Merge pull request #752 from garaemon/overwrite-alpha

[jsk_rviz_plugins/OverlayImage] Add property to ignore alpha channel of the image
jsk-ros-pkg · Dec 11, 2019 · 93cd6b0 · 93cd6b0
2 parents f7e874b + f2e9897
commit 93cd6b0
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Showing 2 changed files with 21 additions and 5 deletions.
diff --git a/jsk_rviz_plugins/src/overlay_image_display.cpp b/jsk_rviz_plugins/src/overlay_image_display.cpp
@@ -50,7 +50,7 @@ namespace jsk_rviz_plugins
 
   OverlayImageDisplay::OverlayImageDisplay()
     : Display(), width_(128), height_(128), left_(128), top_(128), alpha_(0.8),
-      is_msg_available_(false), require_update_(false)
+      is_msg_available_(false), require_update_(false), overwrite_alpha_(false)
   {
     // setup properties
     update_topic_property_ = new rviz::RosTopicProperty(
@@ -79,13 +79,18 @@ namespace jsk_rviz_plugins
     alpha_property_ = new rviz::FloatProperty("alpha", 0.8,
                                               "alpha belnding value",
                                               this, SLOT(updateAlpha()));
+    overwrite_alpha_property_ = new rviz::BoolProperty("overwrite alpha value", false,
+                                                       "overwrite alpha value by alpha property "
+                                                       "and ignore alpha channel of the image",
+                                                       this, SLOT(updateOverwriteAlpha()));
   }
 
   OverlayImageDisplay::~OverlayImageDisplay()
   {
     delete update_topic_property_;
     delete transport_hint_property_;
     delete keep_aspect_ratio_property_;
+    delete overwrite_alpha_property_;
     delete width_property_;
     delete height_property_;
     delete left_property_;
@@ -105,6 +110,7 @@ namespace jsk_rviz_plugins
     updateWidth();
     updateHeight();
     updateKeepAspectRatio();
+    updateOverwriteAlpha();
     updateTop();
     updateLeft();
     updateAlpha();
@@ -202,8 +208,9 @@ namespace jsk_rviz_plugins
       else {
         cv::Mat mat;  // mat should be BGRA8 image
 
-        if (msg_->encoding == sensor_msgs::image_encodings::BGRA8 ||
-            msg_->encoding == sensor_msgs::image_encodings::RGBA8) {
+        if ((msg_->encoding == sensor_msgs::image_encodings::BGRA8 ||
+             msg_->encoding == sensor_msgs::image_encodings::RGBA8) &&
+            !overwrite_alpha_) {
           const cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(
                   msg_, sensor_msgs::image_encodings::BGRA8);
           cv_ptr->image.copyTo(mat);
@@ -309,6 +316,13 @@ namespace jsk_rviz_plugins
     require_update_ = true;
   }
 
+  void OverlayImageDisplay::updateOverwriteAlpha()
+  {
+    boost::mutex::scoped_lock lock(mutex_);
+    overwrite_alpha_ = overwrite_alpha_property_->getBool();
+    require_update_ = true;
+  }
+
   bool OverlayImageDisplay::isInRegion(int x, int y)
   {
     return (top_ < y && top_ + height_ > y &&

diff --git a/jsk_rviz_plugins/src/overlay_image_display.h b/jsk_rviz_plugins/src/overlay_image_display.h
@@ -71,7 +71,7 @@ namespace jsk_rviz_plugins
     virtual void setPosition(int x, int y);
     virtual int getX() { return left_; };
     virtual int getY() { return top_; };
-    
+
   protected:
     boost::mutex mutex_;
     OverlayObject::Ptr overlay_;
@@ -83,6 +83,7 @@ namespace jsk_rviz_plugins
     rviz::IntProperty* left_property_;
     rviz::IntProperty* top_property_;
     rviz::FloatProperty* alpha_property_;
+    rviz::BoolProperty* overwrite_alpha_property_;
     int width_, height_, left_, top_;
     double alpha_;
 #if ROS_VERSION_MINIMUM(1,12,0)
@@ -95,6 +96,7 @@ namespace jsk_rviz_plugins
     bool is_msg_available_;
     bool require_update_;
     bool keep_aspect_ratio_;
+    bool overwrite_alpha_;
 
     virtual void redraw();
     virtual void onInitialize();
@@ -113,9 +115,9 @@ namespace jsk_rviz_plugins
     void updateTop();
     void updateAlpha();
     void updateKeepAspectRatio();
+    void updateOverwriteAlpha();
   };
 
 }
 
 #endif
-