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include/rviz_camera_stream/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_STREAM_CAMERA_DISPLAY_H
+#define RVIZ_CAMERA_STREAM_CAMERA_DISPLAY_H
+
+#include <QObject>
+#include <string>
+
+#ifndef Q_MOC_RUN
+#include <OgreMaterial.h>
+#include <OgreRenderTargetListener.h>
+#include <OgreSharedPtr.h>
+#include <OgreTexture.h>
+
+# include <sensor_msgs/CameraInfo.h>
+
+# include "rviz/image/image_display_base.h"
+#include <std_srvs/Trigger.h>
+#endif
+
+namespace Ogre
+{
+class SceneNode;
+class ManualObject;
+class Rectangle2D;
+class Camera;
+}
+
+namespace video_export
+{
+class  VideoPublisher;
+
+}
+
+namespace rviz
+{
+
+class EnumProperty;
+class FloatProperty;
+class IntProperty;
+class RenderPanel;
+class RosTopicProperty;
+class DisplayGroupVisibilityProperty;
+class ColorProperty;
+
+/**
+ * \class CameraPub
+ *
+ */
+class CameraPub: public Display, public Ogre::RenderTargetListener
+{
+  Q_OBJECT
+public:
+  CameraPub();
+  virtual ~CameraPub();
+
+  // 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();
+
+private Q_SLOTS:
+  void forceRender();
+
+  void updateTopic();
+  virtual void updateQueueSize();
+  virtual void updateFrameRate();
+  virtual void updateBackgroundColor();
+  virtual void updateDisplayNamespace();
+  virtual void updateImageEncoding();
+  virtual void updateNearClipDistance();
+
+private:
+  std::string camera_trigger_name_;
+  ros::NodeHandle nh_;
+
+  void subscribe();
+  void unsubscribe();
+
+  ros::ServiceServer trigger_service_;
+  bool triggerCallback(std_srvs::TriggerRequest& req, std_srvs::TriggerResponse& res);
+  bool trigger_activated_ = false;
+  ros::Time last_image_publication_time_ = ros::Time(0);
+
+  void caminfoCallback(const sensor_msgs::CameraInfo::ConstPtr& msg);
+
+  bool updateCamera();
+
+  void clear();
+  void updateStatus();
+
+  ros::Subscriber caminfo_sub_;
+
+  RosTopicProperty* topic_property_;
+  RosTopicProperty* camera_info_property_;
+  DisplayGroupVisibilityProperty* visibility_property_;
+  IntProperty* queue_size_property_;
+  StringProperty* namespace_property_;
+
+  FloatProperty* frame_rate_property_;
+  ColorProperty* background_color_property_;
+  EnumProperty* image_encoding_property_;
+  FloatProperty* near_clip_property_;
+
+  sensor_msgs::CameraInfo::ConstPtr current_caminfo_;
+  boost::mutex caminfo_mutex_;
+
+  bool new_caminfo_ = false;
+
+  bool caminfo_ok_ = false;
+
+  bool force_render_ = false;
+
+  static inline int count_ = 0;
+
+  // the system timestamp
+  double timestamp;
+
+  uint32_t vis_bit_;
+
+  video_export::VideoPublisher* video_publisher_ = nullptr;
+
+  // render to texture
+  // from http://www.ogre3d.org/tikiwiki/tiki-index.php?page=Intermediate+Tutorial+7
+  Ogre::Camera* camera_;
+  Ogre::TexturePtr rtt_texture_;
+  Ogre::RenderTexture* render_texture_;
+};
+
+}  // namespace rviz
+
+#endif  // RVIZ_CAMERA_STREAM_CAMERA_DISPLAY_H