textured_marker_plugin.h
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29 
30 #ifndef MAPVIZ_PLUGINS_TEXTURED_MARKER_PLUGIN_H_
31 #define MAPVIZ_PLUGINS_TEXTURED_MARKER_PLUGIN_H_
32 
33 // C++ standard libraries
34 #include <string>
35 #include <list>
36 #include <map>
37 
38 #include <mapviz/mapviz_plugin.h>
39 
40 // QT libraries
41 #include <QGLWidget>
42 #include <QObject>
43 #include <QWidget>
44 #include <QColor>
45 
46 #include <opencv2/core/core.hpp>
47 
48 // ROS libraries
49 #include <ros/ros.h>
50 #include <tf/transform_datatypes.h>
51 #include <marti_visualization_msgs/TexturedMarker.h>
52 #include <marti_visualization_msgs/TexturedMarkerArray.h>
53 
54 
55 #include <mapviz/map_canvas.h>
56 
57 // QT autogenerated files
58 #include "ui_textured_marker_config.h"
59 
60 Q_DECLARE_METATYPE(marti_visualization_msgs::TexturedMarkerConstPtr);
61 Q_DECLARE_METATYPE(marti_visualization_msgs::TexturedMarkerArrayConstPtr);
62 
63 namespace mapviz_plugins
64 {
66  {
67  Q_OBJECT
68 
69  public:
71  virtual ~TexturedMarkerPlugin();
72 
73  bool Initialize(QGLWidget* canvas);
74  void Shutdown() {}
75 
76  void Draw(double x, double y, double scale);
77 
78  void Transform();
79 
80  void LoadConfig(const YAML::Node& node, const std::string& path);
81  void SaveConfig(YAML::Emitter& emitter, const std::string& path);
82 
83  QWidget* GetConfigWidget(QWidget* parent);
84 
85  Q_SIGNALS:
86  void MarkerReceived(const marti_visualization_msgs::TexturedMarkerConstPtr marker);
87  void MarkersReceived(const marti_visualization_msgs::TexturedMarkerArrayConstPtr markers);
88 
89  protected:
90  void PrintError(const std::string& message);
91  void PrintInfo(const std::string& message);
92  void PrintWarning(const std::string& message);
93 
94  protected Q_SLOTS:
95  void SetAlphaLevel(int alpha);
96  void SelectTopic();
97  void TopicEdited();
98  void ClearHistory();
99  void ProcessMarker(const marti_visualization_msgs::TexturedMarkerConstPtr marker);
100  void ProcessMarkers(const marti_visualization_msgs::TexturedMarkerArrayConstPtr markers);
101 
102  private:
103  float alphaVal_;
104 
105  struct MarkerData
106  {
109 
110  float alpha_;
111 
112  std::vector<uint8_t> texture_;
113  int32_t texture_id_;
114  int32_t texture_size_;
115  float texture_x_;
116  float texture_y_;
117 
118  std::string encoding_;
119 
120  std::vector<tf::Vector3> quad_;
121  std::vector<tf::Vector3> transformed_quad_;
122 
123  std::string source_frame_;
124 
126  };
127 
128  Ui::textured_marker_config ui_;
129  QWidget* config_widget_;
130 
131  std::string topic_;
132 
135 
136  std::map<std::string, std::map<int, MarkerData> > markers_;
137 
139 
140  void ProcessMarker(const marti_visualization_msgs::TexturedMarker& marker);
141 
142  void MarkerCallback(const marti_visualization_msgs::TexturedMarkerConstPtr marker);
143 
144  void MarkerArrayCallback(
145  const marti_visualization_msgs::TexturedMarkerArrayConstPtr markers);
146  };
147 }
148 
149 #endif // MAPVIZ_PLUGINS_TEXTURED_MARKER_PLUGIN_H_
void MarkersReceived(const marti_visualization_msgs::TexturedMarkerArrayConstPtr markers)
void PrintInfo(const std::string &message)
void MarkerArrayCallback(const marti_visualization_msgs::TexturedMarkerArrayConstPtr markers)
void ProcessMarkers(const marti_visualization_msgs::TexturedMarkerArrayConstPtr markers)
void LoadConfig(const YAML::Node &node, const std::string &path)
void PrintError(const std::string &message)
std::map< std::string, std::map< int, MarkerData > > markers_
void MarkerCallback(const marti_visualization_msgs::TexturedMarkerConstPtr marker)
void PrintWarning(const std::string &message)
void MarkerReceived(const marti_visualization_msgs::TexturedMarkerConstPtr marker)
void SaveConfig(YAML::Emitter &emitter, const std::string &path)
Q_DECLARE_METATYPE(marti_visualization_msgs::TexturedMarkerConstPtr)
void ProcessMarker(const marti_visualization_msgs::TexturedMarkerConstPtr marker)
void Draw(double x, double y, double scale)


mapviz_plugins
Author(s): Marc Alban
autogenerated on Fri Dec 16 2022 03:59:33