camera_focus_display.cpp

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * 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.
 *     * Neither the name of the Willow Garage, Inc. 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 OWNER 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 "ui_camera_focus.h" // generated by uic from camera_focus.ui

#include "pr2_interactive_manipulation/camera_focus_display.h"

#include <rviz/window_manager_interface.h>
#include <rviz/visualization_manager.h>
#include <rviz/view_controller.h>
#include <rviz/frame_manager.h>
#include <rviz/panel_dock_widget.h>

#include <OGRE/OgreMatrix3.h>

#include <object_manipulator/tools/camera_configurations.h>

namespace pr2_interactive_manipulation {

CameraFocusDisplay::CameraFocusDisplay() : 
  Display(),
  frame_(NULL),
  frame_dock_(NULL)
{
}
  
CameraFocusDisplay::~CameraFocusDisplay()
{
  delete frame_dock_;
}

void CameraFocusDisplay::onEnable()
{  
  if ( !frame_ )
  {
    rviz::WindowManagerInterface* window_manager = vis_manager_->getWindowManager();
    ROS_ASSERT(window_manager);

    frame_ = new CameraFocusFrame(vis_manager_, window_manager->getParentWindow());
    frame_dock_ = window_manager->addPane( "Camera Focus", frame_ );
  }
  frame_dock_->show();
}

void CameraFocusDisplay::onDisable()
{
  if( frame_dock_ )
  {
    frame_dock_->hide();
  }
}

CameraFocusFrame::CameraFocusFrame(rviz::VisualizationManager* manager, QWidget* parent) :
  QWidget(parent),
  root_nh_(""),
  vis_manager_(manager),
  ui_( new Ui::CameraFocus )
{
  ui_->setupUi( this );
  connect( ui_->left_button_, SIGNAL( clicked() ), this, SLOT( leftButtonClicked() ));
  connect( ui_->top_button_, SIGNAL( clicked() ), this, SLOT( topButtonClicked() ));
  connect( ui_->front_button_, SIGNAL( clicked() ), this, SLOT( frontButtonClicked() ));
  connect( ui_->right_button_, SIGNAL( clicked() ), this, SLOT( rightButtonClicked() ));
  connect( ui_->overhead_button_, SIGNAL( clicked() ), this, SLOT (overheadButtonClicked() ));
  connect( ui_->facing_button_, SIGNAL( clicked() ), this, SLOT (facingButtonClicked() ));
  //connect( ui_->accept_box_, SIGNAL( toggled() ), this, SLOT( acceptBoxToggled() ));

  sub_ = root_nh_.subscribe("/camera_focus", 10, &CameraFocusFrame::callback, this);    
}

CameraFocusFrame::~CameraFocusFrame()
{
  delete ui_;
}

void CameraFocusFrame::callback(const pr2_object_manipulation_msgs::CameraFocusConstPtr &msg)
{
  ROS_DEBUG("Camera focus message received");
  if (!ui_->accept_box_->isChecked()) {ROS_INFO("Camera focus: not accepting external commands"); return;}

  //transform point into target frame
  geometry_msgs::PointStamped point = msg->focal_point;
  point.header.stamp = ros::Time(0);
  try {
    vis_manager_->getFrameManager()->getTFClient()->transformPoint(vis_manager_->getTargetFrame(), 
                                                                   point, point );
  }
  catch(...)
  {
    ROS_ERROR("Camera focus: TF had a problem transforming between [%s] and [%s].",
              point.header.frame_id.c_str(), vis_manager_->getTargetFrame().c_str());
    return;
  }
  std::string params_string = vis_manager_->getCurrentViewController()->toString();
  ROS_DEBUG_STREAM("View params: " << params_string);

  //get the current params
  std::istringstream params_str(params_string); 
  std::vector<double> params;
  for (size_t i=0; i<6; i++)
  {
    double p;
    params_str >> p;
    if (params_str.fail())
    {
      ROS_ERROR("Camera focus: could not interpret params string");
      return;
    }
    params.push_back(p);
  }

  //set the desired point
  //arbitrary zoom at 1 meter
  params[2] = 1.5;
  params[3] = point.point.x;
  params[4] = point.point.y;
  params[5] = point.point.z;

  //set the camera params
  //setCamera(params);
  /*
  std::ostringstream os;
  for(int i=0; i<6; i++) os << params[i] << ' ';
  vis_manager_->getCurrentViewController()->fromString(os.str());
  vis_manager_->queueRender();
  ROS_DEBUG("Camera focus set");
  */

  //correct for yaw rotation
  float yaw_correction = 0;  
  Ogre::Vector3 pos;
  Ogre::Quaternion orient;
  if (rviz::FrameManager::instance()->getTransform("base_link", ros::Time(),  pos, orient) )
  {
    yaw_correction = orient.getRoll().valueRadians();
  }
  //we get the yaw from the current view here, so no need to correct for it
  //params[1] += yaw_correction; 
  //but we do need to rotate the focal point
  Ogre::Vector3 focal_point(params[3], params[4], params[5]);
  Ogre::Matrix3 rot;
  rot.FromAxisAngle(Ogre::Vector3(0,0,1), Ogre::Radian(yaw_correction));
  focal_point = rot * focal_point;
  for(int i=0; i<3; i++) params[3+i] = focal_point[i];

  //set the camera params
  std::ostringstream os;
  for(int i=0; i<6; i++) os << params[i] << ' ';
  vis_manager_->setTargetFrame("base_link");
  vis_manager_->setCurrentViewControllerType( "Orbit" );
  vis_manager_->getCurrentViewController()->fromString(os.str());
  vis_manager_->queueRender();
  printf("camera params: %s\n", os.str().c_str());
}


void CameraFocusFrame::setCamera(std::vector<double> params)
{
  float yaw_correction = 0;
  Ogre::Vector3 pos;
  Ogre::Quaternion orient;

  //correct for yaw rotation
  if (rviz::FrameManager::instance()->getTransform("base_link", ros::Time(),  pos, orient) )
  {
    yaw_correction = orient.getRoll().valueRadians();
  }
  params[1] += yaw_correction;
  //also need to rotate the focal point
  Ogre::Vector3 focal_point(params[3], params[4], params[5]);
  Ogre::Matrix3 rot;
  rot.FromAxisAngle(Ogre::Vector3(0,0,1), Ogre::Radian(yaw_correction));
  focal_point = rot * focal_point;
  for(int i=0; i<3; i++) params[3+i] = focal_point[i];

  //set the camera params
  std::ostringstream os;
  for(int i=0; i<6; i++) os << params[i] << ' ';
  vis_manager_->setTargetFrame("base_link");
  vis_manager_->setCurrentViewControllerType( "Orbit" );
  vis_manager_->getCurrentViewController()->fromString(os.str());
  vis_manager_->queueRender();
  printf("camera params: %s\n", os.str().c_str());
}


void CameraFocusFrame::leftButtonClicked()
{
  try
  {
    setCamera( object_manipulator::cameraConfigurations().get_camera_pose("left") );
  }
  catch(object_manipulator::BadParamException &ex)
  {
    ROS_ERROR("Pre-defined camera position not found");
  }
}

void CameraFocusFrame::topButtonClicked()
{
  try
  {
    setCamera( object_manipulator::cameraConfigurations().get_camera_pose("top") );
  }
  catch(object_manipulator::BadParamException &ex)
  {
    ROS_ERROR("Pre-defined camera position not found");
  }
}

void CameraFocusFrame::frontButtonClicked()
{
  try
  {
    setCamera( object_manipulator::cameraConfigurations().get_camera_pose("front") );
  }
  catch(object_manipulator::BadParamException &ex)
  {
    ROS_ERROR("Pre-defined camera position not found");
  }
}

void CameraFocusFrame::rightButtonClicked()
{
  try
  {
    setCamera( object_manipulator::cameraConfigurations().get_camera_pose("right") );
  }
  catch(object_manipulator::BadParamException &ex)
  {
    ROS_ERROR("Pre-defined camera position not found");
  }
}


void CameraFocusFrame::overheadButtonClicked()
{
  try
  {
    setCamera( object_manipulator::cameraConfigurations().get_camera_pose("overhead") );
  }
  catch(object_manipulator::BadParamException &ex)
  {
    ROS_ERROR("Pre-defined camera position not found");
  }
}

void CameraFocusFrame::facingButtonClicked()
{
  try
  {
    setCamera( object_manipulator::cameraConfigurations().get_camera_pose("facing") );
  }
  catch(object_manipulator::BadParamException &ex)
  {
    ROS_ERROR("Pre-defined camera position not found");
  }
}
/*
void CameraFocusFrame::acceptBoxToggled(bool checked)
{
  if(checked) ROS_INFO("acceptBox checked");
  else ROS_INFO("acceptBox not checked!");
  }*/

}