orbit_camera.cpp

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#include <rve_common_transformers/orbit_camera.h>
#include <rve_transformer/transformer_manager.h>
#include <rve_transformer/frame_manager.h>
#include <rve_render_client/camera.h>
#include <rve_render_client/perspective_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>

static const float MIN_DISTANCE = 0.01;

namespace rve_common_transformers
{

OrbitCamera::OrbitCamera()
: focal_point_(Eigen::Vector3f::Zero())
, pitch_quat_(Eigen::Quaternionf::Identity())
, yaw_quat_(Eigen::Quaternionf::Identity())
, distance_(10.0f)
, last_x_(-1)
, last_y_(-1)
, camera_projection_( new rve_render_client::PerspectiveProjectionFactory() )
{
  setRelativePosition( Eigen::Vector3f( 0, 2, 2 ));
}

void OrbitCamera::onInit()
{
  addSubscriber("mouse_input", 100, &OrbitCamera::mouseCallback, this);
  addSubscriber("set_camera_pose", 1, &OrbitCamera::setPoseCallback, this);

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

void OrbitCamera::setPoseCallback(const geometry_msgs::PoseConstPtr& pose)
{
  // TODO: setting the focal point here may not really be what I want.
  // Maybe we need a separate message to set the focal point?  Need to
  // think more about the application behavior I want.  Maybe a new
  // type of CameraTransformer is what I really want.
  focal_point_.x() = pose->position.x;
  focal_point_.y() = pose->position.y;
  focal_point_.z() = pose->position.z;
  // TODO: translate pose->orientation into pitch_quat_ and yaw_quat_.
}

void OrbitCamera::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)
    {
      yaw( diff_x*0.005 );
      pitch( -diff_y*0.005 );
    }
    if (evt->buttons & rve_msgs::MouseEvent::BUTTON_MIDDLE)
    {
      rve_msgs::Matrix4 proj_mat = getCamera()->getProjectionMatrix();
      float proj_width = 2 / proj_mat.m[0*4+0];
      float proj_height = 2 / proj_mat.m[1*4+1];

      uint32_t width = evt->window_width;
      uint32_t height = evt->window_height;

      move(0.0, ((float)diff_x / (float)width) * distance_ * proj_width, ((float)diff_y / (float)height) * distance_ * proj_height);
    }
    if (evt->buttons & rve_msgs::MouseEvent::BUTTON_RIGHT)
    {
      if (evt->modifiers & rve_msgs::MouseEvent::MODIFIER_SHIFT)
      {
        move(-diff_y * 0.1 * (distance_ / 10.0f), 0.0f, 0.0f);
      }
      else
      {
        zoom( -diff_y * 0.1 * (distance_ / 10.0f) );
      }
    }
  }
}

void OrbitCamera::onCameraSet()
{
  FrameRelativeCameraController::onCameraSet();
  getCamera()->setProjectionMatrixFactory( camera_projection_ );
}

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

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

void OrbitCamera::updateRelativePose()
{
  Eigen::Vector3f mouse_pos;
  Eigen::Quaternionf mouse_rot;

  mouse_rot = yaw_quat_ * pitch_quat_;
  mouse_pos = focal_point_ - distance_ * (mouse_rot * Eigen::Vector3f::UnitX());
  
  setRelativePosition( mouse_pos );
  setRelativeOrientation( mouse_rot );
}

void OrbitCamera::yaw( float angle )
{
  yaw_quat_ = yaw_quat_ * Eigen::AngleAxisf(-angle, Eigen::Vector3f::UnitZ());
}

void OrbitCamera::pitch( float angle )
{
  pitch_quat_ = pitch_quat_ * Eigen::AngleAxisf(-angle, Eigen::Vector3f::UnitY());
}

void OrbitCamera::zoom( float amount )
{
  distance_ -= amount;

  if ( distance_ <= MIN_DISTANCE )
  {
    distance_ = MIN_DISTANCE;
  }
}

void OrbitCamera::move( float x, float y, float z )
{
  focal_point_ += getAbsoluteOrientation() * Eigen::Vector3f( x, y, z );
}

} // namespace rve_common_transformers