ObjectDetectionDisplay.h

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#ifndef OBJECT_DETECTION_DISPLAY_H
#define OBJECT_DETECTION_DISPLAY_H

#ifndef Q_MOC_RUN
#include <map>
#include <boost/circular_buffer.hpp>
#include <tuw_object_msgs/ObjectDetection.h>
#include <rviz/message_filter_display.h>
#include "ObjectDetection/common.h"
#endif

namespace Ogre
{
class SceneNode;
}

namespace rviz
{
class ColorProperty;
class FloatProperty;
class BoolProperty;
class EnumProperty;
}

// All the source in this plugin is in its own namespace.  This is not
// required but is good practice.
namespace tuw_object_rviz
{

class ObjectDetectionVisual;

// Here we declare our new subclass of rviz::Display.  Every display
// which can be listed in the "Displays" panel is a subclass of
// rviz::Display.
class ObjectDetectionDisplay: public rviz::MessageFilterDisplay<tuw_object_msgs::ObjectDetection>
{
Q_OBJECT
public:
  // Constructor.  pluginlib::ClassLoader creates instances by calling
  // the default constructor, so make sure you have one.
  ObjectDetectionDisplay();
  virtual ~ObjectDetectionDisplay();

  // Overrides of protected virtual functions from Display.  As much
  // as possible, when Displays are not enabled, they should not be
  // subscribed to incoming data and should not show anything in the
  // 3D view.  These functions are where these connections are made
  // and broken.
protected:
  virtual void onInitialize();

  // A helper to clear this display back to the initial state.
  virtual void reset();

  // These Qt slots get connected to signals indicating changes in the user-editable properties.
private Q_SLOTS:
  virtual void stylesChanged();

  // Function to handle an incoming ROS message.
private:
  void processMessage( const tuw_object_msgs::ObjectDetection::ConstPtr& msg );

  // Storage of the visual
  std::vector<boost::shared_ptr<ObjectDetectionVisual> > visual_;

  // Properties
  rviz::BoolProperty* render_covariances_property_;
  rviz::BoolProperty* render_ids_property_;
  rviz::BoolProperty* render_sensor_type_property_;
  rviz::BoolProperty* render_pose_property_;
  rviz::ColorProperty* color_property_;
  rviz::EnumProperty* style_property_;
};

} // end namespace tuw_object_rviz

#endif // OBJECT_DETECTION_DISPLAY_H
// %EndTag(FULL_SOURCE)%