ros_image_texture.h
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2009, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #ifndef RVIZ_ROS_IMAGE_TEXTURE_H 00031 #define RVIZ_ROS_IMAGE_TEXTURE_H 00032 00033 #include <sensor_msgs/Image.h> 00034 00035 #include <OGRE/OgreTexture.h> 00036 #include <OGRE/OgreImage.h> 00037 00038 #include <boost/shared_ptr.hpp> 00039 #include <boost/thread/mutex.hpp> 00040 00041 #include <ros/ros.h> 00042 00043 #include <tf/message_filter.h> 00044 00045 #include <stdexcept> 00046 00047 namespace tf 00048 { 00049 class TransformListener; 00050 } 00051 00052 namespace image_segmentation_demo 00053 { 00054 00055 typedef std::vector<std::string> V_string; 00056 00057 class UnsupportedImageEncoding : public std::runtime_error 00058 { 00059 public: 00060 UnsupportedImageEncoding(const std::string& encoding) 00061 : std::runtime_error("Unsupported image encoding [" + encoding + "]") 00062 {} 00063 }; 00064 00065 class ROSImageTexture 00066 { 00067 public: 00068 ROSImageTexture(); 00069 ~ROSImageTexture(); 00070 00071 void setTopic(const std::string& topic); 00072 void setNewImage(sensor_msgs::Image::Ptr new_image_); 00073 00074 void setSize(uint32_t width, uint32_t height); 00075 bool update(); 00076 void clear(); 00077 00078 const Ogre::TexturePtr& getTexture() { return texture_; } 00079 //const sensor_msgs::Image::ConstPtr& getImage(); 00080 00081 uint32_t getWidth() { return width_; } 00082 uint32_t getHeight() { return height_; } 00083 //uint32_t getImageCount() { return image_count_; } 00084 00085 private: 00086 00087 00088 sensor_msgs::Image::Ptr current_image_; 00089 00090 Ogre::TexturePtr texture_; 00091 Ogre::Image empty_image_; 00092 00093 uint32_t width_; 00094 uint32_t height_; 00095 uint32_t image_count_; 00096 }; 00097 00098 } 00099 00100 #endif