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 #include <image_transport/image_transport.h> 00043 #include <image_transport/subscriber_filter.h> 00044 00045 #include <tf/message_filter.h> 00046 00047 #include <stdexcept> 00048 00049 namespace tf 00050 { 00051 class TransformListener; 00052 } 00053 00054 namespace rviz 00055 { 00056 00057 typedef std::vector<std::string> V_string; 00058 00059 class UnsupportedImageEncoding : public std::runtime_error 00060 { 00061 public: 00062 UnsupportedImageEncoding(const std::string& encoding) 00063 : std::runtime_error("Unsupported image encoding [" + encoding + "]") 00064 {} 00065 }; 00066 00067 class ROSImageTexture 00068 { 00069 public: 00070 ROSImageTexture(const ros::NodeHandle& nh); 00071 ~ROSImageTexture(); 00072 00073 void setTopic(const std::string& topic); 00074 void setFrame(const std::string& frame, tf::TransformListener* tf_client); 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 image_transport::ImageTransport& getImageTransport() { return it_; } 00086 00087 void setTransportType(const std::string& transport_type); 00088 const std::string& getTransportType() { return transport_type_; } 00089 void getAvailableTransportTypes(V_string& types); 00090 00091 private: 00092 void callback(const sensor_msgs::Image::ConstPtr& image); 00093 00094 ros::NodeHandle nh_; 00095 image_transport::ImageTransport it_; 00096 boost::shared_ptr<image_transport::SubscriberFilter> sub_; 00097 boost::shared_ptr<tf::MessageFilter<sensor_msgs::Image> > tf_filter_; 00098 00099 std::string transport_type_; 00100 00101 sensor_msgs::Image::ConstPtr current_image_; 00102 boost::mutex mutex_; 00103 bool new_image_; 00104 00105 Ogre::TexturePtr texture_; 00106 Ogre::Image empty_image_; 00107 00108 uint32_t width_; 00109 uint32_t height_; 00110 00111 std::string topic_; 00112 std::string frame_; 00113 tf::TransformListener* tf_client_; 00114 00115 uint32_t image_count_; 00116 }; 00117 00118 } 00119 00120 #endif