ros-rviz-image.html

<link rel="import" href="../polymer/polymer.html">
<link rel="import" href="../paper-checkbox/paper-checkbox.html">
<link rel="import" href="../paper-dropdown-menu/paper-dropdown-menu.html">
<link rel="import" href="../paper-input/paper-input.html">
<link rel="import" href="../paper-listbox/paper-listbox.html">
<link rel="import" href="imports.html">

<dom-module id="ros-rviz-image">
  <template>
    <style>
      #image_stream {
        float: left;
        margin-left: 105%;
      }
      #canvas_div {
        position: fixed;
        z-index: 9;
        background-color: transparent;
      }
    </style>
    <div id="image_stream">
      <div id="canvas_div" title="[[topic]]">
        <canvas id="xy_image" width="280px;" height="280px;"/>
      </div>
    </div>
    <paper-input label="Image topic" value="{{topic}}"></paper-input>
    <paper-dropdown-menu id="transport_hints_dropdown" label="Transport hints" on-iron-select="transportHintSelected">
      <paper-listbox slot="dropdown-content" class="dropdown-content" selected="0">
        <paper-item>Compressed</paper-item>
        <paper-item>CompressedDepth</paper-item>
      </paper-listbox>
    </paper-dropdown-menu>
  </template>
  <script>
    const _transportHints = {
      Compressed: {type: 'sensor_msgs/CompressedImage', topicSuffix: '/compressed'},
      CompressedDepth: {type: 'sensor_msgs/CompressedImage', topicSuffix: '/compressedDepth'},
    };

    Polymer({
      is: 'ros-rviz-image',

      properties: {
        name: {
          type: String,
          value: 'Image',
        },
        topic: {
          type: String,
          value: '/camera/image',
          notify: true,
        },
        transport_hints: {
          type: String,
          value: 'Compressed',
          notify: true,
        },
        globalOptions: Object,
        isShown: Boolean,
        ros: Object,
        viewer: Object,
      },

      observers: [
        '_optionsChanged(viewer, topic, ros)',
      ],

      transportHintSelected: function(e) {
        this.transport_hints = this.$.transport_hints_dropdown.selectedItemLabel;
        this._optionsChanged();
      },

      ready: function() {
        // Make the image DIV draggable.
        this._dragImageDiv(this.$.canvas_div);
      },

      destroy: function() {
        // Nothing to destroy.
      },

      hide: function() {
        if (this._imageTopic) {
          this._imageTopic.unsubscribe();
          this._imageTopic = null;
          this.$.canvas_div.style.visibility = 'hidden';
        }
      },

      show: function() {
        if (this.viewer && this.isShown) {
          if (!this._imageTopic) {
            this._updateDisplay();
          }
          this.$.canvas_div.style.visibility = 'visible';
        }
      },

      _optionsChanged: function(viewer, topic, ros) {
        this.hide();
        this._updateDisplay();
        this.show();
      },

      _updateDisplay: function(callback) {
        const that = this;
        const canvas = this.$.xy_image;
        const context = canvas.getContext('2d');

        if (!(this.ros && this.viewer && this.topic &&
             (this.transport_hints))) {
          return;
        }
        if (this._imageTopic) {
          this._imageTopic.unsubscribe();
        }

        this._imageTopic = new ROSLIB.Topic({
            ros : this.ros,
            name : this.topic + _transportHints[this.transport_hints].topicSuffix,
            compression : 'cbor',
            messageType : _transportHints[this.transport_hints].type
        });

        this._initCanvas(canvas, context);

        let updatingImage = false;

        this._imageTopic.subscribe(function(message) {
          if (updatingImage) {
            return;   // Drop frame if previous one didn't load yet.
          }

          updatingImage = true;
          let image = new Image();

          let blobUrl = null;
          if (message.data.buffer) {
            // Binary path -- load Blob
            blobUrl = URL.createObjectURL(new Blob([message.data], {type: 'image/jpg'}));
            image.src = blobUrl;
          } else {
            // Text path -- load base64 string
            image.src = "data:image/jpg;base64," + message.data;
          }

          function finishUpdate() {
            updatingImage = false;
            if (blobUrl) {
              URL.revokeObjectURL(blobUrl);
            }
          }

          image.onerror = function(e) {
            finishUpdate();
            console.error("Error loading Image", e);
          };

          image.onload = function() {
            finishUpdate();
            // Resize keeping ratio and center the image on the canvas.
            const hRatio = canvas.width / image.width;
            const vRatio = canvas.height / image.height;
            const ratio  = Math.min(hRatio, vRatio);
            const centerShift_x = (canvas.width - image.width * ratio ) / 2;
            const centerShift_y = (canvas.height - image.height * ratio ) / 2;
            context.clearRect(0, 0, canvas.width, canvas.height);
            context.drawImage(image, 0, 0, image.width, image.height,
                              centerShift_x, centerShift_y,
                              image.width * ratio, image.height * ratio);
          };
        });
      },

      _dragImageDiv: function(imageDiv) {
        // Reference: https://www.w3schools.com/howto/howto_js_draggable.asp.
        var pos1 = 0, pos2 = 0, pos3 = 0, pos4 = 0;
        imageDiv.onmousedown = dragMouseDown;

        function dragMouseDown(e) {
          e = e || window.event;
          e.preventDefault();
          // Get the mouse cursor position at startup:
          pos3 = e.clientX;
          pos4 = e.clientY;
          document.onmouseup = closeDragElement;
          // Call a function whenever the cursor moves:
          document.onmousemove = elementDrag;
        }

        function elementDrag(e) {
          e = e || window.event;
          e.preventDefault();
          // Calculate the new cursor position:
          pos1 = pos3 - e.clientX;
          pos2 = pos4 - e.clientY;
          pos3 = e.clientX;
          pos4 = e.clientY;
          // Set the element's new position:
          imageDiv.style.top = (imageDiv.offsetTop - pos2) + "px";
          imageDiv.style.left = (imageDiv.offsetLeft - pos1) + "px";
        }

        function closeDragElement() {
          // Stop moving when mouse button is released.
          document.onmouseup = null;
          document.onmousemove = null;
        }
    },

    _initCanvas: function(canvas, context) {
        context.fillStyle = "black";
        context.fillRect(0, 0, canvas.width, canvas.height);

        context.font = "30pt Roboto";
        context.fillStyle = "white";
        context.fillText("No image", 55, 240);
    },

    });
  </script>
</dom-module>