ros_image_texture.cpp

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
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 *     * 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.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#include <map>

#include <boost/algorithm/string/erase.hpp>
#include <boost/foreach.hpp>

#include <OGRE/OgreTextureManager.h>

#include <pluginlib/class_loader.h>

#include <image_transport/subscriber_plugin.h>

#include <sensor_msgs/image_encodings.h>

#include <tf/tf.h>

#include "rviz/uniform_string_stream.h"

#include "rviz/image/ros_image_texture.h"

namespace rviz
{

ROSImageTexture::ROSImageTexture(const ros::NodeHandle& nh)
: nh_(nh)
, it_(nh_)
, transport_type_("raw")
, new_image_(false)
, width_(0)
, height_(0)
, tf_client_(0)
, image_count_(0)
, queue_size_(2)
{
  empty_image_.load("no_image.png", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);

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

  scanForTransportSubscriberPlugins();
}

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

void ROSImageTexture::clear()
{
  boost::mutex::scoped_lock lock(mutex_);

  texture_->unload();
  texture_->loadImage(empty_image_);

  new_image_ = false;
  current_image_.reset();

  if (tf_filter_)
  {
    tf_filter_->clear();
  }

  image_count_ = 0;
}

void ROSImageTexture::setFrame(const std::string& frame, tf::TransformListener* tf_client)
{
  tf_client_ = tf_client;
  frame_ = frame;
  setTopic(topic_);
}

void ROSImageTexture::setTopic(const std::string& topic)
{
  boost::mutex::scoped_lock lock(mutex_);
  // Must reset the current image here because image_transport will unload the plugin as soon as we unsubscribe,
  // which removes the code segment necessary for the shared_ptr's deleter to exist!
  current_image_.reset();

  topic_ = topic;
  tf_filter_.reset();

  sub_.reset(new image_transport::SubscriberFilter());

  if (!topic.empty())
  {
    sub_->subscribe(it_, topic, 1, image_transport::TransportHints(transport_type_));

    if (frame_.empty())
    {
      sub_->registerCallback(boost::bind(&ROSImageTexture::callback, this, _1));
    }
    else
    {
      ROS_ASSERT(tf_client_);
      tf_filter_.reset(new tf::MessageFilter<sensor_msgs::Image>(*sub_, (tf::Transformer&)*tf_client_, frame_, queue_size_, nh_));
      tf_filter_->registerCallback(boost::bind(&ROSImageTexture::callback, this, _1));
    }
  }
}

void ROSImageTexture::setTransportType(const std::string& transport_type)
{
  transport_type_ = transport_type;
  setTopic(topic_);
}

void ROSImageTexture::getAvailableTransportTypes(V_string& types)
{
  types.push_back("raw");

  // Loop over all current ROS topic names
  ros::master::V_TopicInfo topics;
  ros::master::getTopics(topics);
  ros::master::V_TopicInfo::iterator it = topics.begin();
  ros::master::V_TopicInfo::iterator end = topics.end();
  for (; it != end; ++it)
  {
    // If the beginning of this topic name is the same as topic_,
    // and the whole string is not the same,
    // and the next character is /
    // and there are no further slashes from there to the end,
    // then consider this a possible transport topic.
    const ros::master::TopicInfo& ti = *it;
    const std::string& topic_name = ti.name;
    if( topic_name.find( topic_ ) == 0 &&
        topic_name != topic_ &&
        topic_name[ topic_.size() ] == '/' &&
        topic_name.find( '/', topic_.size() + 1 ) == std::string::npos )
    {
      std::string transport_type = topic_name.substr( topic_.size() + 1 );

      // If the transport type string found above is in the set of
      // supported transport type plugins, add it to the list.
      if( transport_plugin_types_.find( transport_type ) != transport_plugin_types_.end() )
      {
        types.push_back( transport_type );
      }
    }
  }
}

const sensor_msgs::Image::ConstPtr& ROSImageTexture::getImage()
{
  boost::mutex::scoped_lock lock(mutex_);

  return current_image_;
}

void ROSImageTexture::setQueueSize( int size )
{
  queue_size_ = size;
  if( tf_filter_ )
  {
    tf_filter_->setQueueSize( (uint32_t) size );
  }
}

int ROSImageTexture::getQueueSize()
{
  return queue_size_;
}

bool ROSImageTexture::update()
{
  sensor_msgs::Image::ConstPtr image;
  bool new_image = false;
  {
    boost::mutex::scoped_lock lock(mutex_);

    image = current_image_;
    new_image = new_image_;
  }

  if (!image || !new_image)
  {
    return false;
  }

  new_image_ = false;

  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 if (image->encoding == sensor_msgs::image_encodings::TYPE_32FC1)
  {
    // Ogre encoding
    format = Ogre::PF_FLOAT32_R;

    // Rescale floating point image to 0<=x<=1 scale
    size_t i;
    float* img_ptr;
    uint32_t img_size = image->data.size() / sizeof(float);

    // Find min. and max. pixel value
    img_ptr = (float*)&image->data[0];
    float minValue = std::numeric_limits<float>::max();
    float maxValue = std::numeric_limits<float>::min();

    for( i = 0; i < img_size; ++i )
    {
      minValue = std::min( minValue, *img_ptr );
      maxValue = std::max( maxValue, *img_ptr );
      img_ptr++;
    }

    // Rescale floating-point image
    float dynamic_range = maxValue - minValue;
    if( dynamic_range > 0.0f )
    {
      img_ptr = (float*) &image->data[0];
      for( i = 0; i < img_size; ++i )
      {
        *img_ptr -= minValue;
        *img_ptr /= dynamic_range;
        img_ptr++;
      }
    }
  }
  else
  {
    throw UnsupportedImageEncoding(image->encoding);
  }

  width_ = image->width;
  height_ = image->height;

  // 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, width_, height_, 1, format, 1, 0);
  }
  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;
}

void ROSImageTexture::callback(const sensor_msgs::Image::ConstPtr& msg)
{
  boost::mutex::scoped_lock lock(mutex_);
  current_image_ = msg;
  new_image_ = true;

  ++image_count_;
}

void ROSImageTexture::scanForTransportSubscriberPlugins()
{
  pluginlib::ClassLoader<image_transport::SubscriberPlugin> sub_loader( "image_transport", "image_transport::SubscriberPlugin" );

  BOOST_FOREACH( const std::string& lookup_name, sub_loader.getDeclaredClasses() )
  {
    // lookup_name is formatted as "pkg/transport_sub", for instance
    // "image_transport/compressed_sub" for the "compressed"
    // transport.  This code removes the "_sub" from the tail and
    // everything up to and including the "/" from the head, leaving
    // "compressed" (for example) in transport_name.
    std::string transport_name = boost::erase_last_copy( lookup_name, "_sub" );
    transport_name = transport_name.substr( lookup_name.find( '/' ) + 1 );

    // If the plugin loads without throwing an exception, add its
    // transport name to the list of valid plugins, otherwise ignore
    // it.
    try
    {
      boost::shared_ptr<image_transport::SubscriberPlugin> sub = sub_loader.createInstance( lookup_name );
      transport_plugin_types_.insert( transport_name );
    }
    catch( const pluginlib::LibraryLoadException& e ) {}
    catch( const pluginlib::CreateClassException& e ) {}
  }
}

} // end of namespace rviz