camera_display.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_CAMERA_DISPLAY_H 00031 #define RVIZ_CAMERA_DISPLAY_H 00032 00033 #include "rviz/display.h" 00034 #include "rviz/properties/forwards.h" 00035 #include "rviz/image/ros_image_texture.h" 00036 00037 #include <sensor_msgs/CameraInfo.h> 00038 00039 #include <OGRE/OgreMaterial.h> 00040 #include <OGRE/OgreRenderTargetListener.h> 00041 00042 #include <message_filters/subscriber.h> 00043 #include <tf/message_filter.h> 00044 00045 namespace Ogre 00046 { 00047 class SceneNode; 00048 class ManualObject; 00049 class Rectangle2D; 00050 class Camera; 00051 } 00052 00053 class wxFrame; 00054 00055 namespace rviz 00056 { 00057 00058 class RenderPanel; 00059 00064 class CameraDisplay : public Display 00065 { 00066 public: 00067 CameraDisplay( const std::string& name, VisualizationManager* manager ); 00068 virtual ~CameraDisplay(); 00069 00070 float getAlpha() { return alpha_; } 00071 void setAlpha( float alpha ); 00072 00073 const std::string& getTopic() { return topic_; } 00074 void setTopic(const std::string& topic); 00075 00076 const std::string& getTransport() { return transport_; } 00077 void setTransport(const std::string& transport); 00078 00079 // Overrides from Display 00080 virtual void targetFrameChanged(); 00081 virtual void fixedFrameChanged(); 00082 virtual void createProperties(); 00083 virtual void update(float wall_dt, float ros_dt); 00084 virtual void reset(); 00085 00086 protected: 00087 // overrides from Display 00088 virtual void onEnable(); 00089 virtual void onDisable(); 00090 00091 void subscribe(); 00092 void unsubscribe(); 00093 00094 void caminfoCallback(const sensor_msgs::CameraInfo::ConstPtr& msg); 00095 00096 void updateCamera(); 00097 00098 void clear(); 00099 void updateStatus(); 00100 00101 void onTransportEnumOptions(V_string& choices); 00102 00103 Ogre::SceneNode* scene_node_; 00104 Ogre::Rectangle2D* screen_rect_; 00105 Ogre::MaterialPtr material_; 00106 00107 float alpha_; 00108 std::string topic_; 00109 std::string transport_; 00110 00111 message_filters::Subscriber<sensor_msgs::CameraInfo> caminfo_sub_; 00112 tf::MessageFilter<sensor_msgs::CameraInfo> caminfo_tf_filter_; 00113 00114 FloatPropertyWPtr alpha_property_; 00115 ROSTopicStringPropertyWPtr topic_property_; 00116 EditEnumPropertyWPtr transport_property_; 00117 00118 sensor_msgs::CameraInfo::ConstPtr current_caminfo_; 00119 boost::mutex caminfo_mutex_; 00120 00121 bool new_caminfo_; 00122 00123 ROSImageTexture texture_; 00124 00125 RenderPanel* render_panel_; 00126 wxFrame* frame_; // temp 00127 00128 bool force_render_; 00129 00130 class RenderListener : public Ogre::RenderTargetListener 00131 { 00132 public: 00133 RenderListener(CameraDisplay* display); 00134 virtual void preRenderTargetUpdate(const Ogre::RenderTargetEvent& evt); 00135 virtual void postRenderTargetUpdate(const Ogre::RenderTargetEvent& evt); 00136 00137 private: 00138 CameraDisplay* display_; 00139 }; 00140 RenderListener render_listener_; 00141 }; 00142 00143 } // namespace rviz 00144 00145 #endif