174 lines
4.7 KiB
C++
174 lines
4.7 KiB
C++
/*
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* Copyright (c) 2009, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef RVIZ_CAMERA_STREAM_CAMERA_DISPLAY_H
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#define RVIZ_CAMERA_STREAM_CAMERA_DISPLAY_H
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#include <QObject>
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#include <string>
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#ifndef Q_MOC_RUN
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#include <OgreMaterial.h>
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#include <OgreRenderTargetListener.h>
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#include <OgreSharedPtr.h>
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#include <OgreTexture.h>
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# include <sensor_msgs/CameraInfo.h>
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# include "rviz/image/image_display_base.h"
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#include <std_srvs/Trigger.h>
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#endif
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namespace Ogre
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{
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class SceneNode;
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class ManualObject;
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class Rectangle2D;
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class Camera;
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}
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namespace video_export
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{
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class VideoPublisher;
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}
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namespace rviz
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{
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class EnumProperty;
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class FloatProperty;
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class IntProperty;
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class RenderPanel;
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class RosTopicProperty;
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class DisplayGroupVisibilityProperty;
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class ColorProperty;
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/**
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* \class CameraPub
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*
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*/
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class CameraPub: public Display, public Ogre::RenderTargetListener
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{
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Q_OBJECT
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public:
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CameraPub();
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virtual ~CameraPub();
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// Overrides from Display
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virtual void onInitialize();
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virtual void fixedFrameChanged();
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virtual void update(float wall_dt, float ros_dt);
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virtual void reset();
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// Overrides from Ogre::RenderTargetListener
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virtual void preRenderTargetUpdate(const Ogre::RenderTargetEvent& evt);
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virtual void postRenderTargetUpdate(const Ogre::RenderTargetEvent& evt);
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static const QString BACKGROUND;
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static const QString OVERLAY;
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static const QString BOTH;
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protected:
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// overrides from Display
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virtual void onEnable();
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virtual void onDisable();
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private Q_SLOTS:
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void forceRender();
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void updateTopic();
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virtual void updateQueueSize();
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virtual void updateFrameRate();
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virtual void updateBackgroundColor();
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virtual void updateDisplayNamespace();
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virtual void updateImageEncoding();
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virtual void updateNearClipDistance();
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private:
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std::string camera_trigger_name_;
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ros::NodeHandle nh_;
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void subscribe();
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void unsubscribe();
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ros::ServiceServer trigger_service_;
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bool triggerCallback(std_srvs::TriggerRequest& req, std_srvs::TriggerResponse& res);
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bool trigger_activated_ = false;
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ros::Time last_image_publication_time_ = ros::Time(0);
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void caminfoCallback(const sensor_msgs::CameraInfo::ConstPtr& msg);
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bool updateCamera();
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void clear();
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void updateStatus();
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ros::Subscriber caminfo_sub_;
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RosTopicProperty* topic_property_;
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RosTopicProperty* camera_info_property_;
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DisplayGroupVisibilityProperty* visibility_property_;
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IntProperty* queue_size_property_;
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StringProperty* namespace_property_;
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FloatProperty* frame_rate_property_;
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ColorProperty* background_color_property_;
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EnumProperty* image_encoding_property_;
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FloatProperty* near_clip_property_;
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sensor_msgs::CameraInfo::ConstPtr current_caminfo_;
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boost::mutex caminfo_mutex_;
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bool new_caminfo_ = false;
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bool caminfo_ok_ = false;
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bool force_render_ = false;
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static inline int count_ = 0;
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// the system timestamp
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double timestamp;
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uint32_t vis_bit_;
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video_export::VideoPublisher* video_publisher_ = nullptr;
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// render to texture
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// from http://www.ogre3d.org/tikiwiki/tiki-index.php?page=Intermediate+Tutorial+7
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Ogre::Camera* camera_;
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Ogre::TexturePtr rtt_texture_;
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Ogre::RenderTexture* render_texture_;
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};
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} // namespace rviz
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#endif // RVIZ_CAMERA_STREAM_CAMERA_DISPLAY_H
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