ClusterLabelDisplay.hpp

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/*
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 *
 *  Robot Operating System code by the University of Osnabrück
 *  Copyright (c) 2015, University of Osnabrück
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 *
 *  ClusterLabelDisplay.hpp
 *
 *
 *  authors:
 *
 *    Kristin Schmidt <krschmidt@uni-osnabrueck.de>
 *    Jan Philipp Vogtherr <jvogtherr@uni-osnabrueck.de>
 */
 
#ifndef CLUSTER_LABEL_DISPLAY_HPP
#define CLUSTER_LABEL_DISPLAY_HPP
 
#include <Types.hpp>
 
#include <vector>
#include <map>
#include <memory>
#include <boost/lexical_cast.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/filesystem.hpp>
#include <boost/algorithm/string.hpp>
 
#include <string>
#include <math.h>
#include <algorithm>
 
#include <QMessageBox>
#include <QApplication>
#include <QIcon>
 
#include <ros/ros.h>
#include <ros/console.h>
#include <rviz/viewport_mouse_event.h>
#include <rviz/visualization_manager.h>
#include <rviz/visualization_frame.h>
#include <rviz/geometry.h>
 
#include <rviz/display_context.h>
#include <rviz/frame_manager.h>
#include <rviz/display.h>
 
#include <rviz/tool.h>
#include <rviz/tool_manager.h>
#include <rviz/display_group.h>
 
#include <std_msgs/Int32.h>
#include <geometry_msgs/Point32.h>
#include <geometry_msgs/PoseStamped.h>
#include <mesh_msgs/MeshGeometryStamped.h>
#include <mesh_msgs/MeshGeometry.h>
#include <mesh_msgs/GetGeometry.h>
#include <mesh_msgs/GetLabeledClusters.h>
 
#ifndef Q_MOC_RUN
#include <rviz/mesh_loader.h>
 
#include <OGRE/OgreManualObject.h>
#include <OGRE/OgreSceneNode.h>
#include <OGRE/OgreSceneManager.h>
#include <OGRE/OgreEntity.h>
#include <OGRE/OgreStringConverter.h>
#include <OGRE/OgreMaterialManager.h>
#include <OGRE/OgreRay.h>
#include <OGRE/OgreSceneQuery.h>
#include <OGRE/OgreColourValue.h>
 
#endif
 
namespace rviz
{
// Forward declaration
class BoolProperty;
class ColorProperty;
class FloatProperty;
class IntProperty;
class EnumProperty;
class StringProperty;
 
}  // End namespace rviz
 
namespace rviz_map_plugin
{
using std::map;
using std::shared_ptr;
using std::string;
using std::unique_ptr;
using std::vector;
 
// Forward declaration
class ClusterLabelVisual;
class ClusterLabelTool;
 
class ClusterLabelDisplay : public rviz::Display
{
  Q_OBJECT
 
public:
  ClusterLabelDisplay();
 
  ~ClusterLabelDisplay();
 
  void addLabel(string label, vector<uint32_t> faces);
 
  void onEnable();
 
  void onDisable();
 
Q_SIGNALS:
 
  void signalAddLabel(Cluster cluster);
 
public Q_SLOTS:  // not sure wether any of those actually need to be q slots ...
 
  void notifyLabelTool();
 
  shared_ptr<Geometry> getGeometry();
 
  void setData(shared_ptr<Geometry> geometry, vector<Cluster> clusters);
 
private Q_SLOTS:
 
  void updateMap();
 
  void updateColors();
 
  void updateSphereSize();
 
  void updatePhantomVisual();
 
  void changeVisual();
 
private:
  void onInitialize();
 
  void initializeLabelTool();
 
  void createVisualsFromClusterList();
 
  void createPhantomVisual();
 
  void fillPropertyOptions();
 
  shared_ptr<Geometry> m_geometry;
 
  vector<shared_ptr<ClusterLabelVisual>> m_visuals;
 
  uint32_t m_activeVisualId = 0;
 
  unique_ptr<ClusterLabelVisual> m_phantomVisual;
 
  vector<Cluster> m_clusterList;
 
  ClusterLabelTool* m_tool;
 
  rviz::EnumProperty* m_activeVisualProperty;
 
  rviz::FloatProperty* m_alphaProperty;
 
  rviz::Property* m_colorsProperty;
 
  std::vector<rviz::ColorProperty*> m_colorProperties;
 
  rviz::FloatProperty* m_sphereSizeProperty;
 
  rviz::BoolProperty* m_phantomVisualProperty;
 
  int m_labelToolVisualIndex = 0;
 
  bool has_data = false;
};
 
}  // end namespace rviz_map_plugin
 
#endif