disparity_renderer.h

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/*
 * Copyright (c) 2011, Willow Garage, Inc.
 * All rights reserved.
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#ifndef DISPARITY_RENDERER_H_
#define DISPARITY_RENDERER_H_

#include "rviz_interaction_tools/point_cloud.h"

#include <stereo_msgs/DisparityImage.h>
#include <sensor_msgs/CameraInfo.h>

namespace Ogre {
class SceneNode;
}

namespace rviz_interaction_tools {


class DisparityRenderer
{
public:

  DisparityRenderer( Ogre::SceneNode* scene_root, unsigned char render_queue_group );

  virtual ~DisparityRenderer();

  // convert disparity data to point cloud and store
  bool setDisparityImage( const stereo_msgs::DisparityImage &disparity_image,
      const sensor_msgs::CameraInfo &camera_info,
      const sensor_msgs::Image *image=0 );

  // insert the data into the Ogre scene (must be called from main app thread)
  bool update();

  void clear();


private:

  Ogre::SceneNode* scene_root_;

  boost::mutex mutex_;

  rviz_interaction_tools::PointCloud image_point_cloud_;

  //used to pass data between threads
  bool new_point_cloud_;
  std::vector<rviz_interaction_tools::PointCloud::Point> raw_points_;
};

}

#endif /* DISPARITY_RENDERER_H_ */