Program Listing for File occupancy_grid_display.hpp
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// Copyright (c) 2013, Willow Garage, Inc. All rights reserved.
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// * Redistributions in binary form must reproduce the above copyright
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// documentation and/or other materials provided with the distribution.
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// this software without specific prior written permission.
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// Author: Julius Kammerl (jkammerl@willowgarage.com)
#ifndef OCTOMAP_RVIZ_PLUGINS__OCCUPANCY_GRID_DISPLAY_HPP_
#define OCTOMAP_RVIZ_PLUGINS__OCCUPANCY_GRID_DISPLAY_HPP_
#ifndef Q_MOC_RUN
#include <memory>
#include <string>
#include <vector>
#include "octomap_msgs/msg/octomap.hpp"
#include "rviz_rendering/objects/point_cloud.hpp"
#include "rviz_common/message_filter_display.hpp"
#endif
namespace rviz_common
{
namespace properties
{
class IntProperty;
class EnumProperty;
class FloatProperty;
}
}
namespace octomap_rviz_plugins
{
static constexpr std::size_t MAX_OCTREE_DEPTH = sizeof(uint16_t) * 8;
class OccupancyGridDisplay
: public rviz_common::MessageFilterDisplay<octomap_msgs::msg::Octomap>
{
Q_OBJECT
public:
OccupancyGridDisplay();
// Overrides from Display
void onInitialize() override;
void update(float wall_dt, float ros_dt) override;
void reset() override;
private Q_SLOTS:
void updateTreeDepth();
void updateOctreeRenderMode();
void updateOctreeColorMode();
void updateAlpha();
void updateMaxHeight();
void updateMinHeight();
protected:
void unsubscribe() override;
void setColor(
double z_pos, double min_z, double max_z, double color_factor,
rviz_rendering::PointCloud::Point & point);
void clear();
virtual bool updateFromTF();
using VPoint = std::vector<rviz_rendering::PointCloud::Point>;
using VVPoint = std::vector<VPoint>;
std::mutex mutex_;
// point buffer
VVPoint new_points_;
VVPoint point_buf_;
bool new_points_received_{false};
// Ogre-rviz point clouds
std::vector<std::shared_ptr<rviz_rendering::PointCloud>> cloud_;
std::vector<double> box_size_;
std_msgs::msg::Header header_;
// Plugin properties
rviz_common::properties::EnumProperty * octree_render_property_;
rviz_common::properties::EnumProperty * octree_coloring_property_;
rviz_common::properties::IntProperty * tree_depth_property_;
rviz_common::properties::FloatProperty * alpha_property_;
rviz_common::properties::FloatProperty * max_height_property_;
rviz_common::properties::FloatProperty * min_height_property_;
double color_factor_{0.8};
};
template<typename OcTreeType>
class TemplatedOccupancyGridDisplay : public OccupancyGridDisplay
{
protected:
void processMessage(const octomap_msgs::msg::Octomap::ConstSharedPtr msg) override;
void setVoxelColor(
rviz_rendering::PointCloud::Point & new_point,
typename OcTreeType::NodeType & node, double min_z, double max_z);
bool checkType(std::string type_id);
};
} // namespace octomap_rviz_plugins
#endif // OCTOMAP_RVIZ_PLUGINS__OCCUPANCY_GRID_DISPLAY_HPP_