00001 /* 00002 * Copyright (c) 2011, Dirk Thomas, TU Darmstadt 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 00007 * are met: 00008 * 00009 * * Redistributions of source code must retain the above copyright 00010 * notice, this list of conditions and the following disclaimer. 00011 * * Redistributions in binary form must reproduce the above 00012 * copyright notice, this list of conditions and the following 00013 * disclaimer in the documentation and/or other materials provided 00014 * with the distribution. 00015 * * Neither the name of the TU Darmstadt nor the names of its 00016 * contributors may be used to endorse or promote products derived 00017 * from this software without specific prior written permission. 00018 * 00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00020 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00021 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00022 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00023 * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00024 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00025 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00026 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00027 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00028 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00029 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00030 * POSSIBILITY OF SUCH DAMAGE. 00031 */ 00032 00033 #ifndef rqt_image_view__ImageView_H 00034 #define rqt_image_view__ImageView_H 00035 00036 #include <rqt_gui_cpp/plugin.h> 00037 00038 #include <ui_image_view.h> 00039 00040 #include <image_transport/image_transport.h> 00041 #include <sensor_msgs/Image.h> 00042 00043 #include <opencv2/core/core.hpp> 00044 00045 #include <QImage> 00046 #include <QList> 00047 #include <QMutex> 00048 #include <QString> 00049 #include <QSize> 00050 #include <QWidget> 00051 00052 #include <vector> 00053 00054 namespace rqt_image_view { 00055 00056 class ImageView 00057 : public rqt_gui_cpp::Plugin 00058 { 00059 00060 Q_OBJECT 00061 00062 public: 00063 00064 ImageView(); 00065 00066 virtual void initPlugin(qt_gui_cpp::PluginContext& context); 00067 00068 virtual bool eventFilter(QObject* watched, QEvent* event); 00069 00070 virtual void shutdownPlugin(); 00071 00072 virtual void saveSettings(qt_gui_cpp::Settings& plugin_settings, qt_gui_cpp::Settings& instance_settings) const; 00073 00074 virtual void restoreSettings(const qt_gui_cpp::Settings& plugin_settings, const qt_gui_cpp::Settings& instance_settings); 00075 00076 protected slots: 00077 00078 virtual void updateTopicList(); 00079 00080 protected: 00081 00082 virtual QList<QString> getTopicList(const QSet<QString>& message_types, const QList<QString>& transports); 00083 00084 virtual void selectTopic(const QString& topic); 00085 00086 protected slots: 00087 00088 virtual void onTopicChanged(int index); 00089 00090 virtual void onZoom1(bool checked); 00091 00092 virtual void onDynamicRange(bool checked); 00093 00094 protected: 00095 00096 virtual void callbackImage(const sensor_msgs::Image::ConstPtr& msg); 00097 00098 Ui::ImageViewWidget ui_; 00099 00100 QWidget* widget_; 00101 00102 image_transport::Subscriber subscriber_; 00103 00104 QImage qimage_; 00105 QMutex qimage_mutex_; 00106 00107 cv::Mat conversion_mat_; 00108 00109 }; 00110 00111 } 00112 00113 #endif // rqt_image_view__ImageView_H