video_capture_display.h

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// -*- mode: c++ -*-
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#ifndef JSK_RVIZ_PLUGIN_VIDEO_CAPTURE_DISPLAY_H_
#define JSK_RVIZ_PLUGIN_VIDEO_CAPTURE_DISPLAY_H_
 
#include <rviz/display.h>
#include <rviz/properties/string_property.h>
#include <rviz/properties/bool_property.h>
#include <rviz/properties/float_property.h>
#include <rviz/properties/int_property.h>
#include <opencv2/opencv.hpp>
 
#include <ros/ros.h>
 
namespace jsk_rviz_plugins
{
  class VideoCaptureDisplay: public rviz::Display
  {
    Q_OBJECT
  public:
#if ROS_VERSION_MINIMUM(1,12,0)
    typedef std::shared_ptr<VideoCaptureDisplay> Ptr;
#else
    typedef boost::shared_ptr<VideoCaptureDisplay> Ptr;
#endif
    VideoCaptureDisplay();
    virtual ~VideoCaptureDisplay();
  protected:
    virtual void onInitialize();
    // virtual void subscribe();
    // virtual void unsubscribe();
    virtual void onEnable();
    // virtual void onDisable();
    virtual void update(float wall_dt, float ros_dt);
    virtual void startCapture();
    virtual void stopCapture();
    // Variables
    rviz::StringProperty* file_name_property_;
    rviz::BoolProperty* start_capture_property_;
    rviz::FloatProperty* fps_property_;
    rviz::BoolProperty* use_3d_viewer_size_property_;
    rviz::IntProperty* width_property_;
    rviz::IntProperty* height_property_;
    std::string file_name_;
    bool capturing_;
    double fps_;
    bool use_3d_viewer_size_;
    int width_;
    int height_;
    int frame_counter_;
    bool first_time_;
    cv::VideoWriter writer_;
  protected Q_SLOTS:
    void updateFileName();
    void updateStartCapture();
    void updateFps();
    void updateUse3DViewerSize();
    void updateWidth();
    void updateHeight();
  private:
    
  };
}
 
#endif