ObjectDetectionVisual.h

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#ifndef OBJECT_DETECTION_VISUAL_H
#define OBJECT_DETECTION_VISUAL_H

#include <tuw_object_msgs/ObjectDetection.h>
#include <rviz/ogre_helpers/arrow.h>
#include <rviz/ogre_helpers/shape.h>
#include <ObjectDetection/CovarianceVisual.h>
#include <ObjectDetection/TextVisual.h>
#include <ObjectDetection/common.h>
#include <boost/format.hpp>

namespace Ogre
{
class Vector3;
class Quaternion;
class ColorValue;
}

namespace rviz
{
class Arrow;
class Shape;
class Shape;
class MovableText;
}

namespace tuw_object_rviz
{

// Declare the visual class for this display.
class ObjectDetectionVisual
{
public:
    // Constructor.  Creates the visual stuff and puts it into the
    // scene, but in an unconfigured state.
    ObjectDetectionVisual ( Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node );

    // Destructor.  Removes the visual stuff from the scene.
    virtual ~ObjectDetectionVisual();

    // Configure the visual to show the data in the message.
    virtual void setMessage ( const tuw_object_msgs::ObjectWithCovariance::ConstPtr& msg );

    // Set the pose of the coordinate frame the message refers to.
    // These could be done inside setMessage(), but that would require
    // calls to FrameManager and error handling inside setMessage(),
    // which doesn't seem as clean.  This way ObjectDetectionVisual is
    // only responsible for visualization.
    void setFramePosition ( const Ogre::Vector3& position );
    void setFrameOrientation ( const Ogre::Quaternion& orientation );

    //void setTransformPosition ( const Ogre::Vector3& position );
    //void setTransformOrientation ( const Ogre::Quaternion& orientation );

    void setTransform ( const Ogre::Vector3& position, const Ogre::Quaternion& orientation );

    // Set the scale of the visual, which is an user-editable
    // parameter and therefore don't come from the message.
    virtual void setScale ( float scale );

    // Set the color of the visual's Pose, which is an user-editable
    // parameter and therefore don't come from the message.
    virtual void setColor ( Ogre::ColourValue color );

    void setVisiblities ( bool render_covariance, bool render_id, bool render_sensor_type, bool render_pose );

    virtual void setStyle ( Styles style );

private:
    // The object implementing the actual pose shape
    boost::shared_ptr<rviz::Arrow> pose_;

    // the object implementing the center of the detection
    boost::shared_ptr<rviz::Shape> mean_;

    boost::shared_ptr<CovarianceVisual> covariance_;

    boost::shared_ptr<TextVisual> detection_id_;

protected:
    // A SceneNode whose pose is set to match the coordinate frame of
    // the Imu message header.
    Ogre::SceneNode* frame_node_;

    // The SceneManager, kept here only so the destructor can ask it to
    // destroy the ``frame_node_``.
    Ogre::SceneManager* scene_manager_;

    // The pose Shape object's scale
    float scale_;

    // The pose Shape object's color
    Ogre::ColourValue color_;

    // transform
    Ogre::Matrix4 transform_;
};

} // end namespace tuw_object_rviz

#endif // OBJECT_DETECTION_VISUAL_H