ros_image_texture.h
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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 <OgreTexture.h>
00036 #include <OgreImage.h>
00037 #include <OgreSharedPtr.h>
00038 
00039 #include <boost/shared_ptr.hpp>
00040 #include <boost/thread/mutex.hpp>
00041 
00042 #include <ros/ros.h>
00043 
00044 #include <stdexcept>
00045 
00046 namespace rviz
00047 {
00048 
00049 class UnsupportedImageEncoding : public std::runtime_error
00050 {
00051 public:
00052   UnsupportedImageEncoding(const std::string& encoding)
00053   : std::runtime_error("Unsupported image encoding [" + encoding + "]")
00054   {}
00055 };
00056 
00057 class ROSImageTexture
00058 {
00059 public:
00060   ROSImageTexture();
00061   ~ROSImageTexture();
00062 
00063   void addMessage(const sensor_msgs::Image::ConstPtr& image);
00064   bool update();
00065   void clear();
00066 
00067   const Ogre::TexturePtr& getTexture() { return texture_; }
00068   const sensor_msgs::Image::ConstPtr& getImage();
00069 
00070   uint32_t getWidth() { return width_; }
00071   uint32_t getHeight() { return height_; }
00072 
00073   // automatic range normalization
00074   void setNormalizeFloatImage( bool normalize, double min=0.0, double max=1.0 );
00075   void setMedianFrames( unsigned median_frames );
00076 
00077 private:
00078 
00079   double updateMedian( std::deque<double>& buffer, double new_value );
00080 
00081   template<typename T>
00082   void normalize( T* image_data, size_t image_data_size, std::vector<uint8_t> &buffer  );
00083 
00084   sensor_msgs::Image::ConstPtr current_image_;
00085   boost::mutex mutex_;
00086   bool new_image_;
00087 
00088   Ogre::TexturePtr texture_;
00089   Ogre::Image empty_image_;
00090 
00091   uint32_t width_;
00092   uint32_t height_;
00093 
00094   // fields for float image running median computation
00095   bool normalize_;
00096   double min_;
00097   double max_;
00098   unsigned median_frames_;
00099   std::deque<double> min_buffer_;
00100   std::deque<double> max_buffer_;
00101 };
00102 
00103 }
00104 
00105 #endif


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Thu Aug 27 2015 15:02:28