ros_image_texture.h

Go to the documentation of this file.

/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * 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.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef RVIZ_ROS_IMAGE_TEXTURE_H
#define RVIZ_ROS_IMAGE_TEXTURE_H

#include <sensor_msgs/Image.h>

#include <OGRE/OgreTexture.h>
#include <OGRE/OgreImage.h>

#include <boost/shared_ptr.hpp>
#include <boost/thread/mutex.hpp>

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <image_transport/subscriber_filter.h>

#include <tf/message_filter.h>

#include <stdexcept>

namespace tf
{
class TransformListener;
}

namespace rviz
{

typedef std::vector<std::string> V_string;

class UnsupportedImageEncoding : public std::runtime_error
{
public:
  UnsupportedImageEncoding(const std::string& encoding)
  : std::runtime_error("Unsupported image encoding [" + encoding + "]")
  {}
};

class ROSImageTexture
{
public:
  ROSImageTexture(const ros::NodeHandle& nh);
  ~ROSImageTexture();

  void setTopic(const std::string& topic);
  void setFrame(const std::string& frame, tf::TransformListener* tf_client);
  bool update();
  void clear();

  const Ogre::TexturePtr& getTexture() { return texture_; }
  const sensor_msgs::Image::ConstPtr& getImage();

  uint32_t getWidth() { return width_; }
  uint32_t getHeight() { return height_; }
  uint32_t getImageCount() { return image_count_; }

  image_transport::ImageTransport& getImageTransport() { return it_; }

  void setTransportType(const std::string& transport_type);
  const std::string& getTransportType() { return transport_type_; }
  void getAvailableTransportTypes(V_string& types);

private:
  void callback(const sensor_msgs::Image::ConstPtr& image);

  ros::NodeHandle nh_;
  image_transport::ImageTransport it_;
  boost::shared_ptr<image_transport::SubscriberFilter> sub_;
  boost::shared_ptr<tf::MessageFilter<sensor_msgs::Image> > tf_filter_;

  std::string transport_type_;

  sensor_msgs::Image::ConstPtr current_image_;
  boost::mutex mutex_;
  bool new_image_;

  Ogre::TexturePtr texture_;
  Ogre::Image empty_image_;

  uint32_t width_;
  uint32_t height_;

  std::string topic_;
  std::string frame_;
  tf::TransformListener* tf_client_;

  uint32_t image_count_;
};

}

#endif