ClusterLabelVisual.hpp

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 *  Robot Operating System code by the University of Osnabrück
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 *  ClusterLabelVisual.hpp
 *
 *
 *  authors:
 *
 *    Kristin Schmidt <krschmidt@uni-osnabrueck.de>
 */
 
#ifndef CLUSTER_LABEL_VISUAL_HPP
#define CLUSTER_LABEL_VISUAL_HPP
 
#include <Types.hpp>
 
#include <ros/ros.h>
 
#include <rviz/display.h>
 
#include <mesh_msgs/MeshGeometryStamped.h>
#include <mesh_msgs/MeshGeometry.h>
#include <OGRE/OgreColourValue.h>
#include <OGRE/OgrePrerequisites.h>
#include <OGRE/OgreMesh.h>
#include <OGRE/OgreSubMesh.h>
 
#include <memory>
#include <vector>
 
namespace Ogre
{
// Forward declaration
class SceneNode;
class Mesh;
}  // End namespace Ogre
 
namespace rviz_map_plugin
{
class ClusterLabelVisual
{
public:
  ClusterLabelVisual(rviz::DisplayContext* context, std::string labelId);
 
  ClusterLabelVisual(rviz::DisplayContext* context, std::string labelId, std::shared_ptr<Geometry> geometry);
 
  ~ClusterLabelVisual();
 
  ClusterLabelVisual(const ClusterLabelVisual&) = delete;
 
  ClusterLabelVisual& operator=(const ClusterLabelVisual&) = delete;
 
  void reset();
 
  void setGeometry(std::shared_ptr<Geometry> geometry);
 
  void setFacesInCluster(const std::vector<uint32_t>& faces);
 
  void setColor(Ogre::ColourValue facesColor, float alpha = 1.0f);
 
  std::vector<uint32_t> getFaces()
  {
    return m_faces;
  };
 
private:
  void initMaterial();
 
  rviz::DisplayContext* m_displayContext;
  Ogre::SceneNode* m_sceneNode;
  std::string m_labelId;
 
  Ogre::MeshPtr m_mesh;
  Ogre::SubMesh* m_subMesh;
  Ogre::MaterialPtr m_material;
 
  Ogre::ColourValue m_color;
 
  std::shared_ptr<Geometry> m_geometry;
  std::vector<uint32_t> m_faces;
};
 
}  // end namespace rviz_map_plugin
 
#endif