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Merged
nathanhhughes merged 2 commits into from
Oct 22, 2025
Merged

Feature/more colors #44

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0e22c69
add text color selection
nathanhhughes Oct 22, 2025
8dd45f8
also add edge color selection to visualizer
nathanhhughes Oct 22, 2025
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17 changes: 17 additions & 0 deletions hydra_visualizer/include/hydra_visualizer/color/colormap_utilities.h
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,23 @@

namespace hydra::visualizer {

enum class NamedColors {
BLACK,
WHITE,
RED,
GREEN,
BLUE,
YELLOW,
ORANGE,
PURPLE,
CYAN,
MAGENTA,
PINK,
GRAY,
};

spark_dsg::Color colorFromName(NamedColors color);

std_msgs::msg::ColorRGBA makeColorMsg(const spark_dsg::Color& color,
std::optional<double> alpha = std::nullopt);

Expand Down
10 changes: 8 additions & 2 deletions hydra_visualizer/include/hydra_visualizer/layer_info.h
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Expand Up @@ -74,7 +74,9 @@ struct LayerConfig {
double scale = 0.03; //[ 0.001, 1.0]
//! @brief intralayer edge alpha
double alpha = 1.0; //[ 0.0, 1.0]
//! @brief show intralayer edge in color
//! @brief Color to use for edge
NamedColors color = NamedColors::BLACK;
//! @brief show intralayer edge using node colors
bool use_color = true;
//! @brief draw interlayer edges
bool draw_interlayer = true;
Expand All @@ -84,7 +86,7 @@ struct LayerConfig {
double interlayer_scale = 0.03; // [0.001, 1.0]
//! @brief interlayer edge alpha
double interlayer_alpha = 1.0; // [0.0, 1.0]
//! @brief show interlayer edge in color
//! @brief show interlayer edge using node colors
bool interlayer_use_color = true;
//! @brief Number of edges to skip when drawing interlayer edges
size_t interlayer_insertion_skip = 0; // [0, 1000]
Expand All @@ -108,6 +110,8 @@ struct LayerConfig {
bool add_jitter = false;
//! @brief amount of jitter to add
double jitter_scale = 0.2; //[ 0.05, 5.0]
//! @brief Color to use for text
NamedColors color = NamedColors::BLACK;
} text;

struct BoundingBoxes {
Expand Down Expand Up @@ -158,6 +162,8 @@ class LayerInfo {
LayerInfo& graph(const spark_dsg::DynamicSceneGraph& graph, spark_dsg::LayerId layer);

bool shouldVisualize(const spark_dsg::SceneGraphNode& node) const;
spark_dsg::Color text_color() const;
spark_dsg::Color edge_color() const;

const LayerConfig config;

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31 changes: 31 additions & 0 deletions hydra_visualizer/src/color/colormap_utilities.cpp
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Expand Up @@ -73,6 +73,37 @@ std::function<Color(size_t)> lookupColormap(DiscretePalette cmap) {

} // namespace

spark_dsg::Color colorFromName(NamedColors color) {
switch (color) {
case NamedColors::BLACK:
return spark_dsg::Color::black();
case NamedColors::WHITE:
return spark_dsg::Color::white();
case NamedColors::RED:
return spark_dsg::Color::red();
case NamedColors::GREEN:
return spark_dsg::Color::green();
case NamedColors::BLUE:
return spark_dsg::Color::blue();
case NamedColors::YELLOW:
return spark_dsg::Color::yellow();
case NamedColors::ORANGE:
return spark_dsg::Color::orange();
case NamedColors::PURPLE:
return spark_dsg::Color::purple();
case NamedColors::CYAN:
return spark_dsg::Color::cyan();
case NamedColors::MAGENTA:
return spark_dsg::Color::magenta();
case NamedColors::PINK:
return spark_dsg::Color::pink();
case NamedColors::GRAY:
return spark_dsg::Color::gray();
default:
return spark_dsg::Color::black();
}
}

std_msgs::msg::ColorRGBA makeColorMsg(const Color& color, std::optional<double> alpha) {
std_msgs::msg::ColorRGBA msg;
msg.r = static_cast<double>(color.r) / 255.0;
Expand Down
8 changes: 4 additions & 4 deletions hydra_visualizer/src/drawing.cpp
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Expand Up @@ -436,7 +436,7 @@ MarkerArray makeLayerNodeTextMarkers(const std_msgs::msg::Header& header,

marker.text = name.empty() ? NodeSymbol(node->id).str() : name;
marker.scale.z = info.config.text.scale;
marker.color = makeColorMsg(Color());
marker.color = makeColorMsg(info.text_color());

fillPoseWithIdentity(marker.pose);
tf2::convert(node->attributes().position, marker.pose.position);
Expand Down Expand Up @@ -527,9 +527,9 @@ Marker makeLayerEdgeMarkers(const std_msgs::msg::Header& header,
marker.points.push_back(target);

const auto c_source =
info.config.edges.use_color ? info.node_color(source_node) : Color();
info.config.edges.use_color ? info.node_color(source_node) : info.edge_color();
const auto c_target =
info.config.edges.use_color ? info.node_color(target_node) : Color();
info.config.edges.use_color ? info.node_color(target_node) : info.edge_color();
marker.colors.push_back(makeColorMsg(c_source, info.config.edges.alpha));
marker.colors.push_back(makeColorMsg(c_target, info.config.edges.alpha));
}
Expand Down Expand Up @@ -605,7 +605,7 @@ Marker makeLayerTextMarker(const std_msgs::msg::Header& header,
marker.id = 0;
marker.action = Marker::ADD;
marker.scale.z = info.config.text.scale;
marker.color = makeColorMsg(Color());
marker.color = makeColorMsg(info.text_color());

std::optional<uint64_t> best_stamp;
Eigen::Vector3d pos = Eigen::Vector3d::Zero();
Expand Down
41 changes: 41 additions & 0 deletions hydra_visualizer/src/layer_info.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,7 @@
#include "hydra_visualizer/layer_info.h"

#include <config_utilities/config.h>
#include <config_utilities/types/enum.h>
#include <spark_dsg/node_attributes.h>

namespace hydra::visualizer {
Expand Down Expand Up @@ -71,6 +72,22 @@ void declare_config(LayerConfig::Edges& config) {
field(config.draw, "draw");
field(config.scale, "scale");
field(config.alpha, "alpha");
enum_field(config.color,
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@Schmluk Schmluk Oct 22, 2025

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Minor: you could define a config utilities enum type conversion, then no duplicates would be needed.

"color",
{
{NamedColors::BLACK, "black"},
{NamedColors::WHITE, "white"},
{NamedColors::RED, "red"},
{NamedColors::GREEN, "green"},
{NamedColors::BLUE, "blue"},
{NamedColors::YELLOW, "yellow"},
{NamedColors::ORANGE, "orange"},
{NamedColors::PURPLE, "purple"},
{NamedColors::CYAN, "cyan"},
{NamedColors::MAGENTA, "magenta"},
{NamedColors::PINK, "pink"},
{NamedColors::GRAY, "gray"},
});
field(config.use_color, "use_color");
field(config.draw_interlayer, "draw_interlayer");
field(config.interlayer_use_source, "interlayer_use_source");
Expand All @@ -91,6 +108,22 @@ void declare_config(LayerConfig::Text& config) {
field(config.scale, "scale");
field(config.add_jitter, "add_jitter");
field(config.jitter_scale, "jitter_scale");
enum_field(config.color,
"color",
{
{NamedColors::BLACK, "black"},
{NamedColors::WHITE, "white"},
{NamedColors::RED, "red"},
{NamedColors::GREEN, "green"},
{NamedColors::BLUE, "blue"},
{NamedColors::YELLOW, "yellow"},
{NamedColors::ORANGE, "orange"},
{NamedColors::PURPLE, "purple"},
{NamedColors::CYAN, "cyan"},
{NamedColors::MAGENTA, "magenta"},
{NamedColors::PINK, "pink"},
{NamedColors::GRAY, "gray"},
});
}

void declare_config(LayerConfig::BoundingBoxes& config) {
Expand Down Expand Up @@ -162,6 +195,14 @@ LayerInfo& LayerInfo::graph(const DynamicSceneGraph& graph, LayerId layer) {
return *this;
}

Color LayerInfo::text_color() const {
return colorFromName(config.text.color);
}

Color LayerInfo::edge_color() const {
return colorFromName(config.edges.color);
}

bool LayerInfo::shouldVisualize(const spark_dsg::SceneGraphNode& node) const {
if (!config.visualize) {
return false;
Expand Down
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