image_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_IMAGE_DISPLAY_H 00031 #define RVIZ_IMAGE_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 <OGRE/OgreMaterial.h> 00038 #include <OGRE/OgreRenderTargetListener.h> 00039 00040 #include <message_filters/subscriber.h> 00041 #include <tf/message_filter.h> 00042 00043 namespace Ogre 00044 { 00045 class SceneNode; 00046 class ManualObject; 00047 class Rectangle2D; 00048 class Camera; 00049 } 00050 00051 class wxFrame; 00052 00053 namespace rviz 00054 { 00055 00056 class RenderPanel; 00057 00062 class ImageDisplay : public Display 00063 { 00064 public: 00065 ImageDisplay( const std::string& name, VisualizationManager* manager ); 00066 virtual ~ImageDisplay(); 00067 00068 const std::string& getTopic() { return topic_; } 00069 void setTopic(const std::string& topic); 00070 00071 const std::string& getTransport() { return transport_; } 00072 void setTransport(const std::string& transport); 00073 00074 // Overrides from Display 00075 virtual void targetFrameChanged(); 00076 virtual void fixedFrameChanged(); 00077 virtual void createProperties(); 00078 virtual void update(float wall_dt, float ros_dt); 00079 virtual void reset(); 00080 00081 protected: 00082 // overrides from Display 00083 virtual void onEnable(); 00084 virtual void onDisable(); 00085 00086 void subscribe(); 00087 void unsubscribe(); 00088 00089 void clear(); 00090 void updateStatus(); 00091 00092 void onTransportEnumOptions(V_string& choices); 00093 00094 Ogre::SceneManager* scene_manager_; 00095 Ogre::SceneNode* scene_node_; 00096 Ogre::Rectangle2D* screen_rect_; 00097 Ogre::MaterialPtr material_; 00098 00099 std::string topic_; 00100 std::string transport_; 00101 00102 ROSTopicStringPropertyWPtr topic_property_; 00103 EditEnumPropertyWPtr transport_property_; 00104 00105 ROSImageTexture texture_; 00106 00107 RenderPanel* render_panel_; 00108 wxFrame* frame_; // temp 00109 }; 00110 00111 } // namespace rviz 00112 00113 #endif