bounding_box_array_display.h
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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 JSK Lab nor the names of its
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00020  *     from this software without specific prior written permission.
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00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 
00036 #ifndef JSK_RVIZ_PLUGINS_BOUDNING_BOX_ARRAY_DISPLAY_H_
00037 #define JSK_RVIZ_PLUGINS_BOUDNING_BOX_ARRAY_DISPLAY_H_
00038 
00039 #include <jsk_recognition_msgs/BoundingBoxArray.h>
00040 #include <rviz/properties/color_property.h>
00041 #include <rviz/properties/bool_property.h>
00042 #include <rviz/properties/float_property.h>
00043 #include <rviz/properties/enum_property.h>
00044 #include <rviz/message_filter_display.h>
00045 #include <rviz/ogre_helpers/shape.h>
00046 #include <rviz/ogre_helpers/billboard_line.h>
00047 #include <rviz/ogre_helpers/arrow.h>
00048 #include <OGRE/OgreSceneNode.h>
00049 
00050 namespace jsk_rviz_plugins
00051 {
00052   class BoundingBoxArrayDisplay:
00053     public rviz::MessageFilterDisplay<jsk_recognition_msgs::BoundingBoxArray>
00054   {
00055     Q_OBJECT
00056   public:
00057     typedef boost::shared_ptr<rviz::Shape> ShapePtr;
00058     typedef boost::shared_ptr<rviz::BillboardLine> BillboardLinePtr;
00059     typedef boost::shared_ptr<rviz::Arrow> ArrowPtr;
00060     BoundingBoxArrayDisplay();
00061     virtual ~BoundingBoxArrayDisplay();
00062   protected:
00063     virtual void onInitialize();
00064     virtual void reset();
00065     void allocateShapes(int num);
00066     void allocateBillboardLines(int num);
00067     void allocateCoords(int num);
00068     QColor getColor(size_t index,
00069                     const jsk_recognition_msgs::BoundingBox& box,
00070                     double min_value, double max_value);
00071     virtual bool isValid(
00072       const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& msg);
00073     virtual void hideCoords();
00074     virtual void showCoords(
00075       const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& msg);
00076     virtual void showEdges(
00077       const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& msg);
00078     virtual void showBoxes(
00079       const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& msg);
00080 
00081     rviz::EnumProperty* coloring_property_;
00082     rviz::ColorProperty* color_property_;
00083     rviz::FloatProperty* alpha_property_;
00084     rviz::BoolProperty* only_edge_property_;
00085     rviz::FloatProperty* line_width_property_;
00086     rviz::BoolProperty* show_coords_property_;
00087     QColor color_;
00088     double alpha_;
00089     bool only_edge_;
00090     bool show_coords_;
00091     std::string coloring_method_;
00092     double line_width_;
00093     std::vector<ShapePtr> shapes_;
00094     std::vector<BillboardLinePtr> edges_;
00095     std::vector<Ogre::SceneNode*> coords_nodes_;
00096     std::vector<std::vector<ArrowPtr> > coords_objects_;
00097 
00098     jsk_recognition_msgs::BoundingBoxArray::ConstPtr latest_msg_;
00099   private Q_SLOTS:
00100     void updateColor();
00101     void updateAlpha();
00102     void updateOnlyEdge();
00103     void updateColoring();
00104     void updateLineWidth();
00105     void updateShowCoords();
00106   private:
00107     void processMessage(
00108       const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& msg);
00109   };
00110 
00111 }
00112 #endif


jsk_rviz_plugins
Author(s): Kei Okada , Yohei Kakiuchi , Shohei Fujii , Ryohei Ueda
autogenerated on Sun Sep 13 2015 22:29:03