people_position_measurement_array_display.cpp
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35 
38 #include <rviz/view_manager.h>
39 #include <rviz/render_panel.h>
40 #include <OGRE/OgreCamera.h>
41 #include <QPainter>
43 #include <OGRE/OgreRenderSystem.h>
44 
45 #include <algorithm>
46 #include <boost/lambda/lambda.hpp>
47 
48 namespace jsk_rviz_plugins
49 {
51  {
52  size_property_ = new rviz::FloatProperty("size", 0.3,
53  "size of the visualizer", this,
54  SLOT(updateSize()));
56  "timeout", 10.0, "timeout seconds", this, SLOT(updateTimeout()));
58  "anonymous", false,
59  "anonymous",
60  this, SLOT(updateAnonymous()));
62  "text", "person found here person found here",
63  "text to rotate",
64  this, SLOT(updateText()));
65  }
66 
67 
69  {
70  delete size_property_;
71  }
72 
74  {
76  scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode();
77  updateSize();
78  updateTimeout();
80  updateText();
81  }
82 
84  {
85  faces_.clear();
86  visualizers_.clear();
87  }
88 
90  {
92  clearObjects();
93  }
94 
96  const people_msgs::PositionMeasurementArray::ConstPtr& msg)
97  {
98  boost::mutex::scoped_lock lock(mutex_);
99  static int count = 0;
100  static int square_count = 0;
101  faces_ = msg->people;
102  // check texture is ready or not
103  if (faces_.size() > visualizers_.size()) {
104  for (size_t i = visualizers_.size(); i < faces_.size(); i++) {
107  scene_node_,
108  size_,
109  text_)));
110  visualizers_[visualizers_.size() - 1]->setAnonymous(anonymous_);
111  visualizers_[visualizers_.size() - 1]->update(0, 0);
112  QColor color(25.0, 255.0, 240.0);
113  visualizers_[visualizers_.size() - 1]->setColor(color);
114  }
115  }
116  else {
117  visualizers_.resize(faces_.size());
118  }
119  // move scene_node
120  for (size_t i = 0; i < faces_.size(); i++) {
121  Ogre::Quaternion orientation;
122  Ogre::Vector3 position;
123  geometry_msgs::Pose pose;
124  pose.position = faces_[i].pos;
125  pose.orientation.w = 1.0;
126  if(!context_->getFrameManager()->transform(msg->header,
128  position, orientation))
129  {
130  std::ostringstream oss;
131  oss << "Error transforming pose";
132  oss << " from frame '" << msg->header.frame_id << "'";
133  oss << " to frame '" << qPrintable(fixed_frame_) << "'";
134  ROS_ERROR_STREAM(oss.str());
135  setStatus(rviz::StatusProperty::Error, "Transform", QString::fromStdString(oss.str()));
136  }
137  else {
138  visualizers_[i]->setPosition(position);
139  }
140  }
141  latest_time_ = msg->header.stamp;
142  }
143 
145  float wall_dt, float ros_dt)
146  {
147  boost::mutex::scoped_lock lock(mutex_);
148  if (faces_.size() == 0) {
149  return;
150  }
151  if ((ros::Time::now() - latest_time_).toSec() > timeout_) {
152  ROS_WARN("timeout face recognition result");
153  clearObjects();
154  return;
155  }
156  for (size_t i = 0; i < visualizers_.size(); i++) {
157  visualizers_[i]->setOrientation(context_);
158  }
159  for (size_t i = 0; i < visualizers_.size(); i++) {
160  visualizers_[i]->update(wall_dt, ros_dt);
161  }
162  }
163 
165  {
166  boost::mutex::scoped_lock lock(mutex_);
168  }
169 
171  {
172  boost::mutex::scoped_lock lock(mutex_);
174  visualizers_.clear();
175  }
176 
178  {
179  boost::mutex::scoped_lock lock(mutex_);
181  for (size_t i = 0; i < visualizers_.size(); i++) {
182  visualizers_[i]->setAnonymous(anonymous_);
183  }
184  }
185 
187  {
188  boost::mutex::scoped_lock lock(mutex_);
190  for (size_t i = 0; i < visualizers_.size(); i++) {
191  visualizers_[i]->setText(text_);
192  }
193  }
194 
195 }
196 
197 
200 
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Definition: people_position_measurement_array_display.cpp:121
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Definition: people_position_measurement_array_display.h:138
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Definition: people_position_measurement_array_display.h:93
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Definition: people_position_measurement_array_display.h:143
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Definition: people_position_measurement_array_display.cpp:176
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jsk_rviz_plugins
Author(s): Kei Okada , Yohei Kakiuchi , Shohei Fujii , Ryohei Ueda
autogenerated on Tue Dec 10 2024 03:48:24