00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2014, JSK Lab 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the JSK Lab nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 00037 #ifndef JSK_RVIZ_PLUGIN_VIDEO_CAPTURE_DISPLAY_H_ 00038 #define JSK_RVIZ_PLUGIN_VIDEO_CAPTURE_DISPLAY_H_ 00039 00040 #include <rviz/display.h> 00041 #include <rviz/properties/string_property.h> 00042 #include <rviz/properties/bool_property.h> 00043 #include <rviz/properties/float_property.h> 00044 #include <opencv2/opencv.hpp> 00045 00046 namespace jsk_rviz_plugins 00047 { 00048 class VideoCaptureDisplay: public rviz::Display 00049 { 00050 Q_OBJECT 00051 public: 00052 typedef std::shared_ptr<VideoCaptureDisplay> Ptr; 00053 VideoCaptureDisplay(); 00054 virtual ~VideoCaptureDisplay(); 00055 protected: 00056 virtual void onInitialize(); 00057 // virtual void subscribe(); 00058 // virtual void unsubscribe(); 00059 virtual void onEnable(); 00060 // virtual void onDisable(); 00061 virtual void update(float wall_dt, float ros_dt); 00062 virtual void startCapture(); 00063 virtual void stopCapture(); 00065 // Variables 00067 rviz::StringProperty* file_name_property_; 00068 rviz::BoolProperty* start_capture_property_; 00069 rviz::FloatProperty* fps_property_; 00070 std::string file_name_; 00071 bool capturing_; 00072 double fps_; 00073 int frame_counter_; 00074 bool first_time_; 00075 cv::VideoWriter writer_; 00076 protected Q_SLOTS: 00077 void updateFileName(); 00078 void updateStartCapture(); 00079 void updateFps(); 00080 private: 00081 00082 }; 00083 } 00084 00085 #endif