ros_image_texture.h

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
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#ifndef RVIZ_ROS_IMAGE_TEXTURE_H
#define RVIZ_ROS_IMAGE_TEXTURE_H

#include <sensor_msgs/Image.h>

#include <OGRE/OgreTexture.h>
#include <OGRE/OgreImage.h>

#include <boost/shared_ptr.hpp>
#include <boost/thread/mutex.hpp>

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <image_transport/subscriber_filter.h>

#include <tf/message_filter.h>

#include <stdexcept>

namespace tf
{
class TransformListener;
}

namespace rviz
{

typedef std::vector<std::string> V_string;

class UnsupportedImageEncoding : public std::runtime_error
{
public:
  UnsupportedImageEncoding(const std::string& encoding)
  : std::runtime_error("Unsupported image encoding [" + encoding + "]")
  {}
};

class ROSImageTexture
{
public:
  ROSImageTexture(const ros::NodeHandle& nh);
  ~ROSImageTexture();

  void setTopic(const std::string& topic);
  void setFrame(const std::string& frame, tf::TransformListener* tf_client);
  bool update();
  void clear();

  const Ogre::TexturePtr& getTexture() { return texture_; }
  const sensor_msgs::Image::ConstPtr& getImage();

  uint32_t getWidth() { return width_; }
  uint32_t getHeight() { return height_; }
  uint32_t getImageCount() { return image_count_; }

  image_transport::ImageTransport& getImageTransport() { return it_; }

  void setTransportType(const std::string& transport_type);
  const std::string& getTransportType() { return transport_type_; }
  void getAvailableTransportTypes(V_string& types);

  void setQueueSize( int size );
  int getQueueSize();

private:
  void callback(const sensor_msgs::Image::ConstPtr& image);

  void scanForTransportSubscriberPlugins();

  ros::NodeHandle nh_;
  image_transport::ImageTransport it_;
  boost::shared_ptr<image_transport::SubscriberFilter> sub_;
  boost::shared_ptr<tf::MessageFilter<sensor_msgs::Image> > tf_filter_;

  std::string transport_type_;

  sensor_msgs::Image::ConstPtr current_image_;
  boost::mutex mutex_;
  bool new_image_;

  Ogre::TexturePtr texture_;
  Ogre::Image empty_image_;

  uint32_t width_;
  uint32_t height_;

  std::string topic_;
  std::string frame_;
  tf::TransformListener* tf_client_;

  uint32_t image_count_;
  int queue_size_;

  std::set<std::string> transport_plugin_types_;
};

}

#endif