ogre_panel.h

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#ifndef ROBOT_NAV_RVIZ_PLUGINS_OGRE_PANEL_H
#define ROBOT_NAV_RVIZ_PLUGINS_OGRE_PANEL_H

#include <OgreManualObject.h>
#include <OgreSceneManager.h>
#include <nav_grid/vector_nav_grid.h>
#include <nav_core2/bounds.h>
#include <rviz/ogre_helpers/custom_parameter_indices.h>  // ALPHA_PARAMETER
#include <rviz/frame_manager.h>
#include <robot_nav_rviz_plugins/nav_grid_palette.h>
#include <map>
#include <memory>
#include <string>
#include <vector>

namespace robot_nav_rviz_plugins
{
class OgrePanel
{
public:
  OgrePanel(nav_grid::VectorNavGrid<unsigned char>& data,
            Ogre::SceneManager& scene_manager, Ogre::SceneNode& scene_node);

  void updateInfo(const nav_grid::NavGridInfo& info);

  void updateData(const nav_core2::UIntBounds& updated_bounds);

  void addPalette(const NavGridPalette& palette);

  void setPalette(const std::string& palette_name);

  void updateAlpha(float alpha, bool draw_behind);

  void clear();

  bool transformMap(rviz::FrameManager& fm);

  using Ptr = std::shared_ptr<OgrePanel>;

protected:
  class PartialOgrePanel
  {
  public:
    PartialOgrePanel(Ogre::SceneManager& scene_manager, Ogre::SceneNode& parent_scene_node,
                        const nav_core2::UIntBounds& bounds, float resolution);
    ~PartialOgrePanel();

    const nav_core2::UIntBounds& getBounds() const { return bounds_; }

    void updateData(std::vector<unsigned char>& pixels);
    void clear();

    void setTexture(const std::string& texture_name, int index);
    void updateAlphaRendering(Ogre::SceneBlendType scene_blending, bool depth_write, int group,
                              Ogre::Renderable::Visitor* alpha_setter);


    using Ptr = std::shared_ptr<PartialOgrePanel>;

  protected:
    Ogre::SceneManager& scene_manager_;
    Ogre::ManualObject* manual_object_;
    Ogre::TexturePtr texture_;
    Ogre::MaterialPtr material_;
    Ogre::SceneNode* scene_node_;
    nav_core2::UIntBounds bounds_;
  };

  nav_grid::VectorNavGrid<unsigned char>& data_;  // VectorNavGrid is used for easy copying
  Ogre::SceneManager& scene_manager_;
  Ogre::SceneNode& scene_node_;
  std::vector<PartialOgrePanel::Ptr> swatches_;  // For some reason, code segfaults if this is changed to raw object

  std::map<std::string, Ogre::TexturePtr> palettes_;
  std::map<std::string, bool> palette_transparency_;
  std::string current_palette_;
};
}  // namespace robot_nav_rviz_plugins

#endif  // ROBOT_NAV_RVIZ_PLUGINS_OGRE_PANEL_H