MapDisplay.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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 *
 *  MapDisplay.hpp
 *
 *
 *  authors:
 *
 *    Kristin Schmidt <krschmidt@uni-osnabrueck.de>
 *    Jan Philipp Vogtherr <jvogtherr@uni-osnabrueck.de>
 */
 
#ifndef MAP_DISPLAY_HPP
#define MAP_DISPLAY_HPP
 
#include <Types.hpp>
#include "RvizFileProperty.hpp"
 
#include <vector>
#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 <map>
 
#include <QMessageBox>
#include <QApplication>
#include <QIcon>
#include <QString>
 
#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/config.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>
 
#include <hdf5_map_io/hdf5_map_io.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
 
#include <ClusterLabelDisplay.hpp>
#include <MeshDisplay.hpp>
 
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::shared_ptr;
using std::string;
using std::unique_ptr;
using std::vector;
 
class MapDisplay : public rviz::Display
{
  Q_OBJECT
 
public:
  MapDisplay();
 
  ~MapDisplay();
 
  virtual void load(const rviz::Config& config);
 
public Q_SLOTS:
 
  void saveLabel(Cluster cluster);
 
  shared_ptr<Geometry> getGeometry();
 
private Q_SLOTS:
 
  void updateMap();
 
private:
  void onInitialize();
 
  void onEnable();
 
  void onDisable();
 
  bool loadData();
 
  // TODO: make more efficient - currently everything is stored in the MapDisplay, the MeshDisplay and the MeshVisual
  shared_ptr<Geometry> m_geometry;
  vector<Material> m_materials;
  vector<Texture> m_textures;
  vector<Color> m_colors;
  vector<Normal> m_normals;
  vector<TexCoords> m_texCoords;
  vector<Cluster> m_clusterList;
 
  std::map<std::string, std::vector<float>> m_costs;
 
  std::shared_ptr<ros::NodeHandle> m_nh;
  std::shared_ptr<ros::NodeHandle> m_nh_p;
 
  rviz::FileProperty* m_mapFilePath;
  std::string m_map_file_loaded;
 
  rviz_map_plugin::ClusterLabelDisplay* m_clusterLabelDisplay;
  rviz_map_plugin::MeshDisplay* m_meshDisplay;
 
  rviz::Display* createDisplay(const QString& class_id);
};
 
}  // end namespace rviz_map_plugin
 
#endif