overlay_image_display.cpp

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// -*- mode: c++; -*-
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#include "overlay_image_display.h"

#include <OGRE/OgreMaterialManager.h>
#include <OGRE/OgreTextureManager.h>
#include <OGRE/OgreTexture.h>
#include <OGRE/OgreHardwarePixelBuffer.h>
#include <OGRE/OgreTechnique.h>

#include <rviz/uniform_string_stream.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>

namespace jsk_rviz_plugins
{

  OverlayImageDisplay::OverlayImageDisplay()
    : Display(), width_(128), height_(128), left_(128), top_(128), alpha_(0.8),
      is_msg_available_(false), require_update_(false), overwrite_alpha_(false)
  {
    // setup properties
    update_topic_property_ = new rviz::RosTopicProperty(
      "Topic", "",
      ros::message_traits::datatype<sensor_msgs::Image>(),
      "sensor_msgs::Image topic to subscribe to.",
      this, SLOT( updateTopic() ));
    transport_hint_property_ = new ImageTransportHintsProperty("transport hint",
                                                              "transport hint to subscribe topic",
                                                              this, SLOT(updateTopic()));
    keep_aspect_ratio_property_ = new rviz::BoolProperty("keep aspect ratio", false,
                                                         "keep aspect ratio of original image",
                                                         this, SLOT(updateKeepAspectRatio()));
    width_property_ = new rviz::IntProperty("width", 128,
                                            "width of the image window",
                                            this, SLOT(updateWidth()));
    height_property_ = new rviz::IntProperty("height", 128,
                                             "height of the image window",
                                             this, SLOT(updateHeight()));
    left_property_ = new rviz::IntProperty("left", 128,
                                           "left of the image window",
                                           this, SLOT(updateLeft()));
    top_property_ = new rviz::IntProperty("top", 128,
                                          "top of the image window",
                                          this, SLOT(updateTop()));
    alpha_property_ = new rviz::FloatProperty("alpha", 0.8,
                                              "alpha belnding value",
                                              this, SLOT(updateAlpha()));
    overwrite_alpha_property_ = new rviz::BoolProperty("overwrite alpha value", false,
                                                       "overwrite alpha value by alpha property "
                                                       "and ignore alpha channel of the image",
                                                       this, SLOT(updateOverwriteAlpha()));
  }

  OverlayImageDisplay::~OverlayImageDisplay()
  {
    delete update_topic_property_;
    delete transport_hint_property_;
    delete keep_aspect_ratio_property_;
    delete overwrite_alpha_property_;
    delete width_property_;
    delete height_property_;
    delete left_property_;
    delete top_property_;
    delete alpha_property_;
  }

  void OverlayImageDisplay::onInitialize()
  {
    ros::NodeHandle nh;
#if ROS_VERSION_MINIMUM(1,12,0)
    it_ = std::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(nh));
#else
    it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(nh));
#endif

    updateWidth();
    updateHeight();
    updateKeepAspectRatio();
    updateOverwriteAlpha();
    updateTop();
    updateLeft();
    updateAlpha();
    updateTopic();
  }

  void OverlayImageDisplay::onEnable()
  {
    if (overlay_) {
      overlay_->show();
    }
    subscribe();
  }
  void OverlayImageDisplay::onDisable()
  {
    if (overlay_) {
      overlay_->hide();
    }
    unsubscribe();
  }

  void OverlayImageDisplay::unsubscribe()
  {
    sub_.shutdown();
    // clear clear clear...
  }

  void OverlayImageDisplay::subscribe()
  {
    if (isEnabled()) {
      std::string topic_name = update_topic_property_->getTopicStd();

      if (topic_name.length() > 0 && topic_name != "/") {
        const image_transport::TransportHints transport_hint =
          transport_hint_property_->getTransportHints();
        sub_ = it_->subscribe(topic_name, 1, &OverlayImageDisplay::processMessage, this,
                              transport_hint);
      }
    }
  }

  void OverlayImageDisplay::processMessage(
    const sensor_msgs::Image::ConstPtr& msg)
  {
    msg_ = msg;
    is_msg_available_ = true;
    require_update_ = true;
    if ((width_property_->getInt() < 0) || (height_property_->getInt() < 0) || keep_aspect_ratio_) {
      // automatically setup display size
      updateWidth();
      updateHeight();
    }
  }


  void OverlayImageDisplay::update(float wall_dt, float ros_dt)
  {
    if (!isEnabled()) {
      return;
    }

    if (require_update_ && is_msg_available_) {
      if (!overlay_) {
        static int count = 0;
        rviz::UniformStringStream ss;
        ss << "OverlayImageDisplayObject" << count++;
        overlay_.reset(new OverlayObject(ss.str()));
        overlay_->show();
      }
      overlay_->updateTextureSize(msg_->width, msg_->height);
      // When aspect_ratio being kept, the size is specified by width;
      height_property_->setHidden(keep_aspect_ratio_);
      setImageSize();
      redraw();
      require_update_ = false;
    }
    if (overlay_) {
      overlay_->setDimensions(width_, height_);
      overlay_->setPosition(left_, top_);
    }
  }

  void OverlayImageDisplay::redraw()
  {
    try
    {
      if (msg_->width == 0 || msg_->height == 0) {
        // image width/height and texture width/height should be same
        // but they are not when input image width/height is 0
        return;
      }
      else {
        cv::Mat mat;  // mat should be BGRA8 image

        if ((msg_->encoding == sensor_msgs::image_encodings::BGRA8 ||
             msg_->encoding == sensor_msgs::image_encodings::RGBA8) &&
            !overwrite_alpha_) {
          const cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(
                  msg_, sensor_msgs::image_encodings::BGRA8);
          cv_ptr->image.copyTo(mat);
        } else {
            // If the image does not have alpha channel, use alpha_ value.
            const cv_bridge::CvImagePtr cv_ptr =
                    cv_bridge::toCvCopy(msg_, sensor_msgs::image_encodings::BGR8);
            const cv::Mat bgr_image = cv_ptr->image;
            std::vector<cv::Mat> channels;
            // Split BGR image to each channel because cv::merge requires 4 images to create
            // B-G-R-A image. The each 4 image represents each channel.
            cv::split(bgr_image, channels);
            // Create single alpha channel image
            const cv::Mat alpha(bgr_image.rows, bgr_image.cols, CV_8UC1,
                                cv::Scalar(alpha_ * 255.0));
            channels.push_back(alpha);
            cv::merge(channels, mat);
        }

        ScopedPixelBuffer buffer = overlay_->getBuffer();
        QImage Hud = buffer.getQImage(*overlay_);
        // QImage created from ScopedPixelBuffer has no padding between each line.
        memcpy(Hud.scanLine(0), mat.data, mat.cols * mat.rows * mat.elemSize());
      }
    }
    catch (cv_bridge::Exception& e)
    {
      ROS_ERROR("cv_bridge exception: %s", e.what());
    }
  }

  void OverlayImageDisplay::updateTopic()
  {
    unsubscribe();
    subscribe();
  }

  void OverlayImageDisplay::setImageSize()
  {
    if (width_ == -1) {
      if (is_msg_available_) {
        width_ = msg_->width;
      }
      else {
        width_ = 128;
      }
    }

    if (height_ == -1) {
      if (is_msg_available_) {
        height_ = msg_->height;
      }
      else {
        height_ = 128;
      }
    }

    if (keep_aspect_ratio_ && is_msg_available_) {
      // When aspect_ratio being kept, the size is specified by width;
      double aspect_ratio = msg_->height / (double)msg_->width;
      int height_from_width = std::ceil(width_ * aspect_ratio);
      height_ = height_from_width;
    }

  }

  void OverlayImageDisplay::updateWidth()
  {
    boost::mutex::scoped_lock lock(mutex_);
    width_ = width_property_->getInt();
    require_update_ = true;
  }

  void OverlayImageDisplay::updateHeight()
  {
    boost::mutex::scoped_lock lock(mutex_);
    height_ = height_property_->getInt();
    require_update_ = true;
  }

  void OverlayImageDisplay::updateTop()
  {
    boost::mutex::scoped_lock lock(mutex_);
    top_ = top_property_->getInt();
  }

  void OverlayImageDisplay::updateLeft()
  {
    boost::mutex::scoped_lock lock(mutex_);
    left_ = left_property_->getInt();
  }

  void OverlayImageDisplay::updateAlpha()
  {
    boost::mutex::scoped_lock lock(mutex_);
    alpha_ = alpha_property_->getFloat();
  }

  void OverlayImageDisplay::updateKeepAspectRatio()
  {
    boost::mutex::scoped_lock lock(mutex_);
    keep_aspect_ratio_ = keep_aspect_ratio_property_->getBool();
    require_update_ = true;
  }

  void OverlayImageDisplay::updateOverwriteAlpha()
  {
    boost::mutex::scoped_lock lock(mutex_);
    overwrite_alpha_ = overwrite_alpha_property_->getBool();
    require_update_ = true;
  }

  bool OverlayImageDisplay::isInRegion(int x, int y)
  {
    return (top_ < y && top_ + height_ > y &&
            left_ < x && left_ + width_ > x);
  }

  void OverlayImageDisplay::movePosition(int x, int y)
  {
    top_ = y;
    left_ = x;
  }

  void OverlayImageDisplay::setPosition(int x, int y)
  {
    top_property_->setValue(y);
    left_property_->setValue(x);
  }

}

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::OverlayImageDisplay, rviz::Display )