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ros_image_texture.cpp

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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
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include "image_segmentation_demo/ros_image_texture.h"
#include "sensor_msgs/image_encodings.h"

#include <tf/tf.h>

#include <OGRE/OgreTextureManager.h>

namespace image_segmentation_demo
{

ROSImageTexture::ROSImageTexture()
:  width_(0)
, height_(0)
{

        empty_image_.load("no_image.png", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);

        static uint32_t count = 0;
        std::stringstream ss;
        ss << "ROSImageTexture" << count++;
        texture_ = Ogre::TextureManager::getSingleton().loadImage(ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, empty_image_, Ogre::TEX_TYPE_2D, 0);

}

ROSImageTexture::~ROSImageTexture()
{
  current_image_.reset();
}

void ROSImageTexture::clear()
{
  texture_->unload();
  texture_->loadImage(empty_image_);

  current_image_.reset();

  image_count_ = 0;
}
/*
const sensor_msgs::Image::ConstPtr& ROSImageTexture::getImage()
{
  boost::mutex::scoped_lock lock(mutex_);

  return current_image_;
}*/
void ROSImageTexture::setNewImage(sensor_msgs::Image::Ptr new_image_)
{
        current_image_.reset();
        current_image_ = new_image_;
        
        ++image_count_;
        setSize(current_image_->width, current_image_->height);
}

void ROSImageTexture::setSize(uint32_t width, uint32_t height)
{
  width_ = width;
  height_ = height;

  update();
}

bool ROSImageTexture::update()
{
  sensor_msgs::Image::Ptr image;

  image = current_image_;


  if (image->data.empty())
  {
    return false;
  }

  Ogre::PixelFormat format = Ogre::PF_R8G8B8;
  Ogre::Image ogre_image;
  std::vector<uint8_t> buffer;
  void* data_ptr = (void*)&image->data[0];
  uint32_t data_size = image->data.size();
  if (image->encoding == sensor_msgs::image_encodings::RGB8)
  {
    format = Ogre::PF_BYTE_RGB;
  }
  else if (image->encoding == sensor_msgs::image_encodings::RGBA8)
  {
    format = Ogre::PF_BYTE_RGBA;
  }
  else if (image->encoding == sensor_msgs::image_encodings::TYPE_8UC4 ||
           image->encoding == sensor_msgs::image_encodings::TYPE_8SC4 ||
           image->encoding == sensor_msgs::image_encodings::BGRA8)
  {
    format = Ogre::PF_BYTE_BGRA;
  }
  else if (image->encoding == sensor_msgs::image_encodings::TYPE_8UC3 ||
           image->encoding == sensor_msgs::image_encodings::TYPE_8SC3 ||
           image->encoding == sensor_msgs::image_encodings::BGR8)
  {
    format = Ogre::PF_BYTE_BGR;
  }
  else if (image->encoding == sensor_msgs::image_encodings::TYPE_8UC1 ||
           image->encoding == sensor_msgs::image_encodings::TYPE_8SC1 ||
           image->encoding == sensor_msgs::image_encodings::MONO8)
  {
    format = Ogre::PF_BYTE_L;
  }
  else if (image->encoding == sensor_msgs::image_encodings::TYPE_16UC1 ||
           image->encoding == sensor_msgs::image_encodings::TYPE_16SC1 ||
           image->encoding == sensor_msgs::image_encodings::MONO16)
  {
    format = Ogre::PF_BYTE_L;

    // downsample manually to 8-bit, because otherwise the lower 8-bits are simply removed
    buffer.resize(image->data.size() / 2);
    data_size = buffer.size();
    data_ptr = (void*)&buffer[0];
    for (size_t i = 0; i < data_size; ++i)
    {
      uint16_t s = image->data[2*i] << 8 | image->data[2*i + 1];
      float val = (float)s / std::numeric_limits<uint16_t>::max();
      buffer[i] = val * 255;
    }
  }
  else if (image->encoding.find("bayer") == 0)
  {
    format = Ogre::PF_BYTE_L;
  }
  else
  {
    throw UnsupportedImageEncoding(image->encoding);
  }


  // TODO: Support different steps/strides

  Ogre::DataStreamPtr pixel_stream;
  pixel_stream.bind(new Ogre::MemoryDataStream(data_ptr, data_size));
        
  try
  {
    ogre_image.loadRawData(pixel_stream, image->width, image->height, 1, format, 1, 0);
    //ogre_image.loadDynamicImage( (Ogre::uchar*)data_ptr, image->width, image->height, 1, format, false, 1, 0 );
    ogre_image.resize( width_, height_ );
  }
  catch (Ogre::Exception& e)
  {
    // TODO: signal error better
    ROS_ERROR("Error loading image: %s", e.what());
    return false;
  }
  texture_->unload();
  texture_->loadImage(ogre_image);

  return true;
}


}

---

image_segmentation_demo
Author(s): Sarah Osentoski
autogenerated on Tue Mar 5 12:48:20 2013