Program Listing for File image_view.h
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/*
* Copyright (c) 2011, Dirk Thomas, TU Darmstadt
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the TU Darmstadt nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef rqt_image_view__ImageView_H
#define rqt_image_view__ImageView_H
#include <rqt_gui_cpp/plugin.h>
#include <ui_image_view.h>
#include <image_transport/image_transport.hpp>
#include <image_transport/subscriber.hpp>
#include <sensor_msgs/msg/image.hpp>
#include <geometry_msgs/msg/point.hpp>
#include <opencv2/core/core.hpp>
#include <QAction>
#include <QImage>
#include <QList>
#include <QString>
#include <QSet>
#include <QSize>
#include <QWidget>
#include <vector>
namespace rqt_image_view {
class ImageView
: public rqt_gui_cpp::Plugin
{
Q_OBJECT
public:
ImageView();
virtual void initPlugin(qt_gui_cpp::PluginContext& context);
virtual void shutdownPlugin();
virtual void saveSettings(qt_gui_cpp::Settings& plugin_settings, qt_gui_cpp::Settings& instance_settings) const;
virtual void restoreSettings(const qt_gui_cpp::Settings& plugin_settings, const qt_gui_cpp::Settings& instance_settings);
protected slots:
virtual void updateTopicList();
protected:
virtual QSet<QString> getTopics(const QSet<QString>& message_types, const QSet<QString>& message_sub_types, const QList<QString>& transports);
virtual void selectTopic(const QString& topic);
protected slots:
virtual void onTopicChanged(int index);
virtual void onZoom1(bool checked);
virtual void onDynamicRange(bool checked);
virtual void saveImage();
virtual void updateNumGridlines();
virtual void onMousePublish(bool checked);
virtual void onMouseLeft(int x, int y);
virtual void onPubTopicChanged();
virtual void onHideToolbarChanged(bool hide);
virtual void onRotateLeft();
virtual void onRotateRight();
protected:
virtual void callbackImage(const sensor_msgs::msg::Image::ConstSharedPtr& msg);
virtual void invertPixels(int x, int y);
QList<int> getGridIndices(int size) const;
virtual void overlayGrid();
Ui::ImageViewWidget ui_;
QWidget* widget_;
image_transport::Subscriber subscriber_;
cv::Mat conversion_mat_;
private:
enum RotateState {
ROTATE_0 = 0,
ROTATE_90 = 1,
ROTATE_180 = 2,
ROTATE_270 = 3,
ROTATE_STATE_COUNT
};
void syncRotateLabel();
QString arg_topic_name;
rclcpp::Publisher<geometry_msgs::msg::Point>::SharedPtr pub_mouse_left_;
bool pub_topic_custom_;
QAction* hide_toolbar_action_;
int num_gridlines_;
RotateState rotate_state_;
};
}
#endif // rqt_image_view__ImageView_H