00001 /* 00002 * Copyright (c) 2012, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #ifndef RVIZ_IMAGE_DISPLAY_H 00031 #define RVIZ_IMAGE_DISPLAY_H 00032 00033 #include <QObject> 00034 00035 #include <OGRE/OgreMaterial.h> 00036 #include <OGRE/OgreRenderTargetListener.h> 00037 00038 #include "rviz/display.h" 00039 #include "rviz/image/ros_image_texture.h" 00040 #include "rviz/render_panel.h" 00041 00042 namespace Ogre 00043 { 00044 class SceneNode; 00045 class ManualObject; 00046 class Rectangle2D; 00047 class Camera; 00048 } 00049 00050 namespace rviz 00051 { 00052 00053 class EditableEnumProperty; 00054 class IntProperty; 00055 class PanelDockWidget; 00056 class RenderPanel; 00057 class RosTopicProperty; 00058 00063 class ImageDisplay: public Display 00064 { 00065 Q_OBJECT 00066 public: 00067 ImageDisplay(); 00068 virtual ~ImageDisplay(); 00069 00070 // Overrides from Display 00071 virtual void onInitialize(); 00072 virtual void update( float wall_dt, float ros_dt ); 00073 virtual void reset(); 00074 00076 virtual void setName( const QString& name ); 00077 00078 protected Q_SLOTS: 00079 void updateTopic(); 00080 void updateQueueSize(); 00081 void updateTransport(); 00082 00083 protected: 00084 // overrides from Display 00085 virtual void onEnable(); 00086 virtual void onDisable(); 00087 00088 private Q_SLOTS: 00089 void fillTransportOptionList( QStringList* options_out ); 00090 00091 private: 00092 void subscribe(); 00093 void unsubscribe(); 00094 00095 void clear(); 00096 void updateStatus(); 00097 00098 Ogre::SceneManager* scene_manager_; 00099 Ogre::SceneNode* scene_node_; 00100 Ogre::Rectangle2D* screen_rect_; 00101 Ogre::MaterialPtr material_; 00102 00103 std::string topic_; 00104 std::string transport_; 00105 00106 RosTopicProperty* topic_property_; 00107 EditableEnumProperty* transport_property_; 00108 IntProperty* queue_size_property_; 00109 00110 ROSImageTexture texture_; 00111 00112 RenderPanel* render_panel_; 00113 00114 PanelDockWidget* panel_container_; 00115 }; 00116 00117 } // namespace rviz 00118 00119 #endif