text: /*
   * Copyright (c) 2012, Willow Garage, Inc.
   * Copyright (c) 2017, Bosch Software Innovations GmbH.
   * 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_DEFAULT_PLUGINS__DISPLAYS__IMAGE__IMAGE_DISPLAY_HPP_
  #define RVIZ_DEFAULT_PLUGINS__DISPLAYS__IMAGE__IMAGE_DISPLAY_HPP_
  
  #ifndef Q_MOC_RUN  // See: https://bugreports.qt-project.org/browse/QTBUG-22829
  # include <memory>
  # include <string>
  
  # include <QObject>  // NOLINT cpplint cannot handle include order here
  
  # include <OgreMaterial.h>
  # include <OgreRenderTargetListener.h>
  # include <OgreSharedPtr.h>
  
  # include "rviz_common/ros_topic_display.hpp"
  # include "rviz_common/render_panel.hpp"
  # include "rviz_common/properties/bool_property.hpp"
  # include "rviz_common/properties/float_property.hpp"
  # include "rviz_common/properties/int_property.hpp"
  # include "rviz_common/properties/queue_size_property.hpp"
  
  # include "rviz_default_plugins/displays/image/ros_image_texture_iface.hpp"
  # include "rviz_default_plugins/visibility_control.hpp"
  #endif
  
  
  namespace Ogre
  {
  class SceneNode;
  class Rectangle2D;
  }
  
  namespace rviz_default_plugins
  {
  namespace displays
  {
  
  /**
   * \class ImageDisplay
   *
   */
  class RVIZ_DEFAULT_PLUGINS_PUBLIC ImageDisplay : public
    rviz_common::RosTopicDisplay<sensor_msgs::msg::Image>
  {
    Q_OBJECT
  
  public:
    explicit ImageDisplay(std::unique_ptr<ROSImageTextureIface> texture);
    ImageDisplay();
    ~ImageDisplay() override;
  
    // Overrides from Display
    void onInitialize() override;
    void update(float wall_dt, float ros_dt) override;
    void reset() override;
  
  public Q_SLOTS:
    virtual void updateNormalizeOptions();
  
  protected:
    // overrides from Display
    void onEnable() override;
    void onDisable() override;
  
    /* This is called by incomingMessage(). */
    void processMessage(sensor_msgs::msg::Image::ConstSharedPtr msg) override;
  
  private:
    void setupScreenRectangle();
    void setupRenderPanel();
  
    void clear();
  
    std::unique_ptr<rviz_common::QueueSizeProperty> queue_size_property_;
  
    std::unique_ptr<Ogre::Rectangle2D> screen_rect_;
    Ogre::MaterialPtr material_;
  
    std::unique_ptr<ROSImageTextureIface> texture_;
  
    std::unique_ptr<rviz_common::RenderPanel> render_panel_;
  
    rviz_common::properties::BoolProperty * normalize_property_;
    rviz_common::properties::FloatProperty * min_property_;
    rviz_common::properties::FloatProperty * max_property_;
    rviz_common::properties::IntProperty * median_buffer_size_property_;
    bool got_float_image_;
  };
  
  }  // namespace displays
  }  // namespace rviz_default_plugins
  
  #endif  // RVIZ_DEFAULT_PLUGINS__DISPLAYS__IMAGE__IMAGE_DISPLAY_HPP_
  