fixed_orientation_ortho_camera.cpp

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/*
 * Copyright (c) 2011, Willow Garage, Inc.
 * All rights reserved.
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 *       this software without specific prior written permission.
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#include <math.h>

#include <rve_transformer/transformer_manager.h>
#include <rve_transformer/frame_manager.h>
#include <rve_render_client/camera.h>
#include <rve_render_client/orthographic_projection_factory.h>
#include <rve_properties/property_node.h>

#include <rve_msgs/MouseEvent.h>

#include <rve_common/eigen_conversions.h>
#include <geometry_msgs/TransformStamped.h>
#include <ros/callback_queue.h>
#include <geometry_msgs/Pose.h>

#include <sys/time.h>

#include "rve_common_transformers/fixed_orientation_ortho_camera.h"

namespace rve_common_transformers
{

FixedOrientationOrthoCamera::FixedOrientationOrthoCamera()
  : orientation_(1/sqrtf(2), 0, 1/sqrtf(2), 0) // 90 degree rotation about Y to point straight down
  , position_rel_target_(50, 50, 100)
  , position_(0.0, 0.0, 100.0)
  , view_height_(100.0f)
  , last_x_(-1)
  , last_y_(-1)
  , camera_projection_( new rve_render_client::OrthographicProjectionFactory() )
{
}

FixedOrientationOrthoCamera::~FixedOrientationOrthoCamera()
{
}

void FixedOrientationOrthoCamera::onInit()
{
  addSubscriber("mouse_input", 100, &FixedOrientationOrthoCamera::mouseCallback, this);

  getPropertyNode()->get(std::string("target_frame"), target_frame_, std::string("map"));
  getPropertyNode()->addChangeCallback(boost::bind(&FixedOrientationOrthoCamera::onPropertyChanged, this, _1, _2, _3), this, getCallbackQueue());
}

void FixedOrientationOrthoCamera::mouseCallback(const rve_msgs::MouseEventConstPtr& evt)
{
  if (last_x_ == -1)
  {
    last_x_ = evt->x;
    last_y_ = evt->y;
  }

  int32_t diff_x = evt->x - last_x_;
  int32_t diff_y = evt->y - last_y_;
  last_x_ = evt->x;
  last_y_ = evt->y;

  if (evt->type == rve_msgs::MouseEvent::EVENT_MOVE)
  {
    if (evt->buttons & rve_msgs::MouseEvent::BUTTON_LEFT)
    {
      move( diff_y * view_height_ / float(evt->window_height),
            diff_x * view_height_ / float(evt->window_height),
            0 );
    }
    if (evt->buttons & rve_msgs::MouseEvent::BUTTON_RIGHT)
    {
      zoom( diff_y );
    }
  }
}

void FixedOrientationOrthoCamera::onUpdate()
{
  updateCamera();
}

void FixedOrientationOrthoCamera::onCameraSet()
{
  getCamera()->setPosition(rve_common::eigenToMsg(position_));
  getCamera()->setOrientation(rve_common::eigenToMsg(orientation_));
  getCamera()->setProjectionMatrixFactory( camera_projection_ );
}

void FixedOrientationOrthoCamera::onPropertyChanged(const rve_properties::PropertyNodePtr& node, const std::string& path, rve_properties::PropertyChangeType type)
{
  if (type != rve_properties::PropertyChanged)
  {
    return;
  }

  if (path == "target_frame")
  {
    target_frame_ = node->get<std::string>();
  }
}

void FixedOrientationOrthoCamera::updateCamera()
{
  // Read the target frame relative to the fixed frame.
  geometry_msgs::TransformStamped target = getManager()->getFrameManager()->lookupTransform(target_frame_, ros::Time());
  geometry_msgs::Vector3 p = target.transform.translation;
  Eigen::Vector3f target_pos(p.x, p.y, p.z);

  // Add it to the relative position.
  position_ = position_rel_target_ + target_pos;

  // Set the camera pose.
  getCamera()->setPosition(rve_common::eigenToMsg(position_));
  getCamera()->setOrientation(rve_common::eigenToMsg(orientation_));
  camera_projection_->setViewHeight( view_height_ );
}

void FixedOrientationOrthoCamera::zoom( float amount )
{
  view_height_ *= powf(2,amount/100.f);
}

void FixedOrientationOrthoCamera::move( float x, float y, float z )
{
  position_rel_target_ += Eigen::Vector3f( x, y, z );
}

} // namespace rve_common_transformers