polygon_array_display.h

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// -*- mode: c++ -*-
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#ifndef POLYGON_ARRAY_DISPLAY_H
#define POLYGON_ARRAY_DISPLAY_H
 
#ifndef Q_MOC_RUN
#include <jsk_recognition_msgs/PolygonArray.h>
#include <rviz/message_filter_display.h>
#include <rviz/properties/float_property.h>
#include <rviz/ogre_helpers/billboard_line.h>
#include <rviz/ogre_helpers/shape.h>
 
#include <OGRE/OgreSceneManager.h>
#include <OGRE/OgreSceneNode.h>
#include <OGRE/OgreManualObject.h>
#include <OGRE/OgreMaterialManager.h>
#include <OGRE/OgreTechnique.h>
#include <rviz/properties/color_property.h>
#include <rviz/properties/bool_property.h>
#include <rviz/properties/enum_property.h>
#include <rviz/ogre_helpers/billboard_line.h>
#include <rviz/ogre_helpers/arrow.h>
#endif
 
#include <ros/ros.h>
 
namespace jsk_rviz_plugins
{
  
  class PolygonArrayDisplay:
    public rviz::MessageFilterDisplay<jsk_recognition_msgs::PolygonArray>
  {
    Q_OBJECT
  public:
#if ROS_VERSION_MINIMUM(1,12,0)
    typedef std::shared_ptr<rviz::Arrow> ArrowPtr;
#else
    typedef boost::shared_ptr<rviz::Arrow> ArrowPtr;
#endif
    PolygonArrayDisplay();
    virtual ~PolygonArrayDisplay();
  protected:
    virtual void onInitialize();
    virtual void reset();
    virtual void updateSceneNodes(
      const jsk_recognition_msgs::PolygonArray::ConstPtr& msg);
    virtual void allocateMaterials(int num);
    virtual void updateLines(int num);
    virtual Ogre::ColourValue getColor(size_t index);
    virtual void processLine(
      const size_t i, const geometry_msgs::PolygonStamped& polygon);
    virtual void processPolygon(
      const size_t i, const geometry_msgs::PolygonStamped& polygon);
    virtual void processNormal(
      const size_t i, const geometry_msgs::PolygonStamped& polygon);
    virtual void processPolygonMaterial(const size_t i);
    virtual void processMessage(
      const jsk_recognition_msgs::PolygonArray::ConstPtr& msg);
    virtual bool getTransform(
      const std_msgs::Header &header,
      Ogre::Vector3& position, Ogre::Quaternion& orientation);
    rviz::ColorProperty* color_property_;
    rviz::FloatProperty* alpha_property_;
    rviz::BoolProperty* only_border_property_;
    // rviz::BoolProperty* auto_coloring_property_;
    rviz::EnumProperty* coloring_property_;
    rviz::BoolProperty* show_normal_property_;
    rviz::BoolProperty* enable_lighting_property_;
    rviz::FloatProperty* normal_length_property_;
    bool only_border_;
    bool enable_lighting_;
    std::string coloring_method_;
    bool show_normal_;
    double normal_length_;
    jsk_recognition_msgs::PolygonArray::ConstPtr latest_msg_;
    std::vector<Ogre::ManualObject*> manual_objects_;
    std::vector<Ogre::SceneNode*> scene_nodes_;
    std::vector<Ogre::SceneNode*> arrow_nodes_;
    std::vector<ArrowPtr> arrow_objects_;
    std::vector<Ogre::MaterialPtr> materials_;
    std::vector<rviz::BillboardLine*> lines_;
  private Q_SLOTS:
    void updateColoring();
    void updateOnlyBorder();
    void updateShowNormal();
    void updateEnableLighting();
    void updateNormalLength();
  private:
    
  };
}
 
#endif