image_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 "image_display.h"
#include "rviz/visualization_manager.h"
#include "rviz/render_panel.h"
#include "rviz/properties/property.h"
#include "rviz/properties/property_manager.h"
#include "rviz/window_manager_interface.h"
#include "rviz/frame_manager.h"
#include "rviz/validate_floats.h"
#include "rviz/panel_dock_widget.h"
#include "rviz/display_wrapper.h"

#include <tf/transform_listener.h>

#include <boost/bind.hpp>

#include <ogre_tools/render_system.h>

#include <OGRE/OgreSceneNode.h>
#include <OGRE/OgreSceneManager.h>
#include <OGRE/OgreRectangle2D.h>
#include <OGRE/OgreMaterialManager.h>
#include <OGRE/OgreTextureManager.h>
#include <OGRE/OgreViewport.h>
#include <OGRE/OgreRenderWindow.h>
#include <OGRE/OgreManualObject.h>
#include <OGRE/OgreRoot.h>
#include <OGRE/OgreRenderSystem.h>

namespace rviz
{

ImageDisplay::Panel::Panel( ImageDisplay* display, QWidget* parent )
  : RenderPanel( ogre_tools::RenderSystem::get(), display, parent )
  , display_( display )
{
}

void ImageDisplay::Panel::showEvent( QShowEvent* event )
{
  RenderPanel::showEvent( event );
  render_window_->setAutoUpdated(false);
  render_window_->setActive( active_ );
  display_->setTopic( display_->getTopic() );
}

void ImageDisplay::Panel::setActive( bool active )
{
  active_ = active;
  if( render_window_ != 0 )
  {
    render_window_->setActive( active_ );
  }
}

void ImageDisplay::Panel::updateRenderWindow()
{
  if( render_window_ != 0 )
  {
    render_window_->update();
  }
}

ImageDisplay::ImageDisplay()
  : Display()
  , transport_("raw")
  , texture_(update_nh_)
  , panel_container_( 0 )
{
}

void ImageDisplay::onInitialize()
{
  {
    static uint32_t count = 0;
    std::stringstream ss;
    ss << "ImageDisplay" << count++;
    scene_manager_ = Ogre::Root::getSingleton().createSceneManager(Ogre::ST_GENERIC, ss.str());
  }

  scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode();

  {
    static int count = 0;
    std::stringstream ss;
    ss << "ImageDisplayObject" << count++;

    screen_rect_ = new Ogre::Rectangle2D(true);
    screen_rect_->setRenderQueueGroup(Ogre::RENDER_QUEUE_OVERLAY - 1);
    screen_rect_->setCorners(-1.0f, 1.0f, 1.0f, -1.0f);

    ss << "Material";
    material_ = Ogre::MaterialManager::getSingleton().create( ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME );
    material_->setSceneBlending( Ogre::SBT_REPLACE );
    material_->setDepthWriteEnabled(false);
    material_->setReceiveShadows(false);
    material_->setDepthCheckEnabled(false);

    material_->getTechnique(0)->setLightingEnabled(false);
    Ogre::TextureUnitState* tu = material_->getTechnique(0)->getPass(0)->createTextureUnitState();
    tu->setTextureName(texture_.getTexture()->getName());
    tu->setTextureFiltering( Ogre::TFO_NONE );

    material_->setCullingMode(Ogre::CULL_NONE);
    Ogre::AxisAlignedBox aabInf;
    aabInf.setInfinite();
    screen_rect_->setBoundingBox(aabInf);
    screen_rect_->setMaterial(material_->getName());
    scene_node_->attachObject(screen_rect_);

  }

  QWidget* parent = 0;

  WindowManagerInterface* wm = vis_manager_->getWindowManager();
  if (wm)
  {
    parent = wm->getParentWindow();
  }

  render_panel_ = new Panel( this, parent );
  render_panel_->resize( 640, 480 );
  render_panel_->initialize(scene_manager_, vis_manager_);
  if (wm)
  {
    panel_container_ = wm->addPane(name_, render_panel_);
    panel_container_->hide();
  }
  render_panel_->setAutoRender(false);
  render_panel_->setOverlaysEnabled(false);
  render_panel_->getCamera()->setNearClipDistance( 0.01f );

  if( panel_container_ )
  {
    connect( panel_container_, SIGNAL( visibilityChanged( bool ) ), this, SLOT( setWrapperEnabled( bool )));
  }
}

ImageDisplay::~ImageDisplay()
{
  unsubscribe();

  if( render_panel_ )
  {
    if( panel_container_ )
    {
      delete panel_container_;
    }
    else
    {
      delete render_panel_;
    }
  }

  delete screen_rect_;

  scene_node_->getParentSceneNode()->removeAndDestroyChild(scene_node_->getName());
}

void ImageDisplay::setWrapperEnabled( bool enabled )
{
  // Have to use the DisplayWrapper disable function so the checkbox
  // gets checked or unchecked, since it owns the "enabled" property.
  DisplayWrapper* wrapper = vis_manager_->getDisplayWrapper( this );
  if( wrapper != NULL )
  {
    wrapper->setEnabled( enabled );
  }
}

void ImageDisplay::onEnable()
{
  subscribe();

  if( render_panel_->parentWidget() == 0 )
  {
    render_panel_->show();
  }
  else
  {
    panel_container_->show();
  }

  render_panel_->setActive(true);
}

void ImageDisplay::onDisable()
{
  render_panel_->setActive(false);

  if( render_panel_->parentWidget() == 0 )
  {
    if( render_panel_->isVisible() )
    {
      render_panel_->hide();
    }
  }
  else
  {
    if( panel_container_->isVisible() )
    {
      panel_container_->close();
    }
  }

  unsubscribe();

  clear();
}

void ImageDisplay::subscribe()
{
  if ( !isEnabled() )
  {
    return;
  }

  texture_.setTopic(topic_);
}

void ImageDisplay::unsubscribe()
{
  texture_.setTopic("");
}

void ImageDisplay::setTopic( const std::string& topic )
{
  unsubscribe();

  topic_ = topic;
  clear();

  subscribe();

  propertyChanged(topic_property_);
}

void ImageDisplay::setTransport(const std::string& transport)
{
  transport_ = transport;

  texture_.setTransportType(transport);

  propertyChanged(transport_property_);
}

void ImageDisplay::clear()
{
  texture_.clear();

  setStatus(status_levels::Warn, "Image", "No Image received");

  if( render_panel_->getCamera() )
  {
    render_panel_->getCamera()->setPosition(Ogre::Vector3(999999, 999999, 999999));
  }
}

void ImageDisplay::updateStatus()
{
  if (texture_.getImageCount() == 0)
  {
    setStatus(status_levels::Warn, "Image", "No image received");
  }
  else
  {
    std::stringstream ss;
    ss << texture_.getImageCount() << " images received";
    setStatus(status_levels::Ok, "Image", ss.str());
  }
}

void ImageDisplay::update(float wall_dt, float ros_dt)
{
  updateStatus();

  try
  {
    texture_.update();

    //make sure the aspect ratio of the image is preserved
    float win_width = render_panel_->width();
    float win_height = render_panel_->height();

    float img_width = texture_.getWidth();
    float img_height = texture_.getHeight();

    if ( img_width != 0 && img_height != 0 && win_width !=0 && win_height != 0 )
    {
      float img_aspect = img_width / img_height;
      float win_aspect = win_width / win_height;

      if ( img_aspect > win_aspect )
      {
        screen_rect_->setCorners(-1.0f, 1.0f * win_aspect/img_aspect, 1.0f, -1.0f * win_aspect/img_aspect, false);
      }
      else
      {
        screen_rect_->setCorners(-1.0f * img_aspect/win_aspect, 1.0f, 1.0f * img_aspect/win_aspect, -1.0f, false);
      }
    }

    render_panel_->updateRenderWindow();
  }
  catch (UnsupportedImageEncoding& e)
  {
    setStatus(status_levels::Error, "Image", e.what());
  }
}

void ImageDisplay::onTransportEnumOptions(V_string& choices)
{
  texture_.getAvailableTransportTypes(choices);
}

void ImageDisplay::createProperties()
{
  topic_property_ = property_manager_->createProperty<ROSTopicStringProperty>( "Image Topic", property_prefix_, boost::bind( &ImageDisplay::getTopic, this ),
                                                                         boost::bind( &ImageDisplay::setTopic, this, _1 ), parent_category_, this );
  setPropertyHelpText(topic_property_, "sensor_msgs::Image topic to subscribe to.");
  ROSTopicStringPropertyPtr topic_prop = topic_property_.lock();
  topic_prop->setMessageType(ros::message_traits::datatype<sensor_msgs::Image>());

  transport_property_ = property_manager_->createProperty<EditEnumProperty>("Transport Hint", property_prefix_, boost::bind(&ImageDisplay::getTransport, this),
                                                                            boost::bind(&ImageDisplay::setTransport, this, _1), parent_category_, this);
  EditEnumPropertyPtr ee_prop = transport_property_.lock();
  ee_prop->setOptionCallback(boost::bind(&ImageDisplay::onTransportEnumOptions, this, _1));
}

void ImageDisplay::fixedFrameChanged()
{
}

void ImageDisplay::targetFrameChanged()
{

}

void ImageDisplay::reset()
{
  Display::reset();

  clear();
}

} // namespace rviz