but_rostexture.h

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * 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 Willow Garage, Inc. 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
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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 <cv_bridge/cv_bridge.h>
#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 srs_ui_but
{


        class CRosTextureConverter
        {
        public:
                class RTCException : public std::runtime_error
                {
                public:
                        RTCException(const std::string& estr)
                                  : std::runtime_error(estr)
                  {}

                }; // class RTCException

        public:
                CRosTextureConverter( const std::string & encoding = std::string(), bool bStaticTexture = false );

                CRosTextureConverter( const std::string & name, const std::string & encoding, bool bStaticTexture = false );

                ~CRosTextureConverter();

                void setEncoding( const std::string & encoding ){ m_output_encoding = encoding; }

                bool convert( const sensor_msgs::Image::ConstPtr& image, const std::string & texture_name, bool writeInfo = false );

                bool convert( const sensor_msgs::Image::ConstPtr& image, bool writeInfo = false )
                {
                        return convert( image, m_texture_name, writeInfo );
                }

                Ogre::TexturePtr & getOgreTexture(){ return m_ogre_image; }

                cv_bridge::CvImage * getOpenCVImage() { return m_cv_image.get(); }



        protected:
                void initOgreTexture( Ogre::PixelFormat format, const std::string & name );

                Ogre::PixelFormat getFormat( const std::string & encoding );

                void writeStats( Ogre::Image & image );

        protected:
                cv_bridge::CvImagePtr m_cv_image;

                Ogre::TexturePtr m_ogre_image;

                std::string m_output_encoding;

                Ogre::PixelFormat m_static_format;

                std::string m_texture_name;

                Ogre::Image m_empty_image;

                bool m_bStaticTexture;


        };  // class CRosTextureConverter

        class CRosTopicTexture
        {
        public:
                CRosTopicTexture( const ros::NodeHandle& nh, const std::string & texture_name, const std::string & encoding );

                //CRosTopicTexture( const ros::NodeHandle& nh, const std::string & texture_name, Ogre::PixelFormat encoding );

                ~CRosTopicTexture();

                void setTopic(const std::string& topic);

                std::string getTopic() { return m_topic; }

                const Ogre::TexturePtr& getTexture() { return m_texture_converter.getOgreTexture(); }

                bool update();

                void clear();

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

        protected:
                ros::NodeHandle m_nh;

                CRosTextureConverter m_texture_converter;

                std::string m_name;

                std::string m_topic;

                sensor_msgs::Image::ConstPtr m_current_image;
                image_transport::ImageTransport m_it;
                boost::shared_ptr<image_transport::SubscriberFilter> m_sub;
                boost::shared_ptr<tf::MessageFilter<sensor_msgs::Image> > m_tf_filter;
                std::string m_transport_type;
                boost::mutex m_mutex;
                bool m_new_image;
                std::string m_frame;
                tf::TransformListener* m_tf_client;

        };



} // namespace srs_ui_but


#endif