00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2015, JSK Lab 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the JSK Lab nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 #ifndef POLYGON_ARRAY_DISPLAY_H 00037 #define POLYGON_ARRAY_DISPLAY_H 00038 00039 #include <jsk_recognition_msgs/PolygonArray.h> 00040 #include <rviz/message_filter_display.h> 00041 #include <rviz/properties/float_property.h> 00042 #include <rviz/ogre_helpers/billboard_line.h> 00043 #include <rviz/ogre_helpers/shape.h> 00044 00045 #include <OGRE/OgreSceneNode.h> 00046 #include <OGRE/OgreManualObject.h> 00047 #include <OGRE/OgreMaterialManager.h> 00048 #include <rviz/properties/color_property.h> 00049 #include <rviz/properties/bool_property.h> 00050 #include <rviz/properties/enum_property.h> 00051 #include <rviz/ogre_helpers/billboard_line.h> 00052 #include <rviz/ogre_helpers/arrow.h> 00053 00054 namespace jsk_rviz_plugins 00055 { 00056 00057 class PolygonArrayDisplay: 00058 public rviz::MessageFilterDisplay<jsk_recognition_msgs::PolygonArray> 00059 { 00060 Q_OBJECT 00061 public: 00062 typedef boost::shared_ptr<rviz::Arrow> ArrowPtr; 00063 PolygonArrayDisplay(); 00064 virtual ~PolygonArrayDisplay(); 00065 protected: 00066 virtual void onInitialize(); 00067 virtual void reset(); 00068 virtual void updateSceneNodes( 00069 const jsk_recognition_msgs::PolygonArray::ConstPtr& msg); 00070 virtual void allocateMaterials(int num); 00071 virtual void updateLines(int num); 00072 virtual Ogre::ColourValue getColor(size_t index); 00073 virtual void processLine( 00074 const size_t i, const geometry_msgs::PolygonStamped& polygon); 00075 virtual void processPolygon( 00076 const size_t i, const geometry_msgs::PolygonStamped& polygon); 00077 virtual void processNormal( 00078 const size_t i, const geometry_msgs::PolygonStamped& polygon); 00079 virtual void processPolygonMaterial(const size_t i); 00080 virtual void processMessage( 00081 const jsk_recognition_msgs::PolygonArray::ConstPtr& msg); 00082 rviz::ColorProperty* color_property_; 00083 rviz::FloatProperty* alpha_property_; 00084 rviz::BoolProperty* only_border_property_; 00085 // rviz::BoolProperty* auto_coloring_property_; 00086 rviz::EnumProperty* coloring_property_; 00087 rviz::BoolProperty* show_normal_property_; 00088 rviz::FloatProperty* normal_length_property_; 00089 bool only_border_; 00090 std::string coloring_method_; 00091 bool show_normal_; 00092 double normal_length_; 00093 jsk_recognition_msgs::PolygonArray::ConstPtr latest_msg_; 00094 std::vector<Ogre::ManualObject*> manual_objects_; 00095 std::vector<Ogre::SceneNode*> scene_nodes_; 00096 std::vector<Ogre::SceneNode*> arrow_nodes_; 00097 std::vector<ArrowPtr> arrow_objects_; 00098 std::vector<Ogre::MaterialPtr> materials_; 00099 std::vector<rviz::BillboardLine*> lines_; 00100 private Q_SLOTS: 00101 void updateColoring(); 00102 void updateOnlyBorder(); 00103 void updateShowNormal(); 00104 void updateNormalLength(); 00105 private: 00106 00107 }; 00108 } 00109 00110 #endif 00111