00001 /* 00002 * Copyright (c) 2011, Dirk Thomas, TU Darmstadt 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 00007 * are met: 00008 * 00009 * * Redistributions of source code must retain the above copyright 00010 * notice, this list of conditions and the following disclaimer. 00011 * * Redistributions in binary form must reproduce the above 00012 * copyright notice, this list of conditions and the following 00013 * disclaimer in the documentation and/or other materials provided 00014 * with the distribution. 00015 * * Neither the name of the TU Darmstadt nor the names of its 00016 * contributors may be used to endorse or promote products derived 00017 * from this software without specific prior written permission. 00018 * 00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00020 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00021 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00022 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00023 * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00024 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00025 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00026 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00027 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00028 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00029 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00030 * POSSIBILITY OF SUCH DAMAGE. 00031 */ 00032 00033 #ifndef rqt_image_view__ImageView_H 00034 #define rqt_image_view__ImageView_H 00035 00036 #include <rqt_gui_cpp/plugin.h> 00037 00038 #include <ui_image_view.h> 00039 00040 #include <image_transport/image_transport.h> 00041 #include <ros/macros.h> 00042 #include <sensor_msgs/Image.h> 00043 #include <geometry_msgs/Point.h> 00044 00045 #include <opencv2/core/core.hpp> 00046 00047 #include <QAction> 00048 #include <QImage> 00049 #include <QList> 00050 #include <QString> 00051 #include <QSize> 00052 #include <QWidget> 00053 00054 #include <vector> 00055 00056 namespace rqt_image_view { 00057 00058 class ImageView 00059 : public rqt_gui_cpp::Plugin 00060 { 00061 00062 Q_OBJECT 00063 00064 public: 00065 00066 ImageView(); 00067 00068 virtual void initPlugin(qt_gui_cpp::PluginContext& context); 00069 00070 virtual void shutdownPlugin(); 00071 00072 virtual void saveSettings(qt_gui_cpp::Settings& plugin_settings, qt_gui_cpp::Settings& instance_settings) const; 00073 00074 virtual void restoreSettings(const qt_gui_cpp::Settings& plugin_settings, const qt_gui_cpp::Settings& instance_settings); 00075 00076 protected slots: 00077 00078 virtual void updateTopicList(); 00079 00080 protected: 00081 00082 // deprecated function for backward compatibility only, use getTopics() instead 00083 ROS_DEPRECATED virtual QList<QString> getTopicList(const QSet<QString>& message_types, const QList<QString>& transports); 00084 00085 virtual QSet<QString> getTopics(const QSet<QString>& message_types, const QSet<QString>& message_sub_types, const QList<QString>& transports); 00086 00087 virtual void selectTopic(const QString& topic); 00088 00089 protected slots: 00090 00091 virtual void onTopicChanged(int index); 00092 00093 virtual void onZoom1(bool checked); 00094 00095 virtual void onDynamicRange(bool checked); 00096 00097 virtual void saveImage(); 00098 00099 virtual void onMousePublish(bool checked); 00100 00101 virtual void onMouseLeft(int x, int y); 00102 00103 virtual void onPubTopicChanged(); 00104 00105 virtual void onHideToolbarChanged(bool hide); 00106 00107 protected: 00108 00109 virtual void callbackImage(const sensor_msgs::Image::ConstPtr& msg); 00110 00111 Ui::ImageViewWidget ui_; 00112 00113 QWidget* widget_; 00114 00115 image_transport::Subscriber subscriber_; 00116 00117 cv::Mat conversion_mat_; 00118 00119 private: 00120 00121 QString arg_topic_name; 00122 ros::Publisher pub_mouse_left_; 00123 00124 bool pub_topic_custom_; 00125 00126 QAction* hide_toolbar_action_; 00127 }; 00128 00129 } 00130 00131 #endif // rqt_image_view__ImageView_H