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 <QObject> 00034 00035 #include "rviz/display.h" 00036 #include "rviz/render_panel.h" 00037 #include "rviz/properties/forwards.h" 00038 #include "rviz/image/ros_image_texture.h" 00039 00040 #include <OGRE/OgreMaterial.h> 00041 #include <OGRE/OgreRenderTargetListener.h> 00042 00043 #include <message_filters/subscriber.h> 00044 #include <tf/message_filter.h> 00045 00046 namespace Ogre 00047 { 00048 class SceneNode; 00049 class ManualObject; 00050 class Rectangle2D; 00051 class Camera; 00052 } 00053 00054 namespace rviz 00055 { 00056 00057 class RenderPanel; 00058 class PanelDockWidget; 00059 00064 class ImageDisplay: public Display 00065 { 00066 Q_OBJECT 00067 public: 00068 ImageDisplay(); 00069 virtual ~ImageDisplay(); 00070 00071 virtual void onInitialize(); 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 createProperties(); 00081 virtual void update(float wall_dt, float ros_dt); 00082 virtual void reset(); 00083 00085 void setQueueSize( int size ); 00086 int getQueueSize(); 00087 00088 protected Q_SLOTS: 00090 void setWrapperEnabled( bool enabled ); 00091 00092 protected: 00093 // overrides from Display 00094 virtual void onEnable(); 00095 virtual void onDisable(); 00096 00097 void subscribe(); 00098 void unsubscribe(); 00099 00100 void clear(); 00101 void updateStatus(); 00102 00103 void onTransportEnumOptions(V_string& choices); 00104 00105 Ogre::SceneManager* scene_manager_; 00106 Ogre::SceneNode* scene_node_; 00107 Ogre::Rectangle2D* screen_rect_; 00108 Ogre::MaterialPtr material_; 00109 00110 std::string topic_; 00111 std::string transport_; 00112 00113 ROSTopicStringPropertyWPtr topic_property_; 00114 EditEnumPropertyWPtr transport_property_; 00115 00116 ROSImageTexture texture_; 00117 00118 RenderPanel* render_panel_; 00119 00120 PanelDockWidget* panel_container_; 00121 IntPropertyWPtr queue_size_property_; 00122 }; 00123 00124 } // namespace rviz 00125 00126 #endif