.. _program_listing_file__tmp_ws_src_vision_msgs_vision_msgs_rviz_plugins_include_vision_msgs_rviz_plugins_bounding_box_3d.hpp:

Program Listing for File bounding_box_3d.hpp
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|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_vision_msgs_vision_msgs_rviz_plugins_include_vision_msgs_rviz_plugins_bounding_box_3d.hpp>` (``/tmp/ws/src/vision_msgs/vision_msgs_rviz_plugins/include/vision_msgs_rviz_plugins/bounding_box_3d.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2023 Georg Novotny
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef VISION_MSGS_RVIZ_PLUGINS__BOUNDING_BOX_3D_HPP_
   #define VISION_MSGS_RVIZ_PLUGINS__BOUNDING_BOX_3D_HPP_
   
   #include <QWidget>
   #include <memory>
   #include <rviz_common/display.hpp>
   #include <rviz_common/properties/bool_property.hpp>
   #include <rviz_common/properties/float_property.hpp>
   #include <rviz_common/properties/color_property.hpp>
   #include <rviz_default_plugins/displays/marker/marker_common.hpp>
   #include <rviz_default_plugins/displays/marker_array/marker_array_display.hpp>
   #include <rviz_default_plugins/displays/marker/markers/text_view_facing_marker.hpp>
   #include <rviz_rendering/objects/billboard_line.hpp>
   
   #include "vision_msgs_rviz_plugins/visibility_control.hpp"
   #include "vision_msgs_rviz_plugins/bounding_box_3d_common.hpp"
   
   typedef std::shared_ptr<rviz_rendering::BillboardLine> BillboardLinePtr;
   
   namespace rviz_plugins
   {
   
   class BoundingBox3DDisplay
     : public BoundingBox3DCommon<vision_msgs::msg::BoundingBox3D>
   {
     Q_OBJECT
   
   public:
     using Marker = visualization_msgs::msg::Marker;
     using BoundingBox3D = vision_msgs::msg::BoundingBox3D;
   
     BOUNDING_BOX_3D_DISPLAY_HPP_PUBLIC
     BoundingBox3DDisplay();
     BOUNDING_BOX_3D_DISPLAY_HPP_PUBLIC
     ~BoundingBox3DDisplay();
     BOUNDING_BOX_3D_DISPLAY_HPP_PUBLIC
     void onInitialize() override;
     BOUNDING_BOX_3D_DISPLAY_HPP_PUBLIC
     void load(const rviz_common::Config & config) override;
     BOUNDING_BOX_3D_DISPLAY_HPP_PUBLIC
     void update(float wall_dt, float ros_dt) override;
     BOUNDING_BOX_3D_DISPLAY_HPP_PUBLIC
     void reset() override;
   
   private:
     // Convert boxes into markers, push them to the display queue
     void processMessage(BoundingBox3D::ConstSharedPtr msg) override;
     BoundingBox3D::ConstSharedPtr latest_msg;
   
   protected:
     bool only_edge_;
     rviz_common::properties::BoolProperty * only_edge_property_;
     rviz_common::properties::FloatProperty * line_width_property_;
     rviz_common::properties::FloatProperty * alpha_property_;
     rviz_common::properties::ColorProperty * color_property_;
   
   protected Q_SLOTS:
     void updateEdge();
     void updateLineWidth();
     void updateAlpha();
     void updateColor();
   };
   }  // namespace rviz_plugins
   
   #endif  // VISION_MSGS_RVIZ_PLUGINS__BOUNDING_BOX_3D_HPP_