Program Listing for File disparity_plugin.h
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#ifndef MAPVIZ_PLUGINS__DISPARITY_PLUGIN_H_
#define MAPVIZ_PLUGINS__DISPARITY_PLUGIN_H_
// Include mapviz_plugin.h first to ensure GL deps are included in the right order
#include <mapviz/mapviz_plugin.h>
// QT libraries
#include <QColor>
#include <QGLWidget>
#include <QObject>
#include <QWidget>
// ROS libraries
#ifdef USE_CVBRIDGE_H_FILES
#include <cv_bridge/cv_bridge.h>
#else
#include <cv_bridge/cv_bridge.hpp>
#endif
#include <opencv2/highgui.hpp>
#include <rclcpp/rclcpp.hpp>
#include <stereo_msgs/msg/disparity_image.hpp>
#include <tf2/transform_datatypes.h>
#include <mapviz/map_canvas.h>
// C++ standard libraries
#include <list>
#include <string>
// QT autogenerated files
#include "ui_disparity_config.h"
namespace mapviz_plugins
{
class DisparityPlugin : public mapviz::MapvizPlugin
{
Q_OBJECT
public:
enum Anchor {
TOP_LEFT,
TOP_CENTER,
TOP_RIGHT,
CENTER_LEFT,
CENTER,
CENTER_RIGHT,
BOTTOM_LEFT,
BOTTOM_CENTER,
BOTTOM_RIGHT};
enum Units {PIXELS, PERCENT};
DisparityPlugin();
~DisparityPlugin() override = default;
bool Initialize(QGLWidget* canvas) override;
void Shutdown() override {}
void Draw(double x, double y, double scale) override;
void Transform() override {}
void LoadConfig(const YAML::Node& node, const std::string& path) override;
void SaveConfig(YAML::Emitter& emitter, const std::string& path) override;
QWidget* GetConfigWidget(QWidget* parent) override;
protected:
void PrintError(const std::string& message) override;
void PrintInfo(const std::string& message) override;
void PrintWarning(const std::string& message) override;
protected Q_SLOTS:
void SelectTopic();
void TopicEdited();
void SetAnchor(QString anchor);
void SetUnits(QString units);
void SetOffsetX(int offset);
void SetOffsetY(int offset);
void SetWidth(int width);
void SetHeight(int height);
void SetSubscription(bool visible);
private:
void connectCallback(const std::string& topic, const rmw_qos_profile_t& qos);
Ui::disparity_config ui_;
QWidget* config_widget_;
std::string topic_;
rmw_qos_profile_t qos_;
Anchor anchor_;
Units units_;
double offset_x_;
double offset_y_;
double width_;
double height_;
bool has_image_;
double last_width_;
double last_height_;
rclcpp::Subscription<stereo_msgs::msg::DisparityImage>::SharedPtr disparity_sub_;
bool has_message_;
stereo_msgs::msg::DisparityImage disparity_;
cv::Mat_<cv::Vec3b> disparity_color_;
cv::Mat scaled_image_;
void disparityCallback(const stereo_msgs::msg::DisparityImage::SharedPtr image);
void ScaleImage(double width, double height);
void DrawIplImage(cv::Mat *image);
std::string AnchorToString(Anchor anchor);
std::string UnitsToString(Units units);
static const unsigned char COLOR_MAP[];
};
} // namespace mapviz_plugins
#endif // MAPVIZ_PLUGINS__DISPARITY_PLUGIN_H_