changed from milimeters to meters in message. Also, now right button to move...

changed from milimeters to meters in message. Also, now right button to move around scene instead of wheel

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/crazyFly.cpp

@@ -37,7 +37,7 @@ void crazyFly::updateCF(const CrazyflieData* p_crazyfly_msg)
     m_yaw = p_crazyfly_msg->yaw;
     m_pitch = p_crazyfly_msg->pitch;
     m_roll = p_crazyfly_msg->roll;
-    this->setPos(m_x * FROM_MILIMETERS_TO_UNITS, -m_y * FROM_MILIMETERS_TO_UNITS);    // - y because of coordinates
+    this->setPos(m_x * FROM_METERS_TO_UNITS, -m_y * FROM_METERS_TO_UNITS);    // - y because of coordinates
     this->setRotation(- m_yaw * FROM_RADIANS_TO_DEGREES); //negative beacause anti-clock wise should be positive
 }
 

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp

@@ -76,6 +76,8 @@ void MainGUIWindow::_init()
 
 
     ui->graphicsView->setViewportUpdateMode(QGraphicsView::FullViewportUpdate);
+    ui->graphicsView->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOn);
+    ui->graphicsView->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOn);
 
     scene = new myGraphicsScene(ui->frame_drawing);
     scene->setSceneRect(-100 * FROM_METERS_TO_UNITS, -100 * FROM_METERS_TO_UNITS, 200 * FROM_METERS_TO_UNITS, 200 * FROM_METERS_TO_UNITS);
@@ -121,7 +123,6 @@ void MainGUIWindow::updateNewViconData(const ptrToMessage& p_msg) //connected to
         if(i >= markers_vector.size()) //some new markers coming
         {
             ROS_INFO_STREAM("element index: " << i << " added");
-            QPointF p(p_msg->markers[i].x * FROM_MILIMETERS_TO_UNITS, p_msg->markers[i].y * FROM_MILIMETERS_TO_UNITS);
             Marker* tmp_p_marker = new Marker(&(p_msg->markers[i]));
             markers_vector.push_back(tmp_p_marker); // what happens with the new indexes? check if this is correct
 

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/marker.cpp

@@ -26,7 +26,7 @@ void Marker::updateMarker(const UnlabeledMarker* p_marker_msg)
     m_x = p_marker_msg->x;
     m_y = p_marker_msg->y;
     m_z = p_marker_msg->z;
-    this->setPos(m_x * FROM_MILIMETERS_TO_UNITS, -m_y * FROM_MILIMETERS_TO_UNITS);    // - y because of coordinates
+    this->setPos(m_x * FROM_METERS_TO_UNITS, -m_y * FROM_METERS_TO_UNITS);    // - y because of coordinates
 }
 
 

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/myGraphicsView.cpp

@@ -35,7 +35,7 @@ void myGraphicsView::wheelEvent(QWheelEvent *event)
 
 void myGraphicsView::mousePressEvent(QMouseEvent *mouseEvent)
 {
-    if (mouseEvent->button() == Qt::MiddleButton)
+    if (mouseEvent->button() == Qt::RightButton)
     {
         translation_mode = true;
         tmp_point = new QPointF(mouseEvent->localPos());

pps_ws/src/d_fall_pps/src/ViconDataPublisher.cpp

@@ -20,7 +20,7 @@
 #include "d_fall_pps/ViconData.h"
 #include "d_fall_pps/UnlabeledMarker.h"
 
-// #define TESTING_FAKE_DATA
+#define TESTING_FAKE_DATA
 
 // notice that unit here are in milimeters
 using namespace ViconDataStreamSDK::CPP;
@@ -76,7 +76,7 @@ int main(int argc, char* argv[]) {
         }
 
         ros::Duration(0.1).sleep();
-        f += 10;
+        f += 10/1000.0f;
         i++;
         // TODO: Fake CF data
         CrazyflieData crazyfly;
@@ -88,8 +88,8 @@ int main(int argc, char* argv[]) {
         viconData.crazyflies.push_back(crazyfly);
 
         crazyfly.crazyflieName = "CF2";
-        crazyfly.x = 1000;
-        crazyfly.y = 1000;
+        crazyfly.x = 1;
+        crazyfly.y = 1;
         crazyfly.z = 0;
         crazyfly.yaw = -3.14159/600 * f;
         viconData.crazyflies.push_back(crazyfly);
@@ -97,8 +97,8 @@ int main(int argc, char* argv[]) {
         if(i > 50 && i < 100)
         {
             crazyfly.crazyflieName = "CF3";
-            crazyfly.x = 1000;
-            crazyfly.y = -1000;
+            crazyfly.x = 1;
+            crazyfly.y = -1;
             crazyfly.z = 0;
             crazyfly.yaw = -3.14159/600 * f;
             viconData.crazyflies.push_back(crazyfly);
@@ -162,9 +162,9 @@ int main(int argc, char* argv[]) {
                 client.GetUnlabeledMarkerGlobalTranslation(unlabeledMarkerIndex);
 
             marker.index = unlabeledMarkerIndex;
-            marker.x = OutputTranslation.Translation[0];
-            marker.y = OutputTranslation.Translation[1];
-            marker.z = OutputTranslation.Translation[2];
+            marker.x = OutputTranslation.Translation[0]/1000.0f;
+            marker.y = OutputTranslation.Translation[1]/1000.0f;
+            marker.z = OutputTranslation.Translation[2]/1000.0f;
 
             viconData.markers.push_back(marker);
         }