markers: hide on transform() errors

Author: rhaschke

src/rviz/default_plugin/markers/arrow_marker.cpp

@@ -78,7 +78,13 @@ void ArrowMarker::onNewMessage(const MarkerConstPtr&  /*old_message*/, const Mar
 
   Ogre::Vector3 pos, scale;
   Ogre::Quaternion orient;
-  transform(new_message, pos, orient, scale);
+  if (!transform(new_message, pos, orient, scale))
+  {
+    scene_node_->setVisible(false);
+    return;
+  }
+
+  scene_node_->setVisible(true);
   setPosition(pos);
   setOrientation( orient );
 

src/rviz/default_plugin/markers/line_list_marker.cpp

@@ -63,8 +63,13 @@ void LineListMarker::onNewMessage(const MarkerConstPtr&  /*old_message*/, const
 
   Ogre::Vector3 pos, scale;
   Ogre::Quaternion orient;
-  transform(new_message, pos, orient, scale);
+  if (!transform(new_message, pos, orient, scale))
+  {
+    scene_node_->setVisible(false);
+    return;
+  }
 
+  scene_node_->setVisible(true);
   setPosition(pos);
   setOrientation(orient);
   lines_->setScale(scale);

src/rviz/default_plugin/markers/line_strip_marker.cpp

@@ -65,8 +65,13 @@ void LineStripMarker::onNewMessage(const MarkerConstPtr&  /*old_message*/, const
 
   Ogre::Vector3 pos, scale;
   Ogre::Quaternion orient;
-  transform(new_message, pos, orient, scale);
+  if (!transform(new_message, pos, orient, scale))
+  {
+    scene_node_->setVisible(false);
+    return;
+  }
 
+  scene_node_->setVisible(true);
   setPosition(pos);
   setOrientation(orient);
   lines_->setScale(scale);

src/rviz/default_plugin/markers/mesh_resource_marker.cpp

@@ -232,7 +232,11 @@ void MeshResourceMarker::onNewMessage(const MarkerConstPtr& old_message, const M
 
   Ogre::Vector3 pos, scale;
   Ogre::Quaternion orient;
-  transform(new_message, pos, orient, scale);
+  if (!transform(new_message, pos, orient, scale))
+  {
+    scene_node_->setVisible(false);
+    return;
+  }
 
   scene_node_->setVisible(true);
   setPosition(pos);

src/rviz/default_plugin/markers/points_marker.cpp

@@ -68,7 +68,13 @@ void PointsMarker::onNewMessage(const MarkerConstPtr&  /*old_message*/, const Ma
 
   Ogre::Vector3 pos, scale;
   Ogre::Quaternion orient;
-  transform(new_message, pos, orient, scale);
+  if (!transform(new_message, pos, orient, scale))
+  {
+    scene_node_->setVisible(false);
+    return;
+  }
+
+  scene_node_->setVisible(true);
 
   switch (new_message->type)
   {

src/rviz/default_plugin/markers/shape_marker.cpp

@@ -82,8 +82,12 @@ void ShapeMarker::onNewMessage( const MarkerConstPtr& old_message,
   Ogre::Vector3 pos, scale, scale_correct;
   Ogre::Quaternion orient;
   if (!transform(new_message, pos, orient, scale))
+  {
+    scene_node_->setVisible(false);
     return;
+  }
 
+  scene_node_->setVisible(true);
   setPosition(pos);
   setOrientation( orient * Ogre::Quaternion( Ogre::Degree(90), Ogre::Vector3(1,0,0) ) );
 

src/rviz/default_plugin/markers/text_view_facing_marker.cpp

@@ -69,8 +69,13 @@ void TextViewFacingMarker::onNewMessage(const MarkerConstPtr&  /*old_message*/,
 
   Ogre::Vector3 pos, scale;
   Ogre::Quaternion orient;
-  transform(new_message, pos, orient, scale);
+  if (!transform(new_message, pos, orient, scale))
+  {
+    scene_node_->setVisible(false);
+    return;
+  }
 
+  scene_node_->setVisible(true);
   setPosition(pos);
   text_->setCharacterHeight(new_message->scale.z);
   text_->setColor(Ogre::ColourValue(new_message->color.r, new_message->color.g, new_message->color.b, new_message->color.a));

src/rviz/default_plugin/markers/triangle_list_marker.cpp

@@ -66,6 +66,14 @@ void TriangleListMarker::onNewMessage(const MarkerConstPtr& old_message, const M
 {
   ROS_ASSERT(new_message->type == visualization_msgs::Marker::TRIANGLE_LIST);
 
+  Ogre::Vector3 pos, scale;
+  Ogre::Quaternion orient;
+  if (!transform(new_message, pos, orient, scale))
+  {
+    scene_node_->setVisible( false );
+    return;
+  }
+
   size_t num_points = new_message->points.size();
   if( (num_points % 3) != 0 || num_points == 0 )
   {
@@ -95,15 +103,6 @@ void TriangleListMarker::onNewMessage(const MarkerConstPtr& old_message, const M
     handler_.reset( new MarkerSelectionHandler( this, MarkerID( new_message->ns, new_message->id ), context_ ));
   }
 
-  Ogre::Vector3 pos, scale;
-  Ogre::Quaternion orient;
-  if (!transform(new_message, pos, orient, scale))
-  {    
-    ROS_DEBUG("Unable to transform marker message");
-    scene_node_->setVisible( false );
-    return;
-  }
-
   setPosition(pos);
   setOrientation(orient);
   scene_node_->setScale(scale);