Program Listing for File perception_widget.hpp
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/* Author: Mohamad Ayman */
#pragma once
// Qt
class QComboBox;
class QGroupBox;
class QLineEdit;
// SA
#include <moveit_setup_framework/qt/setup_step_widget.hpp>
#include <moveit_setup_app_plugins/perception.hpp>
namespace moveit_setup
{
namespace app
{
// ******************************************************************************************
// User Interface for setting up 3D sensor config
// ******************************************************************************************
class PerceptionWidget : public SetupStepWidget
{
Q_OBJECT
public:
// ******************************************************************************************
// Public Functions
// ******************************************************************************************
void onInit() override;
void focusGiven() override;
bool focusLost() override;
void loadSensorPluginsComboBox();
SetupStep& getSetupStep() override
{
return setup_step_;
}
// ******************************************************************************************
// Qt Components
// ******************************************************************************************
QComboBox* sensor_plugin_field_;
// Group form for each plugin option
QGroupBox* point_cloud_group_;
QGroupBox* depth_map_group_;
// Point Cloud plugin fields
QLineEdit* point_cloud_topic_field_;
QLineEdit* max_range_field_;
QLineEdit* point_subsample_field_;
QLineEdit* padding_offset_field_;
QLineEdit* padding_scale_field_;
QLineEdit* max_update_rate_field_;
QLineEdit* filtered_cloud_topic_field_;
// Depth Map plugin fields
QLineEdit* image_topic_field_;
QLineEdit* queue_size_field_;
QLineEdit* near_clipping_field_;
QLineEdit* far_clipping_field_;
QLineEdit* shadow_threshold_field_;
QLineEdit* depth_padding_scale_field_;
QLineEdit* depth_padding_offset_field_;
QLineEdit* depth_filtered_cloud_topic_field_;
QLineEdit* depth_max_update_rate_field_;
private Q_SLOTS:
// ******************************************************************************************
// Slot Event Functions
// ******************************************************************************************
void sensorPluginChanged(int index);
private:
// ******************************************************************************************
// Variables
// ******************************************************************************************
Perception setup_step_;
};
} // namespace app
} // namespace moveit_setup