Program Listing for File disparity_plugin.h

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#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_