/
camera_display.h
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/
camera_display.h
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/*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef RVIZ_CAMERA_DISPLAY_H
#define RVIZ_CAMERA_DISPLAY_H
#include <QObject>
#include <OGRE/OgreMaterial.h>
#include <OGRE/OgreRenderTargetListener.h>
#ifndef Q_MOC_RUN
# include <sensor_msgs/CameraInfo.h>
# include <message_filters/subscriber.h>
# include <tf/message_filter.h>
# include "rviz/image/image_display_base.h"
# include "rviz/image/ros_image_texture.h"
# include "rviz/render_panel.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;
/**
* \class CameraDisplay
*
*/
class CameraDisplay: public ImageDisplayBase, public Ogre::RenderTargetListener
{
Q_OBJECT
public:
CameraDisplay();
virtual ~CameraDisplay();
// 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 );
void 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_;
tf::MessageFilter<sensor_msgs::CameraInfo>* caminfo_tf_filter_;
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 force_render_;
uint32_t vis_bit_;
};
} // namespace rviz
#endif