image_plugin.h
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29 
30 #ifndef MAPVIZ_PLUGINS_IMAGE_PLUGIN_H_
31 #define MAPVIZ_PLUGINS_IMAGE_PLUGIN_H_
32 
33 // C++ standard libraries
34 #include <string>
35 #include <list>
36 
37 #include <mapviz/mapviz_plugin.h>
38 
39 // QT libraries
40 #include <QGLWidget>
41 #include <QObject>
42 #include <QWidget>
43 #include <QColor>
44 
45 // ROS libraries
46 #include <ros/ros.h>
47 #include <tf/transform_datatypes.h>
48 #include <sensor_msgs/Image.h>
49 #include <opencv/highgui.h>
50 #include <cv_bridge/cv_bridge.h>
52 
53 #include <mapviz/map_canvas.h>
54 
55 // QT autogenerated files
56 #include "ui_image_config.h"
57 
58 namespace mapviz_plugins
59 {
61  {
62  Q_OBJECT
63 
64  public:
65  enum Anchor {
75  };
76 
77  enum Units {PIXELS, PERCENT};
78 
79  ImagePlugin();
80  virtual ~ImagePlugin();
81 
82  bool Initialize(QGLWidget* canvas);
83  void Shutdown() {}
84 
85  void Draw(double x, double y, double scale);
86 
87  void CreateLocalNode();
88  virtual void SetNode(const ros::NodeHandle& node);
89 
90  void Transform() {}
91 
92  void LoadConfig(const YAML::Node& node, const std::string& path);
93  void SaveConfig(YAML::Emitter& emitter, const std::string& path);
94 
95  QWidget* GetConfigWidget(QWidget* parent);
96 
97  protected:
98  void PrintError(const std::string& message);
99  void PrintInfo(const std::string& message);
100  void PrintWarning(const std::string& message);
101 
102  public Q_SLOTS:
103  void Resubscribe();
104 
105  protected Q_SLOTS:
106  void SelectTopic();
107  void TopicEdited();
108  void SetAnchor(QString anchor);
109  void SetUnits(QString units);
110  void SetOffsetX(int offset);
111  void SetOffsetY(int offset);
112  void SetWidth(double width);
113  void SetHeight(double height);
114  void SetSubscription(bool visible);
115  void SetTransport(const QString& transport);
116  void KeepRatioChanged(bool checked);
117 
118  private:
119  Ui::image_config ui_;
120  QWidget* config_widget_;
121 
122  std::string topic_;
127  double width_;
128  double height_;
129  QString transport_;
130 
133 
134  double last_width_;
135  double last_height_;
137 
141 
142  sensor_msgs::Image image_;
143 
145  cv::Mat scaled_image_;
146 
147  void imageCallback(const sensor_msgs::ImageConstPtr& image);
148 
149  void ScaleImage(double width, double height);
150  void DrawIplImage(cv::Mat *image);
151 
152  std::string AnchorToString(Anchor anchor);
153  std::string UnitsToString(Units units);
154  };
155 }
156 
157 #endif // MAPVIZ_PLUGINS_IMAGE_PLUGIN_H_
void KeepRatioChanged(bool checked)
void PrintInfo(const std::string &message)
ros::NodeHandle local_node_
Definition: image_plugin.h:138
void DrawIplImage(cv::Mat *image)
bool Initialize(QGLWidget *canvas)
virtual void SetNode(const ros::NodeHandle &node)
sensor_msgs::Image image_
Definition: image_plugin.h:142
void PrintError(const std::string &message)
void SetWidth(double width)
TFSIMD_FORCE_INLINE const tfScalar & y() const
void ScaleImage(double width, double height)
void SetAnchor(QString anchor)
image_transport::Subscriber image_sub_
Definition: image_plugin.h:139
void SetUnits(QString units)
void LoadConfig(const YAML::Node &node, const std::string &path)
void SaveConfig(YAML::Emitter &emitter, const std::string &path)
TFSIMD_FORCE_INLINE const tfScalar & x() const
void SetSubscription(bool visible)
std::string AnchorToString(Anchor anchor)
void SetTransport(const QString &transport)
void PrintWarning(const std::string &message)
QWidget * GetConfigWidget(QWidget *parent)
cv_bridge::CvImagePtr cv_image_
Definition: image_plugin.h:144
std::string UnitsToString(Units units)
void SetHeight(double height)
void imageCallback(const sensor_msgs::ImageConstPtr &image)
void Draw(double x, double y, double scale)


mapviz_plugins
Author(s): Marc Alban
autogenerated on Thu Jun 6 2019 19:25:16