image_view.cpp
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29 
30 
31 #include <QtGlobal>
32 #include <QTimer>
33 
38 
39 #include "ros/ros.h"
40 #include <ros/package.h>
41 
42 #include <OgreRoot.h>
43 #include <OgreRenderWindow.h>
44 #include <OgreSceneManager.h>
45 #include <OgreViewport.h>
46 #include <OgreRectangle2D.h>
47 #include <OgreMaterial.h>
48 #include <OgreMaterialManager.h>
49 #include <OgreTextureUnitState.h>
50 #include <OgreSharedPtr.h>
51 #include <OgreTechnique.h>
52 #include <OgreSceneNode.h>
53 
54 #include "image_view.h"
55 
56 using namespace rviz;
57 
58 ImageView::ImageView(QWidget* parent) : QtOgreRenderWindow(parent), texture_it_(nh_)
59 {
60  setAutoRender(false);
61 #if (OGRE_VERSION < OGRE_VERSION_CHECK(13, 0, 0))
62  scene_manager_ = ogre_root_->createSceneManager(Ogre::ST_GENERIC, "TestSceneManager");
63 #else
64  scene_manager_ = ogre_root_->createSceneManager(Ogre::DefaultSceneManagerFactory::FACTORY_TYPE_NAME,
65  "TestSceneManager");
66 #endif
67 }
68 
70 {
71  delete texture_;
72 }
73 
74 void ImageView::showEvent(QShowEvent* event)
75 {
76  QtOgreRenderWindow::showEvent(event);
77 
78  V_string paths;
79  paths.push_back(ros::package::getPath(ROS_PACKAGE_NAME) + "/ogre_media/textures");
80  initializeResources(paths);
81 
82  setCamera(scene_manager_->createCamera("Camera"));
83 
84  std::string resolved_image = nh_.resolveName("image");
85  if (resolved_image == "/image")
86  {
87  ROS_WARN("image topic has not been remapped");
88  }
89 
90  std::stringstream title;
91  title << "rviz Image Viewer [" << resolved_image << "]";
92  setWindowTitle(QString::fromStdString(title.str()));
93 
94  texture_ = new ROSImageTexture();
95 
96  try
97  {
98  texture_->clear();
99 
101  texture_sub_->subscribe(texture_it_, "image", 1, image_transport::TransportHints("raw"));
102  texture_sub_->registerCallback(
103  boost::bind(&ImageView::textureCallback, this, boost::placeholders::_1));
104  }
105  catch (ros::Exception& e)
106  {
107  ROS_ERROR("%s", (std::string("Error subscribing: ") + e.what()).c_str());
108  }
109 
110  Ogre::MaterialPtr material = Ogre::MaterialManager::getSingleton().create(
111  "Material", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
112  material->setCullingMode(Ogre::CULL_NONE);
113  material->getTechnique(0)->getPass(0)->setDepthWriteEnabled(true);
114  material->getTechnique(0)->setLightingEnabled(false);
115  Ogre::TextureUnitState* tu = material->getTechnique(0)->getPass(0)->createTextureUnitState();
116  tu->setTextureName(texture_->getTexture()->getName());
117  tu->setTextureFiltering(Ogre::TFO_NONE);
118  tu->setTextureAddressingMode(Ogre::TextureUnitState::TAM_CLAMP);
119 
120  Ogre::Rectangle2D* rect = new Ogre::Rectangle2D(true);
121  rect->setCorners(-1.0f, 1.0f, 1.0f, -1.0f);
122  setMaterial(*rect, material);
123  rect->setRenderQueueGroup(Ogre::RENDER_QUEUE_OVERLAY - 1);
124  Ogre::AxisAlignedBox aabb;
125  aabb.setInfinite();
126  rect->setBoundingBox(aabb);
127 
128  Ogre::SceneNode* node = scene_manager_->getRootSceneNode()->createChildSceneNode();
129  node->attachObject(rect);
130  node->setVisible(true);
131 
132  QTimer* timer = new QTimer(this);
133  connect(timer, &QTimer::timeout, this, &ImageView::onTimer);
134  timer->start(33);
135 }
136 
138 {
139  ros::spinOnce();
140 
141  static bool first = true;
142  try
143  {
144  if (texture_->update())
145  {
146  if (first)
147  {
148  first = false;
149 
150  resize(texture_->getWidth(), texture_->getHeight());
151  }
152  }
153 
154  ogre_root_->renderOneFrame();
155  }
156  catch (UnsupportedImageEncoding& e)
157  {
158  ROS_ERROR("%s", e.what());
159  }
160 
161  if (!nh_.ok())
162  {
163  close();
164  }
165 }
166 
167 void ImageView::textureCallback(const sensor_msgs::Image::ConstPtr& msg)
168 {
169  if (texture_)
170  {
171  texture_->addMessage(msg);
172  }
173 }
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rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust, William Woodall
autogenerated on Fri Aug 2 2024 08:43:09