mirror of
https://github.com/introlab/rtabmap_ros.git
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98 lines
3.2 KiB
C++
98 lines
3.2 KiB
C++
/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef MAP_GRAPH_DISPLAY_H
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#define MAP_GRAPH_DISPLAY_H
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#include <rtabmap_rviz_plugins/visibility.h>
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#include <rtabmap_msgs/msg/map_graph.hpp>
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#include <rviz_common/message_filter_display.hpp>
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namespace Ogre
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{
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class ManualObject;
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}
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namespace rviz_common
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{
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namespace properties
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{
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class ColorProperty;
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class FloatProperty;
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} // namespace properties
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} // namespace rviz_common
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namespace rtabmap_rviz_plugins
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{
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/**
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* \class MapGraphDisplay
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* \brief Displays the graph of rtabmap::MapGraph message
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*/
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class RTABMAP_RVIZ_PLUGINS_PUBLIC MapGraphDisplay: public rviz_common::MessageFilterDisplay<rtabmap_msgs::msg::MapGraph>
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{
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Q_OBJECT
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public:
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MapGraphDisplay();
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virtual ~MapGraphDisplay();
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/** @brief Overridden from Display. */
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virtual void reset();
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protected:
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/** @brief Overridden from Display. */
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virtual void onInitialize();
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/** @brief Overridden from MessageFilterDisplay. */
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void processMessage( const rtabmap_msgs::msg::MapGraph::ConstSharedPtr msg );
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private:
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void destroyObjects();
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std::vector<Ogre::ManualObject*> manual_objects_;
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rviz_common::properties::ColorProperty* color_neighbor_property_;
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rviz_common::properties::ColorProperty* color_neighbor_merged_property_;
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rviz_common::properties::ColorProperty* color_global_property_;
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rviz_common::properties::ColorProperty* color_local_property_;
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rviz_common::properties::ColorProperty* color_landmark_property_;
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rviz_common::properties::ColorProperty* color_user_property_;
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rviz_common::properties::ColorProperty* color_virtual_property_;
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rviz_common::properties::FloatProperty* alpha_property_;
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};
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} // namespace rtabmap_rviz_plugins
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#endif /* MAP_GRAPH_DISPLAY_H */
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