00001 /* 00002 * Copyright (c) 2009, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #ifndef RVIZ_CAMERA_DISPLAY_H 00031 #define RVIZ_CAMERA_DISPLAY_H 00032 00033 #include <QObject> 00034 00035 #include "rviz/display.h" 00036 #include "rviz/render_panel.h" 00037 #include "rviz/properties/forwards.h" 00038 #include "rviz/image/ros_image_texture.h" 00039 00040 #include <sensor_msgs/CameraInfo.h> 00041 00042 #include <OGRE/OgreMaterial.h> 00043 #include <OGRE/OgreRenderTargetListener.h> 00044 00045 #include <message_filters/subscriber.h> 00046 #include <tf/message_filter.h> 00047 00048 namespace Ogre 00049 { 00050 class SceneNode; 00051 class ManualObject; 00052 class Rectangle2D; 00053 class Camera; 00054 } 00055 00056 class QWidget; 00057 00058 namespace rviz 00059 { 00060 00061 class RenderPanel; 00062 class PanelDockWidget; 00063 00068 class CameraDisplay: public Display, public Ogre::RenderTargetListener 00069 { 00070 Q_OBJECT 00071 public: 00072 CameraDisplay(); 00073 virtual ~CameraDisplay(); 00074 00075 virtual void onInitialize(); 00076 00077 float getAlpha() { return alpha_; } 00078 void setAlpha( float alpha ); 00079 00080 const std::string& getTopic() { return topic_; } 00081 void setTopic(const std::string& topic); 00082 00083 const std::string& getTransport() { return transport_; } 00084 void setTransport(const std::string& transport); 00085 00086 const std::string& getImagePosition() { return image_position_; } 00087 void setImagePosition(const std::string& image_position); 00088 00089 float getZoom() { return zoom_; } 00090 void setZoom( float zoom ); 00091 00093 void setQueueSize( int size ); 00094 int getQueueSize(); 00095 00096 // Overrides from Display 00097 virtual void fixedFrameChanged(); 00098 virtual void createProperties(); 00099 virtual void update(float wall_dt, float ros_dt); 00100 virtual void reset(); 00101 00102 // Overrides from Ogre::RenderTargetListener 00103 virtual void preRenderTargetUpdate(const Ogre::RenderTargetEvent& evt); 00104 virtual void postRenderTargetUpdate(const Ogre::RenderTargetEvent& evt); 00105 00106 protected Q_SLOTS: 00108 void setWrapperEnabled( bool enabled ); 00109 00110 protected: 00111 00112 // overrides from Display 00113 virtual void onEnable(); 00114 virtual void onDisable(); 00115 00116 void subscribe(); 00117 void unsubscribe(); 00118 00119 void caminfoCallback(const sensor_msgs::CameraInfo::ConstPtr& msg); 00120 00121 void updateCamera(); 00122 00123 void clear(); 00124 void updateStatus(); 00125 00126 void onTransportEnumOptions(V_string& choices); 00127 void onImagePositionEnumOptions(V_string& choices); 00128 00129 Ogre::SceneNode* bg_scene_node_; 00130 Ogre::SceneNode* fg_scene_node_; 00131 00132 Ogre::Rectangle2D* bg_screen_rect_; 00133 Ogre::MaterialPtr bg_material_; 00134 00135 Ogre::Rectangle2D* fg_screen_rect_; 00136 Ogre::MaterialPtr fg_material_; 00137 00138 float alpha_; 00139 float zoom_; 00140 std::string topic_; 00141 std::string transport_; 00142 std::string image_position_; 00143 00144 message_filters::Subscriber<sensor_msgs::CameraInfo> caminfo_sub_; 00145 tf::MessageFilter<sensor_msgs::CameraInfo>* caminfo_tf_filter_; 00146 00147 FloatPropertyWPtr alpha_property_; 00148 ROSTopicStringPropertyWPtr topic_property_; 00149 EditEnumPropertyWPtr transport_property_; 00150 EditEnumPropertyWPtr image_position_property_; 00151 FloatPropertyWPtr zoom_property_; 00152 IntPropertyWPtr queue_size_property_; 00153 00154 sensor_msgs::CameraInfo::ConstPtr current_caminfo_; 00155 boost::mutex caminfo_mutex_; 00156 00157 bool new_caminfo_; 00158 00159 ROSImageTexture texture_; 00160 00161 RenderPanel* render_panel_; 00162 00163 bool force_render_; 00164 00165 PanelDockWidget* panel_container_; 00166 }; 00167 00168 } // namespace rviz 00169 00170 #endif