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_ROS_IMAGE_TEXTURE_H 00031 #define RVIZ_ROS_IMAGE_TEXTURE_H 00032 00033 #include <sensor_msgs/Image.h> 00034 00035 #include <OGRE/OgreTexture.h> 00036 #include <OGRE/OgreImage.h> 00037 00038 #include <boost/shared_ptr.hpp> 00039 #include <boost/thread/mutex.hpp> 00040 00041 #include <ros/ros.h> 00042 00043 #include <stdexcept> 00044 00045 namespace rviz 00046 { 00047 00048 class UnsupportedImageEncoding : public std::runtime_error 00049 { 00050 public: 00051 UnsupportedImageEncoding(const std::string& encoding) 00052 : std::runtime_error("Unsupported image encoding [" + encoding + "]") 00053 {} 00054 }; 00055 00056 class ROSImageTexture 00057 { 00058 public: 00059 ROSImageTexture(); 00060 ~ROSImageTexture(); 00061 00062 void addMessage(const sensor_msgs::Image::ConstPtr& image); 00063 bool update(); 00064 void clear(); 00065 00066 const Ogre::TexturePtr& getTexture() { return texture_; } 00067 const sensor_msgs::Image::ConstPtr& getImage(); 00068 00069 uint32_t getWidth() { return width_; } 00070 uint32_t getHeight() { return height_; } 00071 00072 // automatic range normalization 00073 void setNormalizeFloatImage( bool normalize, double min=0.0, double max=1.0 ); 00074 void setMedianFrames( unsigned median_frames ); 00075 00076 private: 00077 00078 double updateMedian( std::deque<double>& buffer, double new_value ); 00079 00080 template<typename T> 00081 void normalize( T* image_data, size_t image_data_size, std::vector<uint8_t> &buffer ); 00082 00083 sensor_msgs::Image::ConstPtr current_image_; 00084 boost::mutex mutex_; 00085 bool new_image_; 00086 00087 Ogre::TexturePtr texture_; 00088 Ogre::Image empty_image_; 00089 00090 uint32_t width_; 00091 uint32_t height_; 00092 00093 // fields for float image running median computation 00094 bool normalize_; 00095 double min_; 00096 double max_; 00097 unsigned median_frames_; 00098 std::deque<double> min_buffer_; 00099 std::deque<double> max_buffer_; 00100 }; 00101 00102 } 00103 00104 #endif