camera_info_display.h

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// -*- mode: c++ -*-
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#ifndef JSK_RVIZ_PLUGINS_CAMERA_INFO_DISPLAY_H_
#define JSK_RVIZ_PLUGINS_CAMERA_INFO_DISPLAY_H_

#include <rviz/display.h>
#include <rviz/message_filter_display.h>
#include <rviz/properties/color_property.h>
#include <rviz/properties/bool_property.h>
#include <rviz/properties/float_property.h>
#include <rviz/ogre_helpers/shape.h>
#include <rviz/ogre_helpers/billboard_line.h>
#include <OGRE/OgreSceneNode.h>
#include <image_geometry/pinhole_camera_model.h>
#include <OGRE/OgreManualObject.h>
#include <OGRE/OgreTextureManager.h>
#include <OGRE/OgreTexture.h>

namespace jsk_rviz_plugin
{
  class TrianglePolygon
  {
  public:
    typedef boost::shared_ptr<TrianglePolygon> Ptr;
    TrianglePolygon(Ogre::SceneManager* manager,
                    Ogre::SceneNode* node,
                    const cv::Point3d& O,
                    const cv::Point3d& A,
                    const cv::Point3d& B,
                    const std::string& name,
                    const Ogre::ColourValue& color);
    virtual ~TrianglePolygon();
  protected:
    Ogre::ManualObject* manual_;
    Ogre::SceneManager* manager_;
  private:
    
  };
  
  class CameraInfoDisplay:
    public rviz::MessageFilterDisplay<sensor_msgs::CameraInfo>
  {
    Q_OBJECT
  public:
    typedef boost::shared_ptr<rviz::Shape> ShapePtr;
    typedef boost::shared_ptr<rviz::BillboardLine> BillboardLinePtr;
    CameraInfoDisplay();
    virtual ~CameraInfoDisplay();
    
  protected:
    // methods required by super virtual class
    virtual void onInitialize();
    virtual void reset();
    virtual void processMessage(const sensor_msgs::CameraInfo::ConstPtr& msg);
    // methods
    virtual bool isSameCameraInfo(
      const sensor_msgs::CameraInfo::ConstPtr& camera_info);
    virtual void createCameraInfoShapes(
      const sensor_msgs::CameraInfo::ConstPtr& camera_info);
    virtual void addPointToEdge(
      const cv::Point3d& point);
    virtual void addPolygon(
      const cv::Point3d& O, const cv::Point3d& A, const cv::Point3d& B);
    virtual void prepareMaterial();
    // variables
    std::vector<TrianglePolygon::Ptr> polygons_;
    BillboardLinePtr edges_;
    sensor_msgs::CameraInfo::ConstPtr camera_info_;
    Ogre::MaterialPtr material_;
    Ogre::TexturePtr texture_;
    
    // variables updated by rviz properties
    double alpha_;
    double far_clip_distance_;
    QColor color_;
    QColor edge_color_;
    bool show_polygons_;
    
    // properties
    rviz::FloatProperty* far_clip_distance_property_;
    rviz::FloatProperty* alpha_property_;
    rviz::ColorProperty* color_property_;
    rviz::ColorProperty* edge_color_property_;
    rviz::BoolProperty* show_polygons_property_;
  protected Q_SLOTS:
    void updateFarClipDistance();
    void updateAlpha();
    void updateColor();
    void updateShowPolygons();
    void updateEdgeColor();
  };
  
}

#endif