83 lines
2.4 KiB
C++
83 lines
2.4 KiB
C++
/*
|
|
* Copyright (C) 2012 Open Source Robotics Foundation
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*
|
|
*/
|
|
|
|
#ifdef _WIN32
|
|
// Ensure that Winsock2.h is included before Windows.h, which can get
|
|
// pulled in by anybody (e.g., Boost).
|
|
#include <Winsock2.h>
|
|
#endif
|
|
|
|
#include "gazebo/transport/TransportIface.hh"
|
|
#include "gazebo/transport/Node.hh"
|
|
#include "gazebo/transport/Publisher.hh"
|
|
|
|
#include "gazebo/common/Image.hh"
|
|
|
|
#include "gazebo/gui/viewers/ViewFactory.hh"
|
|
#include "gazebo/gui/viewers/ImageViewPrivate.hh"
|
|
#include "gazebo/gui/viewers/ImageView.hh"
|
|
|
|
using namespace gazebo;
|
|
using namespace gui;
|
|
|
|
GZ_REGISTER_STATIC_VIEWER("gazebo.msgs.ImageStamped", ImageView)
|
|
|
|
/////////////////////////////////////////////////
|
|
ImageView::ImageView(QWidget *_parent)
|
|
: TopicView(_parent, "gazebo.msgs.ImageStamped", "image", 60),
|
|
dataPtr(new ImageViewPrivate())
|
|
{
|
|
this->setWindowTitle(tr("Gazebo: Image View"));
|
|
|
|
QVBoxLayout *frameLayout = new QVBoxLayout;
|
|
|
|
this->dataPtr->imageFrame = new ImageFrame(this);
|
|
this->dataPtr->imageFrame->setMinimumSize(320, 240);
|
|
this->dataPtr->imageFrame->show();
|
|
frameLayout->addWidget(this->dataPtr->imageFrame);
|
|
|
|
this->frame->setObjectName("blackBorderFrame");
|
|
this->frame->setLayout(frameLayout);
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
ImageView::~ImageView()
|
|
{
|
|
delete this->dataPtr;
|
|
this->dataPtr = NULL;
|
|
|
|
this->sub.reset();
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
void ImageView::SetTopic(const std::string &_topicName)
|
|
{
|
|
TopicView::SetTopic(_topicName);
|
|
|
|
// Subscribe to the new topic.
|
|
this->sub = this->node->Subscribe(_topicName, &ImageView::OnImage, this);
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
void ImageView::OnImage(ConstImageStampedPtr &_msg)
|
|
{
|
|
// Update the Hz and Bandwidth info
|
|
this->OnMsg(msgs::Convert(_msg->time()), _msg->image().data().size());
|
|
|
|
this->dataPtr->imageFrame->OnImage(_msg->image());
|
|
}
|