bounding_box_array_display.h

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// -*- mode: c++; -*-
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#ifndef JSK_RVIZ_PLUGINS_BOUDNING_BOX_ARRAY_DISPLAY_H_
#define JSK_RVIZ_PLUGINS_BOUDNING_BOX_ARRAY_DISPLAY_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>

namespace jsk_rviz_plugins
{
  class BoundingBoxArrayDisplay:
    public rviz::MessageFilterDisplay<jsk_recognition_msgs::BoundingBoxArray>
  {
    Q_OBJECT
  public:
    typedef boost::shared_ptr<rviz::Shape> ShapePtr;
    typedef boost::shared_ptr<rviz::BillboardLine> BillboardLinePtr;
    typedef boost::shared_ptr<rviz::Arrow> ArrowPtr;
    BoundingBoxArrayDisplay();
    virtual ~BoundingBoxArrayDisplay();
  protected:
    virtual void onInitialize();
    virtual void reset();
    void allocateShapes(int num);
    void allocateBillboardLines(int num);
    void allocateCoords(int num);
    QColor getColor(size_t index,
                    const jsk_recognition_msgs::BoundingBox& box,
                    double min_value, double max_value);
    virtual bool isValid(
      const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& msg);
    virtual void hideCoords();
    virtual void showCoords(
      const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& msg);
    virtual void showEdges(
      const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& msg);
    virtual void showBoxes(
      const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& msg);

    rviz::EnumProperty* coloring_property_;
    rviz::ColorProperty* color_property_;
    rviz::FloatProperty* alpha_property_;
    rviz::BoolProperty* only_edge_property_;
    rviz::FloatProperty* line_width_property_;
    rviz::BoolProperty* show_coords_property_;
    QColor color_;
    double alpha_;
    bool only_edge_;
    bool show_coords_;
    std::string coloring_method_;
    double line_width_;
    std::vector<ShapePtr> shapes_;
    std::vector<BillboardLinePtr> edges_;
    std::vector<Ogre::SceneNode*> coords_nodes_;
    std::vector<std::vector<ArrowPtr> > coords_objects_;

    jsk_recognition_msgs::BoundingBoxArray::ConstPtr latest_msg_;
  private Q_SLOTS:
    void updateColor();
    void updateAlpha();
    void updateOnlyEdge();
    void updateColoring();
    void updateLineWidth();
    void updateShowCoords();
  private:
    void processMessage(
      const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& msg);
  };

}
#endif