00001 // -*- mode: c++; -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2014, 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 Willow Garage 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 JSK_RVIZ_PLUGINS_SPARSE_OCCUPANCY_GRID_ARRAY_DISPLAY_H_ 00037 #define JSK_RVIZ_PLUGINS_SPARSE_OCCUPANCY_GRID_ARRAY_DISPLAY_H_ 00038 00039 #include <jsk_pcl_ros/SparseOccupancyGridArray.h> 00040 #include <rviz/message_filter_display.h> 00041 #include <rviz/properties/float_property.h> 00042 #include <rviz/properties/bool_property.h> 00043 #include <rviz/ogre_helpers/shape.h> 00044 #include <rviz/properties/color_property.h> 00045 #include <rviz/ogre_helpers/point_cloud.h> 00046 00047 namespace jsk_rviz_plugin 00048 { 00049 class SparseOccupancyGridArrayDisplay: public rviz::MessageFilterDisplay<jsk_pcl_ros::SparseOccupancyGridArray> 00050 { 00051 Q_OBJECT 00052 public: 00053 typedef boost::shared_ptr<rviz::PointCloud> PointCloudPtr; 00054 SparseOccupancyGridArrayDisplay(); 00055 virtual ~SparseOccupancyGridArrayDisplay(); 00056 protected: 00057 virtual void onInitialize(); 00058 virtual void reset(); 00059 virtual void allocateCloudsAndNodes(const size_t num); 00060 virtual QColor gridColor(double value); 00061 virtual QColor axisColor(const Ogre::Quaternion& q, 00062 const Ogre::Vector3& p); 00063 // ?? do we need to track the planes for efficient rendering? 00064 rviz::ColorProperty* max_color_property_; 00065 rviz::ColorProperty* min_color_property_; 00066 rviz::FloatProperty* alpha_property_; 00067 rviz::BoolProperty* axis_color_property_; 00068 double alpha_; 00069 std::vector<rviz::PointCloud*> clouds_; 00070 std::vector<Ogre::SceneNode*> nodes_; 00071 QColor max_color_; 00072 QColor min_color_; 00073 bool axis_color_; 00074 private: 00075 void processMessage( 00076 const jsk_pcl_ros::SparseOccupancyGridArray::ConstPtr& msg); 00077 private Q_SLOTS: 00078 void updateAlpha(); 00079 void updateMaxColor(); 00080 void updateMinColor(); 00081 void updateAxisColor(); 00082 }; 00083 00084 } 00085 00086 #endif