00001 // -*- mode: c++; -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2016, JSK Lab 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/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the JSK Lab 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 #ifndef JSK_RVIZ_PLUGINS_BOUDNING_BOX_DISPLAY_H_ 00037 #define JSK_RVIZ_PLUGINS_BOUDNING_BOX_DISPLAY_H_ 00038 00039 #ifndef Q_MOC_RUN 00040 #include "bounding_box_display_common.h" 00041 #include <jsk_recognition_msgs/BoundingBoxArray.h> 00042 #include <rviz/properties/color_property.h> 00043 #include <rviz/properties/bool_property.h> 00044 #include <rviz/properties/float_property.h> 00045 #include <rviz/properties/enum_property.h> 00046 #include <rviz/message_filter_display.h> 00047 #include <rviz/ogre_helpers/shape.h> 00048 #include <rviz/ogre_helpers/billboard_line.h> 00049 #include <rviz/ogre_helpers/arrow.h> 00050 #include <OGRE/OgreSceneNode.h> 00051 #endif 00052 00053 namespace jsk_rviz_plugins 00054 { 00055 00056 class BoundingBoxDisplay: public BoundingBoxDisplayCommon<jsk_recognition_msgs::BoundingBox> 00057 { 00058 Q_OBJECT 00059 public: 00060 BoundingBoxDisplay(); 00061 virtual ~BoundingBoxDisplay(); 00062 protected: 00063 void onInitialize(); 00064 virtual void reset(); 00065 00066 bool only_edge_; 00067 bool show_coords_; 00068 // Properties 00069 rviz::EnumProperty* coloring_property_; 00070 rviz::ColorProperty* color_property_; 00071 rviz::FloatProperty* alpha_property_; 00072 rviz::BoolProperty* only_edge_property_; 00073 rviz::FloatProperty* line_width_property_; 00074 rviz::BoolProperty* show_coords_property_; 00075 00076 jsk_recognition_msgs::BoundingBox::ConstPtr latest_msg_; 00077 protected Q_SLOTS: 00078 void updateColor(); 00079 void updateAlpha(); 00080 void updateOnlyEdge(); 00081 void updateColoring(); 00082 void updateLineWidth(); 00083 void updateShowCoords(); 00084 private: 00085 void processMessage( 00086 const jsk_recognition_msgs::BoundingBox::ConstPtr& msg); 00087 }; 00088 00089 } // namespace jsk_rviz_plugins 00090 00091 #endif // JSK_RVIZ_PLUGINS_BOUDNING_BOX_DISPLAY_H_