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00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2011, Robert Bosch LLC. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of the Robert Bosch nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 *********************************************************************/ 00036 00037 #include "bosch_object_segmentation_gui/object_segmentation_display.h" 00038 #include "bosch_object_segmentation_gui/object_segmentation_rviz_ui.h" 00039 00040 #include <rviz/window_manager_interface.h> 00041 #include <rviz/render_panel.h> 00042 #include <rviz/visualization_manager.h> 00043 00044 #include <OGRE/OgreRenderWindow.h> 00045 00046 namespace bosch_object_segmentation_gui { 00047 00048 ObjectSegmentationDisplay::ObjectSegmentationDisplay( const std::string& name, rviz::VisualizationManager* manager ) : 00049 Display( name, manager ), 00050 object_segmentation_ui_(0) 00051 { 00052 } 00053 00054 ObjectSegmentationDisplay::~ObjectSegmentationDisplay() 00055 { 00056 delete object_segmentation_ui_; 00057 } 00058 00059 void ObjectSegmentationDisplay::onEnable() 00060 { 00061 if ( !object_segmentation_ui_ ) 00062 { 00063 ROS_INFO( "Creating UI" ); 00064 object_segmentation_ui_ = new ObjectSegmentationRvizUI( vis_manager_); 00065 } 00066 object_segmentation_ui_->startActionServer( update_nh_ ); 00067 } 00068 00069 void ObjectSegmentationDisplay::onDisable() 00070 { 00071 object_segmentation_ui_->stopActionServer(); 00072 } 00073 00074 void ObjectSegmentationDisplay::update(float wall_dt, float ros_dt) 00075 { 00076 object_segmentation_ui_->update(wall_dt, ros_dt); 00077 } 00078 00079 void ObjectSegmentationDisplay::createProperties() 00080 { 00081 } 00082 00083 }