simulate_robot_camera.cpp

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/*
 * Copyright (c) 2011, 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 "simulate_robot_camera.h"
#include "rve_render_client/client_context.h"
#include "rve_render_server/init.h"
#include "rve_render_client/init.h"
#include "rve_render_client/render_window.h"
#include "rve_render_client/scene.h"
#include "rve_render_client/camera.h"
#include <rve_transformer/transformer_manager.h>
#include <rve_transformer/frame_manager.h>
#include <rve_common_transformers/urdf.h>
#include <rve_common_transformers/camera_following_camera.h>
#include <rve_properties/property_node.h>
#include <rve_properties/messages.h>

#include <rve_qt/render_widget.h>

#include <rve_msgs/make_vector3.h>
#include <rve_msgs/make_quaternion.h>

#include <urdf/model.h>

#include <Eigen/Geometry>

#include <ros/package.h>
#include <ros/time.h>

#include <ros/time.h>
#include <ros/ros.h>

#include <QtGui/QtGui>

using namespace rve_render_client;

MyWidget::MyWidget(const ClientContextPtr& context, QWidget* parent)
: RenderWidget(context.get(), parent)
, private_nh_("~")
{
  context_ = context;

  scene_ = rve_render_client::createScene(context_);
  camera_ = rve_render_client::createCamera(scene_.get());
  camera_->setPosition(rve_msgs::makeVector3(-10, 0, 0));
  camera_->lookAt(rve_msgs::makeVector3(0, 0, 0));
  getRemoteRenderWindow()->attachCamera(camera_);

  transformer_manager_.reset(new rve_transformer::TransformerManager());
  transformer_manager_->getFrameManager()->setFixedFrame("base_footprint");

  rve_common_transformers::URDFPtr urdf = transformer_manager_->createTransformer<rve_common_transformers::URDF>();
  urdf->attachToScene(scene_.get());
  urdf->attachToContext(context_.get());

  rve_common_transformers::CameraFollowingCameraPtr cam =
    transformer_manager_->createTransformer<rve_common_transformers::CameraFollowingCamera>();
  cam->setCamera(camera_);

  // Change this to match the camera you want to use.
  cam->setSubscription("camera_info", "wide_stereo/left/camera_info");

  QTimer* timer = new QTimer(this);
  connect(timer, SIGNAL(timeout()), this, SLOT(update()));
  timer->start(33);
}

void MyWidget::update()
{
  try
  {
    transformer_manager_->update();
    getRemoteRenderWindow()->requestRender();
  }
  catch (std::exception& e)
  {
    ROS_ERROR("%s", e.what());
  }
}

int main(int argc, char** argv)
{
  int ret = 0;

  try
  {
    QApplication app(argc, argv);
    ros::init(argc, argv, "simulate_robot_camera", ros::init_options::NoSigintHandler);
    rve_render_server::init(true, "render_server");
    rve_render_client::init();
    ros::AsyncSpinner as(0);
    as.start();

    ClientContextPtr context = createContext("render_server", ros::NodeHandle("render_server"));
    MyWidget window(context);
    window.resize(640, 480);
    window.show();
    window.setWindowTitle(QApplication::translate("toplevel", "simulate_robot_camera"));

    ret = app.exec();

  }
  catch (std::exception& e)
  {
    ROS_ERROR("Caught exception: %s", e.what());
  }

  rve_render_client::shutdown();
  rve_render_server::shutdown();
  return ret;
}