overlay_image_display.h

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

#ifndef Q_MOC_RUN
#include <rviz/display.h>
#include <OGRE/OgreTexture.h>
#include <OGRE/OgreColourValue.h>
#include <OGRE/OgreMaterial.h>

#include <QPainter>

#include <rviz/properties/ros_topic_property.h>
#include <rviz/properties/int_property.h>
#include <rviz/properties/float_property.h>
#include <rviz/properties/bool_property.h>
#include <rviz/properties/editable_enum_property.h>

#include <image_transport/image_transport.h>
#include <sensor_msgs/Image.h>

#include "overlay_utils.h"
#include "image_transport_hints_property.h"
#endif

namespace jsk_rviz_plugins
{
  class OverlayImageDisplay : public rviz::Display
  {
    Q_OBJECT
  public:
    OverlayImageDisplay();
    virtual ~OverlayImageDisplay();

    // methods for OverlayPickerTool
    virtual bool isInRegion(int x, int y);
    virtual void movePosition(int x, int y);
    virtual void setPosition(int x, int y);
    virtual int getX() { return left_; };
    virtual int getY() { return top_; };

  protected:
    boost::mutex mutex_;
    OverlayObject::Ptr overlay_;
    rviz::RosTopicProperty* update_topic_property_;
    ImageTransportHintsProperty* transport_hint_property_;
    rviz::BoolProperty* keep_aspect_ratio_property_;
    rviz::IntProperty* width_property_;
    rviz::IntProperty* height_property_;
    rviz::IntProperty* left_property_;
    rviz::IntProperty* top_property_;
    rviz::FloatProperty* alpha_property_;
    rviz::BoolProperty* overwrite_alpha_property_;
    int width_, height_, left_, top_;
    double alpha_;
#if ROS_VERSION_MINIMUM(1,12,0)
    std::shared_ptr<image_transport::ImageTransport> it_;
#else
    boost::shared_ptr<image_transport::ImageTransport> it_;
#endif
    image_transport::Subscriber sub_;
    sensor_msgs::Image::ConstPtr msg_;
    bool is_msg_available_;
    bool require_update_;
    bool keep_aspect_ratio_;
    bool overwrite_alpha_;

    virtual void redraw();
    virtual void onInitialize();
    virtual void onEnable();
    virtual void onDisable();
    virtual void update(float wall_dt, float ros_dt);
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void setImageSize();
    virtual void processMessage(const sensor_msgs::Image::ConstPtr& msg);
  protected Q_SLOTS:
    void updateTopic();
    void updateWidth();
    void updateHeight();
    void updateLeft();
    void updateTop();
    void updateAlpha();
    void updateKeepAspectRatio();
    void updateOverwriteAlpha();
  };

}

#endif