@josh -> thanks for your reply and sorry for the caps

Sorry if i appeared to come out strong, i was only trying to highlight the part i wanted

to focus on (did not know i was offending anyone). �The caps thing was of no relevance to the

tone of "my voice".

i really like the operating system and i'm in the process of loving it.

Anyway, I did use ros_image_texture class at first then just created a dynamic texture using a tutorial from ogre

but my problem was not creating the texture, it was applying the texture to the marker object. I'm sure i did

something wrong. Anyway this is the flow of processes in my system:

I have a node which listens for obstacle detection information �and camera information

When an obstacle is detected,via a service, that node uses the dimensions received to crop the most recent image from the camera

and stores a marker and an image tagged with the position of that obstacle in a hash map.

After that, the new marker is sent to rviz as an IMAGE PLANE

RVIZ receives the marker draws it and then sends a request to the image processor worker thread (i modified rviz a little) like so

line 388 in map_display.cpp

if (marker)

��{

�//ROS_DEBUG("Calling get_obstacle_image: %ld , %s", (long int)message->id,message->ns.c_str());

�if(message->type == visualization_msgs::Marker::IMPLANE)

�{

�m_pQueue->AddJob(ImageJob(ImageJob::eID_THREAD_JOB, ptr_response, MarkerID(message->ns,message->id)));

�ROS_INFO("Pulling image");

�}

�� marker->setMessage(message);

�� if (message->lifetime.toSec() > 0.0001f)

�� {

�� markers_with_expiration_.insert(marker);

�� }

�� causeRender();

��}

�

The image processor requests the image from the obstacle detector node and converts it to an ogre image�(All this thread does is convert a sensor image to an ogreimage)

void MarkerDisplay::AddPendingEvent(const ImageJob::tCOMMANDS& cmd, const Ogre::TexturePtr& �arg,rviz::MarkerID sArg, int iArg)

{

�M_Namespace::iterator ns_it = namespaces_.find(sArg.first);

�if (ns_it == namespaces_.end())

�{

�return;

�}

�if (!ns_it->second.enabled)

�{

� �return;

�}

�MarkerBasePtr marker;

�M_IDToMarker::iterator it = markers_.find( sArg );

�if ( it != markers_.end() )

�{

� �marker = it->second;

�}

�if(marker)

�{

ROS_INFO("data %s",arg->getName().c_str());

marker->assignTexture(arg);

�//cause render to effect changes to marker object

�� causeRender();

�}

}

// Create the texture

��  texture_ = Ogre::TextureManager::getSingleton().createManual(

texName, // name

Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,

Ogre::TEX_TYPE_2D, � � �// type

256, 256, � � � � // width & height

0, � � � � � � � �// number of mipmaps

empty_image_.getFormat(), � � // pixel format

Ogre::TU_DYNAMIC_WRITE_ONLY_DISCARDABLE); � � �// usage; should be TU_DYNAMIC_WRITE_ONLY_DISCARDABLE for

void ShapeMarker::setTexture(const Ogre::Image &img)

{

�� //I first deleted the existing texture if there was any

if (!texture_.isNull())

� {

� Ogre::TextureManager::getSingleton().remove((Ogre::ResourcePtr&)texture_);

� texture_.setNull();

}

texture_ = Ogre::TextureManager::getSingleton().loadImage(texName, Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,img);

�� //Then loaded the texture like so

�� //texture_(new Ogre::Texture());

textured_=true;

�� /// Testing. Apply Texture to Shape, i may be wrong here

Ogre::TexturePtr text_or(tex); //i thought copying it makes a difference

Ogre::MaterialPtr material_ =�shape_->getMaterial();//get material of already existing shape

material_->getTechnique(0)->getPass(0)->removeAllTextureUnitStates();

material_->getTechnique(0)->getPass(0)->createTextureUnitState(text_or->getName());

ROS_INFO("Texture Applied %s", text_or->getName().c_str());

}