bounding_box_display.h

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// -*- mode: c++; -*-
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#ifndef JSK_RVIZ_PLUGINS_BOUDNING_BOX_DISPLAY_H_
#define JSK_RVIZ_PLUGINS_BOUDNING_BOX_DISPLAY_H_
 
#ifndef Q_MOC_RUN
#include "bounding_box_display_common.h"
#include <jsk_recognition_msgs/BoundingBoxArray.h>
#include <rviz/properties/color_property.h>
#include <rviz/properties/bool_property.h>
#include <rviz/properties/float_property.h>
#include <rviz/properties/enum_property.h>
#include <rviz/message_filter_display.h>
#include <rviz/ogre_helpers/shape.h>
#include <rviz/ogre_helpers/billboard_line.h>
#include <rviz/ogre_helpers/arrow.h>
#include <OGRE/OgreSceneNode.h>
#endif
 
namespace jsk_rviz_plugins
{
 
  class BoundingBoxDisplay: public BoundingBoxDisplayCommon<jsk_recognition_msgs::BoundingBox>
  {
    Q_OBJECT
  public:
    BoundingBoxDisplay();
    virtual ~BoundingBoxDisplay();
  protected:
    void onInitialize();
    virtual void reset();
 
    bool only_edge_;
    bool show_coords_;
    // Properties
    rviz::EnumProperty* coloring_property_;
    rviz::ColorProperty* color_property_;
    rviz::EnumProperty* alpha_method_property_;
    rviz::FloatProperty* alpha_property_;
    rviz::FloatProperty* alpha_min_property_;
    rviz::FloatProperty* alpha_max_property_;
    rviz::BoolProperty* only_edge_property_;
    rviz::FloatProperty* line_width_property_;
    rviz::BoolProperty* show_coords_property_;
    rviz::FloatProperty* value_threshold_property_;
 
    jsk_recognition_msgs::BoundingBox::ConstPtr latest_msg_;
  protected Q_SLOTS:
    void updateColor();
    void updateAlpha();
    void updateAlphaMin();
    void updateAlphaMax();
    void updateOnlyEdge();
    void updateColoring();
    void updateAlphaMethod();
    void updateLineWidth();
    void updateShowCoords();
    void updateValueThreshold();
  private:
    void processMessage(
      const jsk_recognition_msgs::BoundingBox::ConstPtr& msg);
  };
 
}  // namespace jsk_rviz_plugins
 
#endif  // JSK_RVIZ_PLUGINS_BOUDNING_BOX_DISPLAY_H_