image_display.h

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/*
 * Copyright (c) 2012, 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
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 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 */

#ifndef RVIZ_IMAGE_DISPLAY_H
#define RVIZ_IMAGE_DISPLAY_H

#ifndef Q_MOC_RUN  // See: https://bugreports.qt-project.org/browse/QTBUG-22829
# include <QObject>

# include <OGRE/OgreMaterial.h>
# include <OGRE/OgreRenderTargetListener.h>

# include "rviz/image/image_display_base.h"
# include "rviz/image/ros_image_texture.h"
# include "rviz/render_panel.h"

# include "rviz/properties/bool_property.h"
# include "rviz/properties/float_property.h"
# include "rviz/properties/int_property.h"
#endif


namespace Ogre
{
class SceneNode;
class Rectangle2D;
}

namespace rviz
{

class ImageDisplay: public ImageDisplayBase
{
Q_OBJECT
public:
  ImageDisplay();
  virtual ~ImageDisplay();

  // Overrides from Display
  virtual void onInitialize();
  virtual void update( float wall_dt, float ros_dt );
  virtual void reset();

public Q_SLOTS:
  virtual void updateNormalizeOptions();

protected:
  // overrides from Display
  virtual void onEnable();
  virtual void onDisable();

  /* This is called by incomingMessage(). */
  virtual void processMessage(const sensor_msgs::Image::ConstPtr& msg);

private:
  void clear();
  void updateStatus();

  Ogre::SceneManager* img_scene_manager_;
  Ogre::SceneNode* img_scene_node_;
  Ogre::Rectangle2D* screen_rect_;
  Ogre::MaterialPtr material_;

  ROSImageTexture texture_;

  RenderPanel* render_panel_;

  BoolProperty* normalize_property_;
  FloatProperty* min_property_;
  FloatProperty* max_property_;
  IntProperty* median_buffer_size_property_;
  bool got_float_image_;
};

} // namespace rviz

#endif