overlay_camera_display.h

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// -*- mode: c++; -*-
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#ifndef JSK_RVIZ_PLUGINS_OVERLAY_CAMERA_DISPLAY_H_
#define JSK_RVIZ_PLUGINS_OVERLAY_CAMERA_DISPLAY_H_

#include <rviz/default_plugin/camera_display.h>

#ifndef Q_MOC_RUN
#include <QObject>

#include <OgreMaterial.h>
#include <OgreRenderTargetListener.h>
#include <OgreSharedPtr.h>

# include <sensor_msgs/CameraInfo.h>

# include <message_filters/subscriber.h>
#if ROS_VERSION_MINIMUM(1, 15, 0) // noetic and greater
# include <tf2_ros/message_filter.h>
#else
# include <tf/message_filter.h>
#endif

# include "rviz/image/image_display_base.h"
# include "rviz/image/ros_image_texture.h"
# include "rviz/render_panel.h"

#include "overlay_utils.h"
#endif

namespace Ogre
{
class SceneNode;
class ManualObject;
class Rectangle2D;
class Camera;
}

namespace rviz
{

class EnumProperty;
class FloatProperty;
class IntProperty;
class RenderPanel;
class RosTopicProperty;
class DisplayGroupVisibilityProperty;
}
namespace jsk_rviz_plugins
{
using namespace rviz;
class OverlayCameraDisplay: public rviz::ImageDisplayBase, public Ogre::RenderTargetListener
{
Q_OBJECT
public:
  OverlayCameraDisplay();
  virtual ~OverlayCameraDisplay();

  // Overrides from Display
  virtual void onInitialize();
  virtual void fixedFrameChanged();
  virtual void update( float wall_dt, float ros_dt );
  virtual void reset();

  // Overrides from Ogre::RenderTargetListener
  virtual void preRenderTargetUpdate( const Ogre::RenderTargetEvent& evt );
  virtual void postRenderTargetUpdate( const Ogre::RenderTargetEvent& evt );

  static const QString BACKGROUND;
  static const QString OVERLAY;
  static const QString BOTH;

protected:
  // overrides from Display
  virtual void onEnable();
  virtual void onDisable();
  
  ROSImageTexture texture_;
  RenderPanel* render_panel_;

private Q_SLOTS:
  void forceRender();
  void updateAlpha();

  virtual void updateQueueSize();

private:
  void subscribe();
  void unsubscribe();

  virtual void processMessage(const sensor_msgs::Image::ConstPtr& msg);
  void caminfoCallback( const sensor_msgs::CameraInfo::ConstPtr& msg );

  bool updateCamera();

  void clear();
  void updateStatus();

  Ogre::SceneNode* bg_scene_node_;
  Ogre::SceneNode* fg_scene_node_;

  Ogre::Rectangle2D* bg_screen_rect_;
  Ogre::MaterialPtr bg_material_;

  Ogre::Rectangle2D* fg_screen_rect_;
  Ogre::MaterialPtr fg_material_;

  message_filters::Subscriber<sensor_msgs::CameraInfo> caminfo_sub_;
#if ROS_VERSION_MINIMUM(1, 15, 0) // noetic and greater
  tf2_ros::MessageFilter<sensor_msgs::CameraInfo>* caminfo_tf_filter_;
#else
  tf::MessageFilter<sensor_msgs::CameraInfo>* caminfo_tf_filter_;
#endif

  FloatProperty* alpha_property_;
  EnumProperty* image_position_property_;
  FloatProperty* zoom_property_;
  DisplayGroupVisibilityProperty* visibility_property_;

  sensor_msgs::CameraInfo::ConstPtr current_caminfo_;
  boost::mutex caminfo_mutex_;

  bool new_caminfo_;

  bool caminfo_ok_;

  bool force_render_;

  uint32_t vis_bit_;
protected:
  OverlayObject::Ptr overlay_;
  void redraw();
  rviz::IntProperty* width_property_;
  rviz::IntProperty* height_property_;
  rviz::IntProperty* left_property_;
  rviz::IntProperty* top_property_;
  rviz::FloatProperty* texture_alpha_property_;
  int width_, height_;
  int left_, top_;
  float texture_alpha_;
  bool initializedp_;
private Q_SLOTS:
  void updateWidth();
  void updateHeight();
  void updateLeft();
  void updateTop();
  void updateTextureAlpha();
};

}

#endif