Compressed Image Display

README.md

@@ -12,35 +12,35 @@ These features have already been ported from `ros-visualization/rviz` to `ros2/r
 The basic documentation can still be found on the RViz [wiki page](http://www.ros.org/wiki/rviz).
 For some displays, the [documentation is updated](docs/FEATURES.md).
 
-| Displays              | Tools         | View Controller       | Panels          |
-| --------------------- | ------------- | --------------------- | --------------- |
-| Axes                  | Move Camera   | Orbit                 | Displays        |
-| Camera                | Focus Camera  | XY Orbit              | Help            |
-| DepthCloud            | Measure       | First Person          | Selections      |
-| Effort                | Select        | Third Person Follower | Time            |
-| Fluid                 | 2D Nav Goal   | Top Down Orthographic | Tool Properties |
-| Grid                  | Publish Point |                       | Views           |
-| Grid Cells            | Initial Pose  |
-| Illuminance           | Interact      |
-| Image                 |
-| Interactive Marker    |
-| Laser Scan            |
-| Map                   |
-| Marker                |
-| Marker Array          |
-| Odometry              |
-| Point Cloud (1 and 2) |
-| Point                 |
-| Polygon               |
-| Pose                  |
-| Pose Array            |
-| Pose With Covariance  |
-| Range                 |
-| Relative Humidity     |
-| Robot Model           |
-| Temperature           |
-| TF                    |
-| Wrench                |
+| Displays                            | Tools         | View Controller       | Panels          |
+| ----------------------------------- | ------------- | --------------------- | --------------- |
+| Axes                                | Move Camera   | Orbit                 | Displays        |
+| Camera                              | Focus Camera  | XY Orbit              | Help            |
+| DepthCloud                          | Measure       | First Person          | Selections      |
+| Effort                              | Select        | Third Person Follower | Time            |
+| Fluid                               | 2D Nav Goal   | Top Down Orthographic | Tool Properties |
+| Grid                                | Publish Point |                       | Views           |
+| Grid Cells                          | Initial Pose  |
+| Illuminance                         | Interact      |
+| Image (and `image_transport` types) |
+| Interactive Marker                  |
+| Laser Scan                          |
+| Map                                 |
+| Marker                              |
+| Marker Array                        |
+| Odometry                            |
+| Point Cloud (1 and 2)               |
+| Point                               |
+| Polygon                             |
+| Pose                                |
+| Pose Array                          |
+| Pose With Covariance                |
+| Range                               |
+| Relative Humidity                   |
+| Robot Model                         |
+| Temperature                         |
+| TF                                  |
+| Wrench                              |
 
 
 ### Not yet ported

rviz_common/CMakeLists.txt

@@ -104,6 +104,7 @@ set(rviz_common_headers_to_moc
   include/rviz_common/properties/property_tree_with_help.hpp
   include/rviz_common/properties/qos_profile_property.hpp
   include/rviz_common/properties/ros_topic_property.hpp
+  include/rviz_common/properties/ros_topic_multi_property.hpp
   include/rviz_common/properties/status_list.hpp
   include/rviz_common/properties/status_property.hpp
   include/rviz_common/properties/string_property.hpp
@@ -183,6 +184,7 @@ set(rviz_common_source_files
   src/rviz_common/properties/property_tree_with_help.cpp
   src/rviz_common/properties/property.cpp
   src/rviz_common/properties/ros_topic_property.cpp
+  src/rviz_common/properties/ros_topic_multi_property.cpp
   src/rviz_common/properties/quaternion_property.cpp
   src/rviz_common/properties/qos_profile_property.cpp
   src/rviz_common/properties/regex_filter_property.cpp

rviz_common/include/rviz_common/properties/ros_topic_multi_property.hpp

@@ -0,0 +1,85 @@
+// Copyright (c) 2012, 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 copyright holder 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 HOLDER 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_COMMON__PROPERTIES__ROS_TOPIC_MULTI_PROPERTY_HPP_
+#define RVIZ_COMMON__PROPERTIES__ROS_TOPIC_MULTI_PROPERTY_HPP_
+
+#include <QString>
+
+#include <string>
+#include <vector>
+
+#include "rviz_common/properties/ros_topic_property.hpp"
+#include "rviz_common/ros_integration/ros_node_abstraction_iface.hpp"
+#include "rviz_common/visibility_control.hpp"
+
+namespace rviz_common
+{
+namespace properties
+{
+
+// Like RosTopicProperty but can accept multiple message types
+class RVIZ_COMMON_PUBLIC RosTopicMultiProperty : public RosTopicProperty
+{
+  Q_OBJECT
+
+public:
+  explicit RosTopicMultiProperty(
+    const QString & name = QString(), const QString & default_value = QString(),
+    const std::vector<QString> & message_types = std::vector<QString>(),
+    const QString & description = QString(), Property * parent = nullptr,
+    const char * changed_slot = nullptr, QObject * receiver = nullptr)
+  : RosTopicProperty(name, default_value, "", description, parent, changed_slot, receiver),
+    message_types_(message_types)
+  {
+  }
+
+  void setMessageTypes(const std::vector<QString> & message_types)
+  {
+    message_types_ = message_types;
+  }
+
+  std::vector<QString> getMessageTypes() const {return message_types_;}
+
+protected Q_SLOTS:
+  void fillTopicList() override;
+
+private:
+  // Hide the parent class methods which only take a single type
+  using RosTopicProperty::getMessageType;
+  using RosTopicProperty::setMessageType;
+
+  // Instead of one message type, store a list of allowed types
+  std::vector<QString> message_types_;
+};
+
+}  // end namespace properties
+}  // end namespace rviz_common
+
+#endif  // RVIZ_COMMON__PROPERTIES__ROS_TOPIC_MULTI_PROPERTY_HPP_

rviz_common/include/rviz_common/properties/ros_topic_property.hpp

@@ -49,52 +49,39 @@ class RVIZ_COMMON_PUBLIC RosTopicProperty : public EditableEnumProperty
 
 public:
   explicit RosTopicProperty(
-    const QString & name = QString(),
-    const QString & default_value = QString(),
-    const QString & message_type = QString(),
-    const QString & description = QString(),
-    Property * parent = nullptr,
-    const char * changed_slot = nullptr,
-    QObject * receiver = nullptr);
+    const QString & name = QString(), const QString & default_value = QString(),
+    const QString & message_type = QString(), const QString & description = QString(),
+    Property * parent = nullptr, const char * changed_slot = nullptr, QObject * receiver = nullptr);
 
   void initialize(ros_integration::RosNodeAbstractionIface::WeakPtr rviz_ros_node);
 
   void setMessageType(const QString & message_type);
 
-  QString getMessageType() const
-  {return message_type_;}
+  QString getMessageType() const {return message_type_;}
 
-  QString getTopic() const
-  {return getValue().toString();}
+  QString getTopic() const {return getValue().toString();}
 
-  std::string getTopicStd() const
-  {return getValue().toString().toStdString();}
+  std::string getTopicStd() const {return getValue().toString().toStdString();}
 
-  bool isEmpty() const
-  {return getTopicStd().empty();}
+  bool isEmpty() const {return getTopicStd().empty();}
 
 protected Q_SLOTS:
   virtual void fillTopicList();
 
-private:
+protected:
   ros_integration::RosNodeAbstractionIface::WeakPtr rviz_ros_node_;
   QString message_type_;
 };
 
-class RVIZ_COMMON_PUBLIC RosFilteredTopicProperty
-  : public rviz_common::properties::RosTopicProperty
+class RVIZ_COMMON_PUBLIC RosFilteredTopicProperty : public rviz_common::properties::RosTopicProperty
 {
   Q_OBJECT
 
 public:
   RosFilteredTopicProperty(
-    const QString & name = QString(),
-    const QString & default_value = QString(),
-    const QString & message_type = QString(),
-    const QString & description = QString(),
-    const QRegExp & filter = QRegExp(),
-    Property * parent = 0,
-    const char * changed_slot = 0,
+    const QString & name = QString(), const QString & default_value = QString(),
+    const QString & message_type = QString(), const QString & description = QString(),
+    const QRegExp & filter = QRegExp(), Property * parent = 0, const char * changed_slot = 0,
     QObject * receiver = 0);
 
   void enableFilter(bool enabled);

rviz_common/src/rviz_common/properties/ros_topic_multi_property.cpp

@@ -0,0 +1,68 @@
+// Copyright (c) 2012, 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 copyright holder 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 HOLDER 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.
+
+#include "rviz_common/properties/ros_topic_multi_property.hpp"
+
+#include <QApplication>  // NOLINT: cpplint can't handle Qt imports
+#include <algorithm>
+#include <map>
+#include <string>
+
+#include "rviz_common/ros_integration/ros_node_abstraction_iface.hpp"
+
+namespace rviz_common
+{
+namespace properties
+{
+
+void RosTopicMultiProperty::fillTopicList()
+{
+  QApplication::setOverrideCursor(QCursor(Qt::WaitCursor));
+  clearOptions();
+
+  std::map<std::string, std::vector<std::string>> published_topics =
+    rviz_ros_node_.lock()->get_topic_names_and_types();
+
+  for (const auto & topic : published_topics) {
+    // Only add topics whose type matches.
+    for (const auto & type : topic.second) {
+      if (
+        std::find(message_types_.begin(), message_types_.end(), QString::fromStdString(type)) !=
+        message_types_.end())
+      {
+        addOptionStd(topic.first);
+      }
+    }
+  }
+  sortOptions();
+  QApplication::restoreOverrideCursor();
+}
+
+}  // end namespace properties
+}  // end namespace rviz_common

rviz_default_plugins/CMakeLists.txt

@@ -883,13 +883,17 @@ if(BUILD_TESTING)
     ${SKIP_VISUAL_TESTS}
     TIMEOUT 180)
   if(TARGET image_display_visual_test)
+    find_package(OpenCV REQUIRED)
+    find_package(image_transport_plugins REQUIRED)
+    include_directories(${OpenCV_INCLUDE_DIRS})
     target_include_directories(image_display_visual_test PRIVATE test)
     target_link_libraries(image_display_visual_test
       Qt5::Test
       rviz_visual_testing_framework::rviz_visual_testing_framework
       rclcpp::rclcpp
       ${sensor_msgs_TARGETS}
       ${std_msgs_TARGETS}
+      ${OpenCV_LIBRARIES}
     )
   endif()
 

rviz_default_plugins/include/rviz_default_plugins/displays/camera/camera_display.hpp

@@ -53,7 +53,7 @@
 # include "sensor_msgs/msg/camera_info.hpp"
 # include "tf2_ros/message_filter.h"
 
-# include "rviz_default_plugins/displays/image/image_transport_display.hpp"
+# include "rviz_default_plugins/displays/image/image_display.hpp"
 # include "rviz_default_plugins/displays/image/ros_image_texture_iface.hpp"
 # include "rviz_default_plugins/visibility_control.hpp"
 # include "rviz_rendering/render_window.hpp"
@@ -102,7 +102,7 @@ struct ImageDimensions
  *
  */
 class RVIZ_DEFAULT_PLUGINS_PUBLIC CameraDisplay
-  : public rviz_default_plugins::displays::ImageTransportDisplay<sensor_msgs::msg::Image>,
+  : public ImageDisplay,
   public Ogre::RenderTargetListener
 {
   Q_OBJECT