Program Listing for File camera_info_display.hpp

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/*
 * Copyright (c) 2024, Open Source Robotics Foundation, Inc.
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#ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__CAMERA_INFO__CAMERA_INFO_DISPLAY_HPP_
#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__CAMERA_INFO__CAMERA_INFO_DISPLAY_HPP_

#ifndef Q_MOC_RUN

#include <memory>
#include <string>
#include <vector>

#include "rviz_default_plugins/visibility_control.hpp"

#include <rviz_common/message_filter_display.hpp>
#include <rviz_common/properties/property.hpp>
#include <rviz_common/properties/bool_property.hpp>
#include <rviz_common/properties/color_property.hpp>
#include <rviz_common/properties/float_property.hpp>
#include <rviz_common/properties/ros_topic_property.hpp>
#include <rviz_rendering/objects/billboard_line.hpp>
#include <rviz_rendering/objects/triangle_polygon.hpp>

#include <sensor_msgs/msg/camera_info.hpp>
#endif

namespace rviz_default_plugins
{
namespace displays
{
class RVIZ_DEFAULT_PLUGINS_PUBLIC CameraInfoDisplay
  : public rviz_common::MessageFilterDisplay<sensor_msgs::msg::CameraInfo>
{
  Q_OBJECT

public:
  CameraInfoDisplay();
  ~CameraInfoDisplay() override;

  // Overrides of public virtual functions from the Display class.
  void onInitialize() override;
  void reset() override;

protected:
  void processMessage(const sensor_msgs::msg::CameraInfo::ConstSharedPtr msg) override;

  void update(float wall_dt, float ros_dt) override;
  bool isSameCameraInfo(
    const sensor_msgs::msg::CameraInfo::ConstSharedPtr & camera_info);
  void createCameraInfoShapes(
    const sensor_msgs::msg::CameraInfo::ConstSharedPtr & camera_info);
  void addPointToEdge(
    const Ogre::Vector3 & point);
  void addPolygon(
    const Ogre::Vector3 & O, const Ogre::Vector3 & A, const Ogre::Vector3 & B, std::string name,
    bool use_color, bool upper_triangle);
  void prepareMaterial();

  std::vector<std::shared_ptr<rviz_rendering::TrianglePolygon>> polygons_;
  std::shared_ptr<rviz_rendering::BillboardLine> edges_;
  sensor_msgs::msg::CameraInfo::ConstSharedPtr camera_info_;
  Ogre::MaterialPtr material_;
  Ogre::TexturePtr texture_;

  double alpha_;
  double far_clip_distance_;
  QColor color_;
  QColor edge_color_;
  bool show_polygons_;
  bool show_edges_;
  bool not_show_side_polygons_;

  rviz_common::properties::FloatProperty * far_clip_distance_property_;
  rviz_common::properties::FloatProperty * alpha_property_;
  rviz_common::properties::ColorProperty * color_property_;
  rviz_common::properties::ColorProperty * edge_color_property_;
  rviz_common::properties::BoolProperty * show_polygons_property_;
  rviz_common::properties::BoolProperty * not_show_side_polygons_property_;
  rviz_common::properties::BoolProperty * show_edges_property_;

protected Q_SLOTS:
  void updateFarClipDistance();
  void updateAlpha();
  void updateColor();
  void updateShowEdges();
  void updateShowPolygons();
  void updateNotShowSidePolygons();
  void updateEdgeColor();
};
}  // namespace displays
}  // namespace rviz_default_plugins
#endif  // RVIZ_DEFAULT_PLUGINS__DISPLAYS__CAMERA_INFO__CAMERA_INFO_DISPLAY_HPP_