image_overlay.h
Go to the documentation of this file.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 IMAGE_OVERLAY_H_ 00031 #define IMAGE_OVERLAY_H_ 00032 00033 #include <sensor_msgs/Image.h> 00034 #include <stereo_msgs/DisparityImage.h> 00035 00036 #include <OGRE/OgreTexture.h> 00037 #include <OGRE/OgreImage.h> 00038 #include <OGRE/OgreMaterial.h> 00039 00040 #include <boost/thread/mutex.hpp> 00041 00042 00043 namespace Ogre 00044 { 00045 class SceneNode; 00046 class Rectangle2D; 00047 } 00048 00049 namespace rviz_interaction_tools 00050 { 00051 00054 class ImageOverlay 00055 { 00056 public: 00057 00058 // @note always setup the render queue group so that the image gets rendered 00059 // before the other geometry 00060 ImageOverlay( Ogre::SceneNode* scene_root, unsigned char render_queue_group ); 00061 00062 virtual ~ImageOverlay(); 00063 00067 bool setImage( const sensor_msgs::Image &image, const stereo_msgs::DisparityImage &disparity_image ); 00068 00069 bool setImage( const sensor_msgs::Image &image ); 00070 00072 bool setImage( unsigned char *rgb_data, int width, int height ); 00073 00074 // copy the image data to the actual texture buffer 00075 // make sure to call this from the thread in which ogre is running 00076 bool update(); 00077 00078 void clear(); 00079 00080 int getWidth(); 00081 int getHeight(); 00082 00083 Ogre::MaterialPtr getMaterial() { return texture_material_; } 00084 00085 private: 00086 00087 // used by the other setImage methods 00088 bool setImageNoLock( const sensor_msgs::Image &image ); 00089 00090 boost::mutex mutex_; 00091 00092 int count_; 00093 00094 Ogre::MaterialPtr texture_material_; 00095 Ogre::TexturePtr texture_; 00096 Ogre::Image empty_image_; 00097 Ogre::Rectangle2D* image_rect_; 00098 00099 Ogre::SceneNode* scene_root_; 00100 00101 // used to transport data from one thread to the other 00102 bool new_image_; 00103 std::vector<unsigned char> image_buffer_; 00104 int width_; 00105 int height_; 00106 00107 std::string resource_group_name_; 00108 }; 00109 00110 } 00111 00112 #endif /* IMAGE_OVERLAY_H_ */