.. _program_listing_file__tmp_ws_src_mapviz_mapviz_plugins_include_mapviz_plugins_disparity_plugin.h:

Program Listing for File disparity_plugin.h
===========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_mapviz_mapviz_plugins_include_mapviz_plugins_disparity_plugin.h>` (``/tmp/ws/src/mapviz/mapviz_plugins/include/mapviz_plugins/disparity_plugin.h``)

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

.. code-block:: cpp

   // *****************************************************************************
   //
   // Copyright (c) 2014, Southwest Research Institute® (SwRI®)
   // All rights reserved.
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //     * Redistributions of source code must retain the above copyright
   //       notice, this list of conditions and the following disclaimer.
   //     * Redistributions in binary form must reproduce the above copyright
   //       notice, this list of conditions and the following disclaimer in the
   //       documentation and/or other materials provided with the distribution.
   //     * Neither the name of Southwest Research Institute® (SwRI®) nor the
   //       names of its contributors may be used to endorse or promote products
   //       derived from this software without specific prior written permission.
   //
   // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   // ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
   // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
   // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
   // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
   // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
   // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
   // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   //
   // *****************************************************************************
   
   #ifndef MAPVIZ_PLUGINS__DISPARITY_PLUGIN_H_
   #define MAPVIZ_PLUGINS__DISPARITY_PLUGIN_H_
   
   // Include mapviz_plugin.h first to ensure GL deps are included in the right order
   #include <mapviz/mapviz_plugin.h>
   
   // QT libraries
   #include <QColor>
   #include <QGLWidget>
   #include <QObject>
   #include <QWidget>
   
   // ROS libraries
   #include <cv_bridge/cv_bridge.h>
   #include <opencv2/highgui.hpp>
   #include <rclcpp/rclcpp.hpp>
   #include <stereo_msgs/msg/disparity_image.hpp>
   #include <tf2/transform_datatypes.h>
   
   #include <mapviz/map_canvas.h>
   
   // C++ standard libraries
   #include <list>
   #include <string>
   
   // QT autogenerated files
   #include "ui_disparity_config.h"
   
   namespace mapviz_plugins
   {
   class DisparityPlugin : public mapviz::MapvizPlugin
   {
     Q_OBJECT
   
   public:
     enum Anchor {
       TOP_LEFT,
       TOP_CENTER,
       TOP_RIGHT,
       CENTER_LEFT,
       CENTER,
       CENTER_RIGHT,
       BOTTOM_LEFT,
       BOTTOM_CENTER,
       BOTTOM_RIGHT};
   
     enum Units {PIXELS, PERCENT};
   
     DisparityPlugin();
     ~DisparityPlugin() override = default;
   
     bool Initialize(QGLWidget* canvas) override;
     void Shutdown() override {}
   
     void Draw(double x, double y, double scale) override;
   
     void Transform() override {}
   
     void LoadConfig(const YAML::Node& node, const std::string& path) override;
     void SaveConfig(YAML::Emitter& emitter, const std::string& path) override;
   
     QWidget* GetConfigWidget(QWidget* parent) override;
   
   protected:
     void PrintError(const std::string& message) override;
     void PrintInfo(const std::string& message) override;
     void PrintWarning(const std::string& message) override;
   
   protected Q_SLOTS:
     void SelectTopic();
     void TopicEdited();
     void SetAnchor(QString anchor);
     void SetUnits(QString units);
     void SetOffsetX(int offset);
     void SetOffsetY(int offset);
     void SetWidth(int width);
     void SetHeight(int height);
     void SetSubscription(bool visible);
   
   private:
     Ui::disparity_config ui_;
     QWidget* config_widget_;
   
     std::string topic_;
     Anchor anchor_;
     Units units_;
     double offset_x_;
     double offset_y_;
     double width_;
     double height_;
   
     bool has_image_;
   
     double last_width_;
     double last_height_;
   
     rclcpp::Subscription<stereo_msgs::msg::DisparityImage>::SharedPtr disparity_sub_;
     bool has_message_;
   
     stereo_msgs::msg::DisparityImage disparity_;
   
     cv::Mat_<cv::Vec3b> disparity_color_;
     cv::Mat scaled_image_;
   
     void disparityCallback(const stereo_msgs::msg::DisparityImage::SharedPtr image);
   
     void ScaleImage(double width, double height);
     void DrawIplImage(cv::Mat *image);
   
     std::string AnchorToString(Anchor anchor);
     std::string UnitsToString(Units units);
   
     static const unsigned char COLOR_MAP[];
   };
   }   // namespace mapviz_plugins
   
   #endif  // MAPVIZ_PLUGINS__DISPARITY_PLUGIN_H_