gtk_viewer1.c

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#include <stdlib.h>
#include <goocanvas.h>
#include "goo_laser_data.h"
#include "gtk_viewer.h"

static gboolean on_rect_button_press (GooCanvasItem  *view,
                                      GooCanvasItem  *target,
                                      GdkEventButton *event,
                                      gpointer        data);

static gboolean on_delete_event      (GtkWidget      *window,
                                      GdkEvent       *event,
                                      gpointer        unused_data);

void* reading_thread(void *data);
        
GooCanvasItem*  text_item;
GooCanvasItem* rect_item;

int main (int argc, char **argv)
{
        sm_set_program_name(basename(argv[0]));
        
        viewer_params *p = (viewer_params*) malloc(sizeof(viewer_params));
        lds_set_defaults(&(p->laser));
        ls_set_defaults(&(p->pose_path));
        
        p->laser.rays.draw = 0;
        p->laser.points.draw = 0;
        p->laser.normals.draw = 0;
        p->laser.countour.width = 0.1;
        p->pose_path.width = 0.1;
        p->pose_path.color = "#f00";
        
        struct option * ops = options_allocate(100);
        options_string(ops, "in", &(p->input_filename), "stdin", "input file (Carmen or JSON)");
        options_string(ops, "use", &(p->use), "estimate", "One in 'odometry','estimate','true_pose'");
        
        lds_add_options(&(p->laser), ops, "laser_", "");
        ls_add_options(&(p->pose_path), ops, "path_", "");

        if(!options_parse_args(ops, argc, argv)) {
                fprintf(stderr, "A simple experimental GTK viewer.\n\nUsage:\n");
                options_print_help(ops, stderr);
                return -1;
        }

  /* init threads */
  g_thread_init(NULL);
  gdk_threads_init();


  GtkWidget *window, *scrolled_win, *canvas;
GooCanvasItem *root;

  /* Initialize GTK+. */
  gtk_set_locale ();
  gtk_init (&argc, &argv);

  /* Create the window and widgets. */
  window = gtk_window_new (GTK_WINDOW_TOPLEVEL);
  gtk_window_set_default_size (GTK_WINDOW (window), 640, 600);
  gtk_widget_show (window);
  g_signal_connect (window, "delete_event", (GtkSignalFunc) on_delete_event,
                    NULL);

  scrolled_win = gtk_scrolled_window_new (NULL, NULL);
  gtk_scrolled_window_set_shadow_type (GTK_SCROLLED_WINDOW (scrolled_win),
                                       GTK_SHADOW_IN);
  gtk_widget_show (scrolled_win);
  gtk_container_add (GTK_CONTAINER (window), scrolled_win);

  canvas = goo_canvas_new ();

  root = goo_canvas_get_root_item (GOO_CANVAS (canvas));

        p->device_size[0] = 800;
        p->device_size[1] = 600;
        
        gtk_widget_set_size_request (canvas, p->device_size[0], p->device_size[1]);
        goo_canvas_set_bounds (GOO_CANVAS (canvas), 0, 0, p->device_size[0], p->device_size[1]);
        gtk_widget_show (canvas);
        gtk_container_add (GTK_CONTAINER (scrolled_win), canvas);

        p->root = root;
        p->canvas = canvas;
        
        
        /* Add a few simple items. */
rect_item = goo_canvas_rect_new (root, 0, 0, 50, 50,
                                   "line-width", 10.0,
                                   "radius-x", 20.0,
                                   "radius-y", 10.0,
                                   "stroke-color", "yellow",
                                   "fill-color", "red",
                                   NULL);

/*text_item = goo_canvas_text_new (root, "Hello World", 300, 300, -1,
                                   GTK_ANCHOR_CENTER,
                                   "font", "Sans 1",
                                   NULL);
  goo_canvas_item_rotate (text_item, 45, 300, 300);
  */

        
        GError * error;
        if (!g_thread_create(reading_thread, p, FALSE, &error)) {
      g_printerr ("Failed to create YES thread: %s\n", error->message);
      return 1;
        }
  /* Pass control to the GTK+ main event loop. */
  gtk_main ();

}

void* reading_thread(void *data) {
        viewer_params * p = (viewer_params*) data;
        
        FILE * input = open_file_for_reading(p->input_filename);
        if(!input) return 0;
        
        p->scans = malloc(1);
        p->scans_items = malloc(1);
        p->scans_size = 0;
        p->scans_num = 0;
        
        LDP ld;
        while( (ld = ld_read_smart(input)) ) {
           
                if(p->scans_num >= p->scans_size) {
                        p->scans_size = 2* p->scans_size +10;
                        p->scans = realloc(p->scans, sizeof(LDP) * p->scans_size);
                        p->scans_items = realloc(p->scans_items, sizeof(LDP) * p->scans_size);
                }
                
                gdk_threads_enter();

                if(1) {
                        GooCanvasItem * gld = goo_laser_data_new (p->root, p, ld);
                g_signal_connect (gld, "button_press_event",
                            (GtkSignalFunc) on_rect_button_press, NULL);
                        p->scans[p->scans_num] = ld;
                        p->scans_items[p->scans_num] = gld;
                        p->scans_num++;
                } else {

                }
                compute_transformations(p);
                goo_canvas_update(p->canvas);
/*              gdk_flush ();*/
                
                gdk_threads_leave();
                /* sleep a while */
                usleep(20);
/*            sleep(g_random_int_range (1, 4));*/
        }

  return 0;
}

void world_to_viewport(
        const oriented_bbox*obbox, const double device_size[2], cairo_matrix_t*m) {
        
        cairo_matrix_init_identity(m);
        
        double scale[2] = { 
                device_size[0] / obbox->size[0], 
                device_size[1] / obbox->size[1]};
                
        double s = scale[0] < scale[1] ? scale[0] : scale[1];
        cairo_matrix_scale(m, s, s);
        cairo_matrix_scale(m, 1, -1);
        cairo_matrix_rotate(m, -obbox->pose[2]);        
        cairo_matrix_translate(m, -obbox->pose[0], -obbox->pose[1]);
        
}

void item_to_world(const double pose[3], cairo_matrix_t*m) {
        cairo_matrix_init_identity(m);
        cairo_matrix_translate(m, pose[0], pose[1]);
        cairo_matrix_rotate(m, pose[2]);        
}

void compute_transformations(viewer_params*p) {
        int k;
        oriented_bbox global;
        
        if(0) {
                bbfind * bbf = bbfind_new();
                int n = p->scans_num;
/*              if(n>20) n = 20;*/
        
                for(k=0;k<n;k++) {
                        GooLaserData * gld = (GooLaserData*) p->scans_items[k];
                        bbfind_add_bbox(bbf, &gld->obbox);
                }
        
        
                if(bbfind_compute(bbf, &global)) {
                        sm_debug("%d Global: %s size %f %f\n", p->scans_num, friendly_pose(global.pose), 
                                global.size[0], global.size[1]);
                } else {
                        sm_error("%d Could not compute global bounding box.\n", p->scans_num);
                }
                bbfind_free(bbf);
        }else{
        
        global.pose[0] = -22;
        global.pose[1] = -41;
        global.pose[2] = M_PI/2;
        global.size[0] = 106;
        global.size[1] = 46;
}
        cairo_matrix_t m_world_to_viewport;
        world_to_viewport(&global, p->device_size, &(m_world_to_viewport));

        cairo_matrix_t *m = &m_world_to_viewport;
        sm_info("Matrix: %f %f %f %f  %f %f\n", m->xx,m->yx,m->xy,m->yy, m->x0, m->y0);

        cairo_matrix_t mm;
        cairo_matrix_init_identity(&mm);
/*      cairo_matrix_translate(&mm, 300, 600);*/
        cairo_matrix_translate(&mm, 300, 600);
        cairo_matrix_rotate(&mm, deg2rad(p->scans_num));
        goo_canvas_item_set_transform(rect_item, &mm);

        /*
        goo_canvas_item_set_transform(text_item, &m_world_to_viewport);
*/
        for(k=0;k<p->scans_num;k++) {
                GooCanvasItem * gld = p->scans_items[k];
                
                double * pose = p->scans[k]->estimate;
                cairo_matrix_t m_item_to_world;
                item_to_world(pose, &m_item_to_world);

                cairo_matrix_t transform;
                cairo_matrix_multiply(&transform, &m_item_to_world, &m_world_to_viewport);
                goo_canvas_item_set_transform(gld, &transform);
        }
}

/* This handles button presses in item views. We simply output a message to
   the console. */
static gboolean
on_rect_button_press (GooCanvasItem  *item,
                      GooCanvasItem  *target,
                      GdkEventButton *event,
                      gpointer        data)
{
  g_print ("rect item received button press event\n");
  return TRUE;
}


/* This is our handler for the "delete-event" signal of the window, which
   is emitted when the 'x' close button is clicked. We just exit here. */
static gboolean
on_delete_event (GtkWidget *window,
                 GdkEvent  *event,
                 gpointer   unused_data)
{
  exit (0);
}