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