11)
 

LocalXY.h

@@ -50,7 +50,7 @@ class LocalXYUtil
     rho_lon_ = (rho_n - depth) * cos(origin_lat_);
   }
 
-  void ToLatLon(double x, double y, double& lat, double& lon)
+  void ToLatLon(double x, double y, double& lat, double& lon) const
   {
     double dLon = 1.0 * x - 0.0 * y;
     double dLat = 0.0 * x + 1.0 * y;
@@ -61,7 +61,7 @@ class LocalXYUtil
     lon = RadiansToDegrees(rlon);
   }
 
-  void FromLatLon(double lat, double lon, double& x, double& y)
+  void FromLatLon(double lat, double lon, double& x, double& y) const
   {
     double rLat = DegreesToRadians(lat);
     double rLon = DegreesToRadians(lon);
@@ -72,25 +72,25 @@ class LocalXYUtil
     y = -0.0 * dLon + 1.0 * dLat;
   }
 
-  inline double OriginLatitude()
+  inline double OriginLatitude() const
   {
     return RadiansToDegrees(origin_lat_);
   }
 
-  inline double OriginLongitude()
+  inline double OriginLongitude() const
   {
     return RadiansToDegrees(origin_lon_);
   }
 
-  inline double DegreesToRadians(double angle)
+  inline double DegreesToRadians(double angle) const
   {
     return angle * M_PI / 180.0;
   }
 
-  inline double RadiansToDegrees(double radians)
+  inline double RadiansToDegrees(double radians) const
   {
     return (180.0 / M_PI) * radians;
   }
 };
 
-#endif
+#endif

Plugin.h

@@ -63,6 +63,12 @@ namespace pubviz
 		// Returns info about a selected item including bounds (todo)
 		virtual std::map<std::string, std::string> Select(uint32_t index, AABB& size) { return {}; }
 
+		// Applies only for 2d. Return true if event is handled.
+		virtual bool OnMapDoubleClick(double x, double y) { return false; }
+
+		// Called on right click to add items to a context menu
+		virtual std::vector<std::pair<std::string, std::function<void()>>> ContextMenu(double x, double y) { return {}; }
+
 		// Returns if the plugin is enabled and should be rendered
 		bool Enabled()
 		{
@@ -89,6 +95,7 @@ namespace pubviz
 		// Indicate that we want a redraw
 		void Redraw()
 		{
+			// todo add a rate limit here
 			props_->Redraw();
 		}
 
@@ -104,8 +111,14 @@ namespace pubviz
 			out += tree_node_->GetToggleButton()->GetToggleState() ? "false" : "true";
 			// lets just write it as CSV
 			int i = 0;
-			for (auto& prop : properties_)
+
+			for (const auto& prop : properties_)
 			{
+				// skip ButtonProperties
+				if (dynamic_cast<ButtonProperty*>(prop.second))
+				{
+					continue;
+				}
 				out += ",";
 				out += prop.first;
 				out += ",";
@@ -195,9 +208,9 @@ namespace pubviz
 		}
 
 		TopicProperty* AddTopicProperty(Gwen::Controls::Properties* tree, const char* name, std::string topic,
-			const std::string& description = "", const std::string& type = "", bool use_for_title = true)
+			const std::string& description = "", const std::string& type = "", bool use_for_title = true, bool published = true)
 		{
-			auto prop = new TopicProperty(tree, name, topic, description, type);
+			auto prop = new TopicProperty(tree, name, topic, description, type, published);
 			properties_[name] = prop;
 			auto p = (Gwen::Controls::PropertyTreeNode*)tree->GetParent();
 			if (use_for_title)
@@ -218,13 +231,29 @@ namespace pubviz
 			return prop;
 		}
 
+		FileProperty* AddFileProperty(Gwen::Controls::Properties* tree, const char* name, std::string val,
+			const std::string& description = "")
+		{
+			auto prop = new FileProperty(tree, name, val, description);
+			properties_[name] = prop;
+			return prop;
+		}
+
 		EnumProperty* AddEnumProperty(Gwen::Controls::Properties* tree, const char* name, std::string def, std::vector<std::string> enums,
 			const std::string& description = "")
 		{
 			auto prop = new EnumProperty(tree, name, def, enums, description);
 			properties_[name] = prop;
 			return prop;
 		}
+
+		ButtonProperty* AddButtonProperty(Gwen::Controls::Properties* tree, const char* name,
+			const std::string& description = "")
+		{
+			auto prop = new ButtonProperty(tree, name, description);
+			properties_[name] = prop;
+			return prop;
+		}
 	};
 }
 #endif

README.md

@@ -11,13 +11,15 @@ This repository contains three tools:
 
 A tool for visualizing incoming data in both 2D and 3D. Largely uses immediate mode OpenGL for rendering for ease of implementation.
 
-![Example screenshot of pubviz.](pubviz_screenshot.png)
+![Example screenshot of a 2D view in pubviz.](pubviz_2d.png)
+
+![Example screenshot of a 3D view in pubviz.](pubviz_3d.png)
 
 It supports visualizing:
 
 * Point Clouds
 * Costmaps
-* Basic Markers (to be further improved)
+* Various Markers (to be further improved)
 * Grids
 * Images
 * Time series plots of individual data fields
@@ -27,7 +29,7 @@ It supports visualizing:
 
 # Sackviz
 
-A tool for introspecting and playing back Rucksack files. Also supports both time series and scatter plots of data.
+A tool for introspecting and playing back Rucksack files. Supports viewing both time series and scatter plots of data.
 
 ![Example screenshot of sackviz.](sackviz_screenshot.png)
 

controls/GraphCanvas.cpp

@@ -49,7 +49,6 @@ GraphSubscriber::GraphSubscriber(const std::string& topic)
 	ps_subscriber_options_init(&options);
 	options.skip = 0;
 	options.queue_size = 0;
-	options.want_message_def = true;
 	options.allocator = 0;
 	options.ignore_local = false;
 	options.preferred_transport = false ? 1 : 0;
@@ -156,7 +155,7 @@ GWEN_CONTROL_CONSTRUCTOR( GraphCanvas )
 		ps_node_init_ex(&node, "pubviz", "", false, false);
 		//ps_node_init(&node, "pubviz", "", false);
 
-		node.adv_cb = [](const char* topic, const char* type, const char* node, const ps_advertise_req_t* data)
+		node.adv_cb = [](const char* topic, const char* type, const char* node, const ps_advertise_req_t* data, void* cb_data)
 		{
 			// check if we already have the topic
 			if (_graph_topics.find(topic) != _graph_topics.end())