.. _program_listing_file__tmp_ws_src_vision_msgs_vision_msgs_rviz_plugins_include_vision_msgs_rviz_plugins_detection_3d_array.hpp:

Program Listing for File detection_3d_array.hpp
===============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_vision_msgs_vision_msgs_rviz_plugins_include_vision_msgs_rviz_plugins_detection_3d_array.hpp>` (``/tmp/ws/src/vision_msgs/vision_msgs_rviz_plugins/include/vision_msgs_rviz_plugins/detection_3d_array.hpp``)

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

.. code-block:: cpp

   // Copyright 2023 Georg Novotny
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef VISION_MSGS_RVIZ_PLUGINS__DETECTION_3D_ARRAY_HPP_
   #define VISION_MSGS_RVIZ_PLUGINS__DETECTION_3D_ARRAY_HPP_
   
   #include <QWidget>
   #include <memory>
   #include <rviz_common/display.hpp>
   #include <rviz_common/properties/bool_property.hpp>
   #include <rviz_common/properties/float_property.hpp>
   #include <rviz_default_plugins/displays/marker/marker_common.hpp>
   #include <rviz_default_plugins/displays/marker_array/marker_array_display.hpp>
   #include <rviz_default_plugins/displays/marker/markers/text_view_facing_marker.hpp>
   #include <rviz_rendering/objects/billboard_line.hpp>
   
   #include <vision_msgs/msg/bounding_box3_d.hpp>
   #include <vision_msgs/msg/detection3_d.hpp>
   #include <vision_msgs/msg/detection3_d_array.hpp>
   
   
   #include "vision_msgs_rviz_plugins/detection_3d_common.hpp"
   #include "vision_msgs_rviz_plugins/visibility_control.hpp"
   
   typedef std::shared_ptr<rviz_rendering::BillboardLine> BillboardLinePtr;
   
   namespace rviz_plugins
   {
   
   class Detection3DArrayDisplay
     : public Detection3DCommon<vision_msgs::msg::Detection3DArray>
   {
     Q_OBJECT
   
   public:
     using Marker = visualization_msgs::msg::Marker;
     using BoundingBox3D = vision_msgs::msg::BoundingBox3D;
     using Detection3DArray = vision_msgs::msg::Detection3DArray;
   
     DETECTION_3D_ARRAY_DISPLAY_HPP_PUBLIC
     Detection3DArrayDisplay();
     DETECTION_3D_ARRAY_DISPLAY_HPP_PUBLIC
     ~Detection3DArrayDisplay();
     DETECTION_3D_ARRAY_DISPLAY_HPP_PUBLIC
     void onInitialize() override;
     DETECTION_3D_ARRAY_DISPLAY_HPP_PUBLIC
     void load(const rviz_common::Config & config) override;
     DETECTION_3D_ARRAY_DISPLAY_HPP_PUBLIC
     void update(float wall_dt, float ros_dt) override;
     DETECTION_3D_ARRAY_DISPLAY_HPP_PUBLIC
     void reset() override;
   
   private:
     // Convert boxes into markers, push them to the display queue
     void processMessage(Detection3DArray::ConstSharedPtr array) override;
     vision_msgs::msg::Detection3DArray::ConstSharedPtr latest_msg;
   
   protected:
     bool only_edge_, show_score_;
     rviz_common::properties::BoolProperty * only_edge_property_;
     rviz_common::properties::FloatProperty * line_width_property_;
     rviz_common::properties::FloatProperty * alpha_property_;
     rviz_common::properties::BoolProperty * show_score_property_;
   
   protected Q_SLOTS:
     void updateEdge();
     void updateLineWidth();
     void updateAlpha();
     void updateShowScores();
     void updateColorConfigs();
   };
   }  // namespace rviz_plugins
   
   #endif  // VISION_MSGS_RVIZ_PLUGINS__DETECTION_3D_ARRAY_HPP_