image_plugin.h
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00001 // *****************************************************************************
00002 //
00003 // Copyright (c) 2014, Southwest Research Institute® (SwRI®)
00004 // All rights reserved.
00005 //
00006 // Redistribution and use in source and binary forms, with or without
00007 // modification, are permitted provided that the following conditions are met:
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 Southwest Research Institute® (SwRI®) nor the
00014 //       names of its contributors may be used to endorse or promote products
00015 //       derived from this software without specific prior written permission.
00016 //
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00019 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //
00028 // *****************************************************************************
00029 
00030 #ifndef MAPVIZ_PLUGINS_IMAGE_PLUGIN_H_
00031 #define MAPVIZ_PLUGINS_IMAGE_PLUGIN_H_
00032 
00033 // C++ standard libraries
00034 #include <string>
00035 #include <list>
00036 
00037 #include <mapviz/mapviz_plugin.h>
00038 
00039 // QT libraries
00040 #include <QGLWidget>
00041 #include <QObject>
00042 #include <QWidget>
00043 #include <QColor>
00044 
00045 // ROS libraries
00046 #include <ros/ros.h>
00047 #include <tf/transform_datatypes.h>
00048 #include <sensor_msgs/Image.h>
00049 #include <opencv/highgui.h>
00050 #include <cv_bridge/cv_bridge.h>
00051 #include <image_transport/image_transport.h>
00052 
00053 #include <mapviz/map_canvas.h>
00054 
00055 // QT autogenerated files
00056 #include "ui_image_config.h"
00057 
00058 namespace mapviz_plugins
00059 {
00060   class ImagePlugin : public mapviz::MapvizPlugin
00061   {
00062     Q_OBJECT
00063 
00064   public:
00065     enum Anchor {
00066       TOP_LEFT,
00067       TOP_CENTER,
00068       TOP_RIGHT,
00069       CENTER_LEFT,
00070       CENTER,
00071       CENTER_RIGHT,
00072       BOTTOM_LEFT,
00073       BOTTOM_CENTER,
00074       BOTTOM_RIGHT
00075     };
00076 
00077     enum Units {PIXELS, PERCENT};
00078 
00079     ImagePlugin();
00080     virtual ~ImagePlugin();
00081 
00082     bool Initialize(QGLWidget* canvas);
00083     void Shutdown() {}
00084 
00085     void Draw(double x, double y, double scale);
00086 
00087     void CreateLocalNode();
00088     virtual void SetNode(const ros::NodeHandle& node);
00089 
00090     void Transform() {}
00091 
00092     void LoadConfig(const YAML::Node& node, const std::string& path);
00093     void SaveConfig(YAML::Emitter& emitter, const std::string& path);
00094 
00095     QWidget* GetConfigWidget(QWidget* parent);
00096 
00097   protected:
00098     void PrintError(const std::string& message);
00099     void PrintInfo(const std::string& message);
00100     void PrintWarning(const std::string& message);
00101 
00102   public Q_SLOTS:
00103     void Resubscribe();
00104 
00105   protected Q_SLOTS:
00106     void SelectTopic();
00107     void TopicEdited();
00108     void SetAnchor(QString anchor);
00109     void SetUnits(QString units);
00110     void SetOffsetX(int offset);
00111     void SetOffsetY(int offset);
00112     void SetWidth(double width);
00113     void SetHeight(double height);
00114     void SetSubscription(bool visible);
00115     void SetTransport(const QString& transport);
00116     void KeepRatioChanged(bool checked);
00117 
00118   private:
00119     Ui::image_config ui_;
00120     QWidget* config_widget_;
00121 
00122     std::string topic_;
00123     Anchor anchor_;
00124     Units units_;
00125     int offset_x_;
00126     int offset_y_;
00127     double width_;
00128     double height_;
00129     QString transport_;
00130 
00131     bool force_resubscribe_;
00132     bool has_image_;
00133 
00134     double last_width_;
00135     double last_height_;
00136     double original_aspect_ratio_;
00137 
00138     ros::NodeHandle local_node_;
00139     image_transport::Subscriber image_sub_;
00140     bool has_message_;
00141 
00142     sensor_msgs::Image image_;
00143 
00144     cv_bridge::CvImagePtr cv_image_;
00145     cv::Mat scaled_image_;
00146 
00147     void imageCallback(const sensor_msgs::ImageConstPtr& image);
00148 
00149     void ScaleImage(double width, double height);
00150     void DrawIplImage(cv::Mat *image);
00151 
00152     std::string AnchorToString(Anchor anchor);
00153     std::string UnitsToString(Units units);
00154   };
00155 }
00156 
00157 #endif  // MAPVIZ_PLUGINS_IMAGE_PLUGIN_H_


mapviz_plugins
Author(s): Marc Alban
autogenerated on Thu Jun 6 2019 18:51:07