Feature to save volumes #23
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adnanmunawar
requested changes
Oct 15, 2025
collision_publisher.h
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| ros::NodeHandle* m_rosNode; | ||
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| void voxelsRemoved(double ray[3], float vcolor[4], double time); | ||
| void voxelsCallback(vdrilling_msgs::points voxel_msg); |
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Let's rename this callback to removeVoxelsCallback
collision_publisher.cpp
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| m_burrChangePub = m_rosNode -> advertise<vdrilling_msgs::UInt8Stamped>(a_namespace + "/" + a_plugin + "/burr_change", 1, true); | ||
| m_volumePropPub = m_rosNode -> advertise<vdrilling_msgs::VolumeProp>(a_namespace + "/" + a_plugin + "/volume_prop", 1, true); | ||
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| m_voxelsSub = m_rosNode->subscribe(a_namespace + "/" + a_plugin + "/voxels_removing", 1, &DrillingPublisher::voxelsCallback, this); |
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let's rename this topic name as "remove_voxels" and the subscriber object as m_removeVoxelsSub
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Added functionality to save intermediate volumes after drilling.
volumetric_drilling.cpp/.h
Added a new keyboard shortcut (Ctrl+L) to save the current volume as sliced images. The images will be saved inside "resources/intermediate_volumes/$VOLUMENAME/$DATE&TIME" with prefix plane00.
collision_publisher.cpp/.h
Added a new subscriber to remove voxles via ROS. rostopic should be "/ambf/volumetric_drilling/voxels_removing" with custom message type Points.msg.
ADF/shaders/volume/shader.fs, ADF/shaders/volume_matcap/shader.fs
Renamed half -> half_vec to avoid error.