segment_array_display.h

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// -*- mode: c++; -*-
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#ifndef JSK_RVIZ_PLUGINS_SEGMENT_ARRAY_DISPLAY_H_
#define JSK_RVIZ_PLUGINS_SEGMENT_ARRAY_DISPLAY_H_
 
#ifndef Q_MOC_RUN
#include <jsk_recognition_msgs/SegmentArray.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/OgreSceneManager.h>
#include <OGRE/OgreSceneNode.h>
#endif
 
namespace jsk_rviz_plugins
{
  class SegmentArrayDisplay:
    public rviz::MessageFilterDisplay<jsk_recognition_msgs::SegmentArray>
  {
    Q_OBJECT
  public:
#if ROS_VERSION_MINIMUM(1,12,0)
    typedef std::shared_ptr<rviz::BillboardLine> BillboardLinePtr;
#else
    typedef boost::shared_ptr<rviz::BillboardLine> BillboardLinePtr;
#endif
    SegmentArrayDisplay();
    virtual ~SegmentArrayDisplay();
  protected:
    virtual void onInitialize();
    virtual void reset();
    void allocateBillboardLines(int num);
    QColor getColor(size_t index);
    virtual void showEdges(
      const jsk_recognition_msgs::SegmentArray::ConstPtr& msg);
 
    rviz::EnumProperty* coloring_property_;
    rviz::ColorProperty* color_property_;
    rviz::FloatProperty* alpha_property_;
    rviz::FloatProperty* line_width_property_;
    QColor color_;
    double alpha_;
    std::string coloring_method_;
    double line_width_;
    std::vector<BillboardLinePtr> edges_;
 
    jsk_recognition_msgs::SegmentArray::ConstPtr latest_msg_;
  private Q_SLOTS:
    void updateColor();
    void updateAlpha();
    void updateColoring();
    void updateLineWidth();
  private:
    void processMessage(
      const jsk_recognition_msgs::SegmentArray::ConstPtr& msg);
  };
 
}
#endif