camera_display_save.h

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 */

#ifndef RVIZ_CAMERA_DISPLAY2_H
#define RVIZ_CAMERA_DISPLAY2_H

#include "rviz/display.h"
#include "rviz/properties/forwards.h"
#include "rviz/image/ros_image_texture.h"
#include "rviz/render_panel.h"

#include <sensor_msgs/CameraInfo.h>

#include <OGRE/OgreMaterial.h>
#include <OGRE/OgreRenderTargetListener.h>

#include <message_filters/subscriber.h>
#include <tf/message_filter.h>
#include <wx/frame.h>
namespace Ogre
{
class SceneNode;
class ManualObject;
class Rectangle2D;
class Camera;
}

class wxFrame;

namespace articulation_rviz_plugin
{



class CameraDisplaySave : public rviz::Display
{
public:
  CameraDisplaySave( const std::string& name, rviz::VisualizationManager* manager );
  virtual ~CameraDisplaySave();

  float getAlpha() { return alpha_; }
  void setAlpha( float alpha );

  const std::string& getTopic() { return topic_; }
  void setTopic(const std::string& topic);

  const std::string& getTransport() { return transport_; }
  void setTransport(const std::string& transport);

  // Overrides from Display
  virtual void targetFrameChanged();
  virtual void fixedFrameChanged();
  virtual void createProperties();
  virtual void update(float wall_dt, float ros_dt);
  virtual void reset();

protected:
  // overrides from Display
  virtual void onEnable();
  virtual void onDisable();

  void subscribe();
  void unsubscribe();

  void caminfoCallback(const sensor_msgs::CameraInfo::ConstPtr& msg);

  void updateCamera();
  void saveImage(wxString s);
  void clear();
  void updateStatus();

  void onTransportEnumOptions(rviz::V_string& choices);

  Ogre::SceneNode* scene_node_;
  Ogre::Rectangle2D* screen_rect_;
  Ogre::MaterialPtr material_;

  float alpha_;
  std::string topic_;
  std::string transport_;

  message_filters::Subscriber<sensor_msgs::CameraInfo> caminfo_sub_;
  tf::MessageFilter<sensor_msgs::CameraInfo> caminfo_tf_filter_;

rviz::FloatPropertyWPtr alpha_property_;
rviz::ROSTopicStringPropertyWPtr topic_property_;
rviz::EditEnumPropertyWPtr transport_property_;

  sensor_msgs::CameraInfo::ConstPtr current_caminfo_;
  boost::mutex caminfo_mutex_;

  bool new_caminfo_;

  rviz::ROSImageTexture texture_;

  rviz::RenderPanel* render_panel_;
  wxFrame* frame_; // temp

  bool force_render_;

  class RenderListener : public Ogre::RenderTargetListener
  {
  public:
    RenderListener(CameraDisplaySave* display);
    virtual void preRenderTargetUpdate(const Ogre::RenderTargetEvent& evt);
    virtual void postRenderTargetUpdate(const Ogre::RenderTargetEvent& evt);

  private:
    CameraDisplaySave* display_;
  };
  RenderListener render_listener_;
};

} // namespace rviz

 #endif

---

articulation_rviz_plugin
Author(s): Juergen Sturm
autogenerated on Fri Jan 11 10:08:46 2013