Merge branch 'melodic-devel' into noetic-devel

Author: rhaschke

src/rviz/default_plugin/point_cloud_common.cpp

@@ -637,23 +637,6 @@ void PointCloudCommon::update(float /*wall_dt*/, float /*ros_dt*/)
     new_color_transformer_ = false;
   }
 
-  for (CloudInfoPtr& cloud_info : cloud_infos_)
-  {
-    if (!context_->getFrameManager()->getTransform(cloud_info->message_->header.frame_id, ros::Time(),
-                                                   cloud_info->position_, cloud_info->orientation_))
-    {
-      std::stringstream ss;
-      ss << "Failed to transform from frame [" << cloud_info->message_->header.frame_id << "] to frame ["
-         << context_->getFrameManager()->getFixedFrame() << "]";
-      display_->setStatusStd(StatusProperty::Error, "Message", ss.str());
-    }
-    else
-    {
-      cloud_info->scene_node_->setPosition(cloud_info->position_);
-      cloud_info->scene_node_->setOrientation(cloud_info->orientation_);
-    }
-  }
-
   updateStatus();
 }
 

src/rviz/displays_panel.cpp

@@ -188,16 +188,8 @@ void DisplaysPanel::onDeleteDisplay()
 {
   QList<Display*> displays_to_delete = property_grid_->getSelectedObjects<Display>();
 
-  QModelIndex new_selected;
-
   for (int i = 0; i < displays_to_delete.size(); i++)
   {
-    if (i == 0)
-    {
-      QModelIndex first = property_grid_->getModel()->indexOf(displays_to_delete[i]);
-      // This is safe because the first few rows cannot be deleted (they aren't "displays").
-      new_selected = first.sibling(first.row() - 1, first.column());
-    }
     // Displays can emit signals from other threads with self pointers.  We're
     // freeing the display now, so ensure no one is listening to those signals.
     displays_to_delete[i]->disconnect();
@@ -206,8 +198,10 @@ void DisplaysPanel::onDeleteDisplay()
     // Delete display later in case there are pending signals to it.
     displays_to_delete[i]->deleteLater();
   }
-
-  QItemSelection selection(new_selected, new_selected);
+  // Select new current index
+  const QModelIndex& cur = property_grid_->currentIndex();
+  QItemSelection selection(cur.sibling(cur.row(), 0),
+                           cur.sibling(cur.row(), cur.model()->columnCount() - 1));
   property_grid_->selectionModel()->select(selection, QItemSelectionModel::ClearAndSelect);
 
   vis_manager_->notifyConfigChanged();

src/rviz/ogre_helpers/billboard_line.cpp

@@ -72,7 +72,6 @@ BillboardLine::BillboardLine(Ogre::SceneManager* scene_manager, Ogre::SceneNode*
   material_->getTechnique(0)->setLightingEnabled(false);
 
   setNumLines(num_lines_);
-  setMaxPointsPerLine(max_points_per_line_);
 }
 
 BillboardLine::~BillboardLine()
@@ -169,9 +168,20 @@ void BillboardLine::setupChains()
 
 void BillboardLine::setMaxPointsPerLine(uint32_t max)
 {
-  max_points_per_line_ = max;
-
-  setupChains();
+  if (max <= MAX_ELEMENTS)
+  {
+    max_points_per_line_ = max;
+    setupChains();
+  }
+  else // need to split points across several lines
+  {
+    ROS_ASSERT(num_lines_ == 1);
+    max_points_per_line_ = MAX_ELEMENTS;
+    num_lines_ = max / MAX_ELEMENTS;
+    if (max % MAX_ELEMENTS != 0)
+      ++num_lines_;
+    setNumLines(num_lines_);
+  }
 }
 
 void BillboardLine::setNumLines(uint32_t num)
@@ -202,18 +212,21 @@ void BillboardLine::addPoint(const Ogre::Vector3& point)
 
 void BillboardLine::addPoint(const Ogre::Vector3& point, const Ogre::ColourValue& color)
 {
-  ++num_elements_[current_line_];
-  ++total_elements_;
-
-  ROS_ASSERT(num_elements_[current_line_] <= max_points_per_line_);
-
   ++elements_in_current_chain_;
   if (elements_in_current_chain_ > MAX_ELEMENTS)
   {
     ++current_chain_;
     elements_in_current_chain_ = 1;
+
+    if (max_points_per_line_ == MAX_ELEMENTS)
+      newLine();
   }
 
+  ++num_elements_[current_line_];
+  ++total_elements_;
+
+  ROS_ASSERT(num_elements_[current_line_] < max_points_per_line_);
+
   Ogre::BillboardChain::Element e;
   e.position = point;
   e.width = width_;