cam_display.hpp

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#pragma once
 
#include "etsi_its_cam_msgs/msg/cam.hpp"
 
#include "displays/CAM/cam_render_object.hpp"
 
#include "rviz_common/ros_topic_display.hpp"
#include "rviz_rendering/objects/movable_text.hpp"
#include "rviz_rendering/objects/shape.hpp"
 
#include <rclcpp/rclcpp.hpp>
 
namespace Ogre
{
class ManualObject;
}
 
namespace rviz_common
{
namespace properties
{
  class ColorProperty;
  class FloatProperty;
}  // namespace properties
}  // namespace rviz_common
 
namespace etsi_its_msgs
{
namespace displays
{
 
class CAMDisplay : public
  rviz_common::RosTopicDisplay<etsi_its_cam_msgs::msg::CAM>
{
  Q_OBJECT
 
public:
  CAMDisplay();
  ~CAMDisplay() override;
 
  void onInitialize() override;
 
  void reset() override;
 
protected:
  void processMessage(etsi_its_cam_msgs::msg::CAM::ConstSharedPtr msg) override;
  void update(float wall_dt, float ros_dt) override;
 
  Ogre::ManualObject * manual_object_;
 
  rclcpp::Node::SharedPtr rviz_node_;
 
  // Properties
  rviz_common::properties::BoolProperty *show_meta_, *show_station_id_, *show_speed_;
  rviz_common::properties::FloatProperty *buffer_timeout_, *bb_scale_, *char_height_;
  rviz_common::properties::ColorProperty *color_property_, *text_color_property_;
 
  std::unordered_map<int, CAMRenderObject> cams_;
  std::vector<std::shared_ptr<rviz_rendering::Shape>> bboxs_;
  std::vector<std::shared_ptr<rviz_rendering::MovableText>> texts_;
};
 
}  // namespace displays
}  // namespace etsi_its_msgs