Program Listing for File textured_marker_plugin.h
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#ifndef MAPVIZ_PLUGINS__TEXTURED_MARKER_PLUGIN_H_
#define MAPVIZ_PLUGINS__TEXTURED_MARKER_PLUGIN_H_
#include <mapviz/mapviz_plugin.h>
// QT libraries
#include <QGLWidget>
#include <QObject>
#include <QWidget>
#include <QColor>
#include <opencv2/core/core.hpp>
// ROS libraries
#include <rclcpp/rclcpp.hpp>
#include <tf2/transform_datatypes.h>
#include <marti_visualization_msgs/msg/textured_marker.hpp>
#include <marti_visualization_msgs/msg/textured_marker_array.hpp>
#include <mapviz/map_canvas.h>
// C++ standard libraries
#include <list>
#include <map>
#include <string>
#include <vector>
// QT autogenerated files
#include "ui_textured_marker_config.h"
Q_DECLARE_METATYPE(marti_visualization_msgs::msg::TexturedMarker)
namespace mapviz_plugins
{
class TexturedMarkerPlugin : public mapviz::MapvizPlugin
{
Q_OBJECT
public:
TexturedMarkerPlugin();
~TexturedMarkerPlugin() 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;
Q_SIGNALS:
void MarkerReceived(marti_visualization_msgs::msg::TexturedMarker marker);
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 SetAlphaLevel(int alpha);
void SelectTopic();
void TopicEdited();
void ClearHistory() override;
void ProcessMarker(marti_visualization_msgs::msg::TexturedMarker marker);
private:
void connectCallback(const std::string& topic, const rmw_qos_profile_t& qos);
float alphaVal_;
struct MarkerData
{
rclcpp::Time stamp;
rclcpp::Time expire_time;
float alpha_;
std::vector<uint8_t> texture_;
int32_t texture_id_;
int32_t texture_size_;
float texture_x_;
float texture_y_;
std::string encoding_;
std::vector<tf2::Vector3> quad_;
std::vector<tf2::Vector3> transformed_quad_;
std::string source_frame_;
bool transformed;
};
Ui::textured_marker_config ui_{};
QWidget * config_widget_;
std::string topic_;
rmw_qos_profile_t qos_;
rclcpp::Subscription<marti_visualization_msgs::msg::TexturedMarker>::SharedPtr marker_sub_;
rclcpp::Subscription<marti_visualization_msgs::msg::TexturedMarkerArray>::SharedPtr
marker_arr_sub_;
bool has_message_;
std::map<std::string, std::map<int, MarkerData>> markers_;
void MarkerCallback(marti_visualization_msgs::msg::TexturedMarker::ConstSharedPtr marker);
void MarkerArrayCallback(
marti_visualization_msgs::msg::TexturedMarkerArray::ConstSharedPtr markers);
};
} // namespace mapviz_plugins
#endif // MAPVIZ_PLUGINS__TEXTURED_MARKER_PLUGIN_H_