double msum(double k) {
double sd=0;
for(int i=1; i<=n; ++i)
if(seg[i].xs>k) sd+=distp(seg[i].xs,seg[i].y,k,sus);
else if(seg[i].xs<=k && k<=seg[i].xd) sd+=(double)sus-(double)seg[i].y;
else sd+=distp(seg[i].xd,seg[i].y,k,sus);
return sd;
}
/**
* Create properties
*/
void srs_ui_but::CButProjection::createProperties()
{
m_rgb_topic_property = property_manager_->createProperty<rviz::ROSTopicStringProperty>( "RGB image Topic", property_prefix_, boost::bind( &CButProjection::getRgbTopic, this ),
boost::bind( &CButProjection::setRgbTopic, this, _1 ), parent_category_, this );
m_depth_topic_property = property_manager_->createProperty<rviz::ROSTopicStringProperty>( "Depth image Topic", property_prefix_, boost::bind( &CButProjection::getDepthTopic, this ),
boost::bind( &CButProjection::setDepthTopic, this, _1 ), parent_category_, this );
m_distance_property = property_manager_->createProperty<rviz::FloatProperty>( "Tested distance", property_prefix_, boost::bind( &CButProjection::getTestedDistance, this ),
boost::bind( &CButProjection::setTestedDistance, this, _1), parent_category_, this );
// Set distance limits
rviz::FloatPropertyPtr distp( m_distance_property.lock());
distp->setMin( 0.0 ); distp->setMax( 10.0 );
setPropertyHelpText(m_rgb_topic_property, "sensor_msgs::Image topic to subscribe to.");
rviz::ROSTopicStringPropertyPtr topic_prop = m_rgb_topic_property.lock();
topic_prop->setMessageType(ros::message_traits::datatype<sensor_msgs::Image>());
// Set topics
setRgbTopic( m_imageRGBInputTopicName );
setDepthTopic( m_imageDepthInputTopicName );
}
