image_overlay.h

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/*
 * Copyright (c) 2011, Willow Garage, Inc.
 * All rights reserved.
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#ifndef IMAGE_OVERLAY_H_
#define IMAGE_OVERLAY_H_

#include <sensor_msgs/Image.h>
#include <stereo_msgs/DisparityImage.h>

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

#include <boost/thread/mutex.hpp>


namespace Ogre
{
class SceneNode;
class Rectangle2D;
}

namespace rviz_interaction_tools
{

class ImageOverlay
{
public:

  // @note always setup the render queue group so that the image gets rendered
  //       before the other geometry
  ImageOverlay( Ogre::SceneNode* scene_root, unsigned char render_queue_group );

  virtual ~ImageOverlay();

  bool setImage( const sensor_msgs::Image &image, const stereo_msgs::DisparityImage &disparity_image );

  bool setImage( const sensor_msgs::Image &image );

  bool setImage( unsigned char *rgb_data, int width, int height );

  // copy the image data to the actual texture buffer
  // make sure to call this from the thread in which ogre is running
  bool update();

  void clear();

  int getWidth();
  int getHeight();

  Ogre::MaterialPtr getMaterial() { return texture_material_; }

private:

  // used by the other setImage methods
  bool setImageNoLock( const sensor_msgs::Image &image );

  boost::mutex mutex_;

  int count_;

  Ogre::MaterialPtr texture_material_;
  Ogre::TexturePtr texture_;
  Ogre::Image empty_image_;
  Ogre::Rectangle2D* image_rect_;

  Ogre::SceneNode* scene_root_;

  // used to transport data from one thread to the other
  bool new_image_;
  std::vector<unsigned char> image_buffer_;
  int width_;
  int height_;

  std::string resource_group_name_;
};

}

#endif /* IMAGE_OVERLAY_H_ */