00001 /* 00002 * Copyright (c) 2012, 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_IMAGE_DISPLAY_H 00031 #define RVIZ_IMAGE_DISPLAY_H 00032 00033 #ifndef Q_MOC_RUN // See: https://bugreports.qt-project.org/browse/QTBUG-22829 00034 # include <QObject> 00035 00036 # include <OgreMaterial.h> 00037 # include <OgreRenderTargetListener.h> 00038 # include <OgreSharedPtr.h> 00039 00040 # include "rviz/image/image_display_base.h" 00041 # include "rviz/image/ros_image_texture.h" 00042 # include "rviz/render_panel.h" 00043 00044 # include "rviz/properties/bool_property.h" 00045 # include "rviz/properties/float_property.h" 00046 # include "rviz/properties/int_property.h" 00047 #endif 00048 00049 00050 namespace Ogre 00051 { 00052 class SceneNode; 00053 class Rectangle2D; 00054 } 00055 00056 namespace rviz 00057 { 00058 00063 class ImageDisplay: public ImageDisplayBase 00064 { 00065 Q_OBJECT 00066 public: 00067 ImageDisplay(); 00068 virtual ~ImageDisplay(); 00069 00070 // Overrides from Display 00071 virtual void onInitialize(); 00072 virtual void update( float wall_dt, float ros_dt ); 00073 virtual void reset(); 00074 00075 public Q_SLOTS: 00076 virtual void updateNormalizeOptions(); 00077 00078 protected: 00079 // overrides from Display 00080 virtual void onEnable(); 00081 virtual void onDisable(); 00082 00083 /* This is called by incomingMessage(). */ 00084 virtual void processMessage(const sensor_msgs::Image::ConstPtr& msg); 00085 00086 private: 00087 void clear(); 00088 void updateStatus(); 00089 00090 Ogre::SceneManager* img_scene_manager_; 00091 Ogre::SceneNode* img_scene_node_; 00092 Ogre::Rectangle2D* screen_rect_; 00093 Ogre::MaterialPtr material_; 00094 00095 ROSImageTexture texture_; 00096 00097 RenderPanel* render_panel_; 00098 00099 BoolProperty* normalize_property_; 00100 FloatProperty* min_property_; 00101 FloatProperty* max_property_; 00102 IntProperty* median_buffer_size_property_; 00103 bool got_float_image_; 00104 }; 00105 00106 } // namespace rviz 00107 00108 #endif