marker_with_covariance_display.cpp

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/*
 * Copyright (c) 2016, Lukas Pfeifhofer <lukas.pfeifhofer@devlabs.pro>
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include <OGRE/OgreManualObject.h>
#include <OGRE/OgreEntity.h>
#include <OGRE/OgreMeshManager.h>
#include <OGRE/OgreSceneNode.h>
#include <OGRE/OgreSceneManager.h>

#include <ros/package.h>

#include <tf/transform_listener.h>

#include <rviz/visualization_manager.h>
#include <rviz/properties/color_property.h>
#include <rviz/properties/float_property.h>
#include <rviz/properties/int_property.h>
#include <rviz/properties/bool_property.h>
#include <rviz/frame_manager.h>
#include "rviz/ogre_helpers/axes.h"

#include "marker_with_covariance/marker_with_covariance_display.h"
#include "marker_with_covariance/marker_with_covariance_visual.h"

namespace marker_rviz_plugin {

    MarkerWithCovarianceDisplay::MarkerWithCovarianceDisplay() {

        _showAxesProperty = new rviz::BoolProperty("Show Axes", true, "Show or hide axes.", this, SLOT (updateVisual()));
        _showMarkerProperty = new rviz::BoolProperty("Show Marker", false, "Show or hide marker image.", this, SLOT (updateVisual()));
        _showLabelProperty = new rviz::BoolProperty("Show Label", true, "Show or hide marker label.", this, SLOT (updateVisual()));

        _markerSizeProperty = new rviz::FloatProperty("Marker Size", 0.3, "Size of the marker image.", this, SLOT (updateVisual()));
        _markerSizeProperty->setMin(0);

        // Add the plugin media folder to the Ogre ResourceGroup so it is possible to access plugin textures later on
        std::string rviz_path = ros::package::getPath(ROS_PACKAGE_NAME);
        Ogre::ResourceGroupManager::getSingleton().addResourceLocation(rviz_path + "/media", "FileSystem", ROS_PACKAGE_NAME);
        Ogre::ResourceGroupManager::getSingleton().initialiseResourceGroup(ROS_PACKAGE_NAME);

    }

    void MarkerWithCovarianceDisplay::onInitialize() {
        MFDClass::onInitialize();

        _visual = new MarkerWithCovarianceVisual(context_->getSceneManager(), scene_node_);
    }

    MarkerWithCovarianceDisplay::~MarkerWithCovarianceDisplay() {
    }

// Clear the ogre_visuals by deleting their objects.
    void MarkerWithCovarianceDisplay::reset() {
        MFDClass::reset();
    }

    void MarkerWithCovarianceDisplay::updateVisual() {
        _visual->setShowAxes(_showAxesProperty->getBool());
        _visual->setShowMarker(_showMarkerProperty->getBool());
        _visual->setShowLabel(_showLabelProperty->getBool());
        _visual->setScale(_markerSizeProperty->getFloat());
    }

// This is our callback to handle an incoming message.
    void MarkerWithCovarianceDisplay::processMessage(const marker_msgs::MarkerWithCovarianceStamped::ConstPtr &msg) {

        // Here we call the rviz::FrameManager to get the transform from the
        // fixed frame to the frame in the header of this Imu message.  If
        // it fails, we can't do anything else so we return.
        Ogre::Quaternion orientation;
        Ogre::Vector3 position;
        if (!context_->getFrameManager()->getTransform(msg->header.frame_id, msg->header.stamp, position, orientation)) {
            ROS_DEBUG ("Error transforming from frame '%s' to frame '%s'", msg->header.frame_id.c_str(), qPrintable(fixed_frame_));
            return;
        }

        // Now set or update the contents of the chosen visual.
        _visual->setMessage(msg);
        _visual->setFramePosition(position);
        _visual->setFrameOrientation(orientation);
        _visual->setShowAxes(_showAxesProperty->getBool());
        _visual->setShowMarker(_showMarkerProperty->getBool());
        _visual->setShowLabel(_showLabelProperty->getBool());
        _visual->setScale(_markerSizeProperty->getFloat());

        context_->queueRender();
    }

} // end namespace marker_rviz_plugin

// Tell pluginlib about this class.  It is important to do this in
// global scope, outside our package's namespace.
#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS ( marker_rviz_plugin::MarkerWithCovarianceDisplay,rviz::Display )