disparity_renderer.h
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00001 /*
00002  * Copyright (c) 2011, 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 DISPARITY_RENDERER_H_
00031 #define DISPARITY_RENDERER_H_
00032 
00033 #include "rviz_interaction_tools/point_cloud.h"
00034 
00035 #include <stereo_msgs/DisparityImage.h>
00036 #include <sensor_msgs/CameraInfo.h>
00037 
00038 namespace Ogre {
00039 class SceneNode;
00040 }
00041 
00042 namespace rviz_interaction_tools {
00043 
00044 
00046 class DisparityRenderer
00047 {
00048 public:
00049 
00050   DisparityRenderer( Ogre::SceneNode* scene_root, unsigned char render_queue_group );
00051 
00052   virtual ~DisparityRenderer();
00053 
00054   // convert disparity data to point cloud and store
00055   bool setDisparityImage( const stereo_msgs::DisparityImage &disparity_image,
00056       const sensor_msgs::CameraInfo &camera_info,
00057       const sensor_msgs::Image *image=0 );
00058 
00059   // insert the data into the Ogre scene (must be called from main app thread)
00060   bool update();
00061 
00062   void clear();
00063 
00064 
00065 private:
00066 
00067   Ogre::SceneNode* scene_root_;
00068 
00069   boost::mutex mutex_;
00070 
00071   rviz_interaction_tools::PointCloud image_point_cloud_;
00072 
00073   //used to pass data between threads
00074   bool new_point_cloud_;
00075   std::vector<rviz_interaction_tools::PointCloud::Point> raw_points_;
00076 };
00077 
00078 }
00079 
00080 #endif /* DISPARITY_RENDERER_H_ */


rviz_interaction_tools
Author(s): David Gossow
autogenerated on Mon Oct 6 2014 03:03:25