overlay_utils.hpp

// -*- mode: c++ -*-
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#ifndef RVIZ_2D_OVERLAY_PLUGINS_OVERLAY_UTILS_HPP
#define RVIZ_2D_OVERLAY_PLUGINS_OVERLAY_UTILS_HPP
 
#include <OgreHardwarePixelBuffer.h>
#include <OgreMaterialManager.h>
#include <OgreTechnique.h>
#include <OgreTexture.h>
#include <OgreTextureManager.h>
#include <Overlay/OgreOverlay.h>
#include <Overlay/OgreOverlayContainer.h>
#include <Overlay/OgreOverlayElement.h>
#include <Overlay/OgreOverlayManager.h>
#include <Overlay/OgrePanelOverlayElement.h>
#include <QColor>
#include <QImage>
#include <memory>
#include <string>
 
#include "rviz_2d_overlay_msgs/msg/overlay_text.hpp"
 
namespace rviz_2d_overlay_plugins {
    class OverlayObject;
 
    class ScopedPixelBuffer {
      public:
        ScopedPixelBuffer(Ogre::HardwarePixelBufferSharedPtr pixel_buffer);
        virtual ~ScopedPixelBuffer();
        virtual Ogre::HardwarePixelBufferSharedPtr getPixelBuffer();
        virtual QImage getQImage(unsigned int width, unsigned int height);
        virtual QImage getQImage(OverlayObject &overlay);
        virtual QImage getQImage(unsigned int width, unsigned int height, QColor &bg_color);
        virtual QImage getQImage(OverlayObject &overlay, QColor &bg_color);
 
      protected:
        Ogre::HardwarePixelBufferSharedPtr pixel_buffer_;
    };
 
    enum class VerticalAlignment : uint8_t {
        CENTER = rviz_2d_overlay_msgs::msg::OverlayText::CENTER,
        TOP = rviz_2d_overlay_msgs::msg::OverlayText::TOP,
        BOTTOM = rviz_2d_overlay_msgs::msg::OverlayText::BOTTOM,
    };
 
    enum class HorizontalAlignment : uint8_t {
        LEFT = rviz_2d_overlay_msgs::msg::OverlayText::LEFT,
        RIGHT = rviz_2d_overlay_msgs::msg::OverlayText::RIGHT,
        CENTER = rviz_2d_overlay_msgs::msg::OverlayText::CENTER
    };
 
    class OverlayObject {
      public:
        using SharedPtr = std::shared_ptr<OverlayObject>;
 
        OverlayObject(const std::string &name);
        virtual ~OverlayObject();
 
        virtual std::string getName() const;
        virtual void hide();
        virtual void show();
        virtual bool isTextureReady() const;
        virtual void updateTextureSize(unsigned int width, unsigned int height);
        virtual ScopedPixelBuffer getBuffer();
        virtual void setPosition(double hor_dist, double ver_dist,
                                 HorizontalAlignment hor_alignment = HorizontalAlignment::LEFT,
                                 VerticalAlignment ver_alignment = VerticalAlignment::TOP);
        virtual void setDimensions(double width, double height);
        virtual bool isVisible() const;
        virtual unsigned int getTextureWidth() const;
        virtual unsigned int getTextureHeight() const;
 
      protected:
        const std::string name_;
        Ogre::Overlay *overlay_;
        Ogre::PanelOverlayElement *panel_;
        Ogre::MaterialPtr panel_material_;
        Ogre::TexturePtr texture_;
    };
} // namespace rviz_2d_overlay_plugins
 
#endif // RVIZ_2D_OVERLAY_PLUGINS_OVERLAY_UTILS_HPP