multires_image_plugin.cpp

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#include <multires_image/multires_image_plugin.h>

// C++ standard libraries
#include <cstdio>

// QT libraries
#include <QFileDialog>
#include <QGLWidget>
#include <QPalette>

// ROS libraries
#include <ros/ros.h>
#include <tf/transform_datatypes.h>

// Declare plugin
#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(mapviz_plugins::MultiresImagePlugin, mapviz::MapvizPlugin)

namespace mapviz_plugins
{
  MultiresImagePlugin::MultiresImagePlugin() :
    loaded_(false),
    center_x_(0.0),
    center_y_(0.0),
    offset_x_(0.0),
    offset_y_(0.0),
    tile_set_(NULL),
    tile_view_(NULL),
    config_widget_(new QWidget()),
    transformed_(false)
  {
    ui_.setupUi(config_widget_);

    QPalette p(config_widget_->palette());
    p.setColor(QPalette::Background, Qt::white);
    config_widget_->setPalette(p);

    QPalette p2(ui_.status->palette());
    p2.setColor(QPalette::Text, Qt::red);
    ui_.status->setPalette(p2);

    QObject::connect(ui_.browse, SIGNAL(clicked()), this, SLOT(SelectFile()));
    QObject::connect(ui_.path, SIGNAL(editingFinished()), this, SLOT(AcceptConfiguration()));
    QObject::connect(ui_.x_offset_spin_box, SIGNAL(valueChanged(double)), this, SLOT(SetXOffset(double)));
    QObject::connect(ui_.y_offset_spin_box, SIGNAL(valueChanged(double)), this, SLOT(SetYOffset(double)));

    source_frame_ = "/";
  }

  MultiresImagePlugin::~MultiresImagePlugin()
  {
    delete tile_view_;
    delete tile_set_;
  }

  void MultiresImagePlugin::PrintError(const std::string& message)
  {
    if (message == ui_.status->text().toStdString())
      return;

    ROS_ERROR("Error: %s", message.c_str());
    QPalette p(ui_.status->palette());
    p.setColor(QPalette::Text, Qt::red);
    ui_.status->setPalette(p);
    ui_.status->setText(message.c_str());
  }

  void MultiresImagePlugin::PrintInfo(const std::string& message)
  {
    if (message == ui_.status->text().toStdString())
      return;

    ROS_INFO("%s", message.c_str());
    QPalette p(ui_.status->palette());
    p.setColor(QPalette::Text, Qt::green);
    ui_.status->setPalette(p);
    ui_.status->setText(message.c_str());
  }

  void MultiresImagePlugin::PrintWarning(const std::string& message)
  {
    if (message == ui_.status->text().toStdString())
      return;

    ROS_WARN("%s", message.c_str());
    QPalette p(ui_.status->palette());
    p.setColor(QPalette::Text, Qt::darkYellow);
    ui_.status->setPalette(p);
    ui_.status->setText(message.c_str());
  }

  void MultiresImagePlugin::AcceptConfiguration()
  {
    ROS_INFO("Accept multires image configuration.");
    if (tile_set_ != NULL && tile_set_->GeoReference().GeoPath() == ui_.path->text().toStdString())
    {
      // Nothing to do.
    }
    else
    {
      loaded_ = false;
      delete tile_set_;
      delete tile_view_;
      tile_set_ = new multires_image::TileSet(ui_.path->text().toStdString());

      if (tile_set_->Load())
      {
        loaded_ = true;

        source_frame_ = tile_set_->GeoReference().Projection();
        if (source_frame_.empty() || source_frame_[0] != '/')
        {
          source_frame_ = std::string("/") + source_frame_;
        }

        QPalette p(ui_.status->palette());
        p.setColor(QPalette::Text, Qt::green);
        ui_.status->setPalette(p);
        ui_.status->setText("OK");

        initialized_ = true;

        MultiresView* view = new MultiresView(tile_set_, canvas_);
        tile_view_ = view;
      }
      else
      {
        PrintError("Failed to load image.");
        delete tile_set_;
        tile_set_ = 0;
        tile_view_ = 0;
      }
    }
  }

  void MultiresImagePlugin::SelectFile()
  {
    QFileDialog dialog(config_widget_, "Select Multires Image");
    dialog.setFileMode(QFileDialog::ExistingFile);
    dialog.setNameFilter(tr("Geo Files (*.geo)"));

    dialog.exec();

    if (dialog.result() == QDialog::Accepted && dialog.selectedFiles().count() == 1)
    {
      ui_.path->setText(dialog.selectedFiles().first());
      AcceptConfiguration();
    }
  }


  void MultiresImagePlugin::SetXOffset(double offset_x)
  {
      offset_x_ = offset_x;
  }

  void MultiresImagePlugin::SetYOffset(double offset_y)
  {
      offset_y_ = offset_y;
  }

  QWidget* MultiresImagePlugin::GetConfigWidget(QWidget* parent)
  {
    config_widget_->setParent(parent);

    return config_widget_;
  }

  bool MultiresImagePlugin::Initialize(QGLWidget* canvas)
  {
    canvas_ = canvas;

    return true;
  }

  void MultiresImagePlugin::GetCenterPoint(double x, double y)
  {
      tf::Point point(x, y, 0);
      tf::Point center = inverse_transform_ * point;
      center_x_ = center.getX();
      center_y_ = center.getY();
  }

  void MultiresImagePlugin::Draw(double x, double y, double scale)
  {
    if (transformed_ && tile_set_ != NULL && tile_view_ != NULL)
    {
      GetCenterPoint(x, y);
      tile_view_->SetView(center_x_, center_y_, 1, scale);

      tile_view_->Draw();

      PrintInfo("OK");
    }
  }

  void MultiresImagePlugin::Transform()
  {
    transformed_ = false;

    if (!loaded_)
      return;

    if (!tf_manager_->GetTransform(target_frame_, source_frame_, transform_))
    {
      PrintError("Failed transform from " + source_frame_ + " to " + target_frame_);
      return;
    }

    if (!tf_manager_->GetTransform(source_frame_, target_frame_, inverse_transform_))
    {
      PrintError("Failed inverse transform from " + target_frame_ + " to " + source_frame_);
      return;
    }

    // Add in user-specified offset to map
    swri_transform_util::Transform offset(
                tf::Transform(
                    tf::createIdentityQuaternion(),
                    tf::Vector3(offset_x_, offset_y_, 0.0)));

    // Set relative positions of tile points based on tf transform
    for (int i = 0; i < tile_set_->LayerCount(); i++)
    {
      multires_image::TileSetLayer* layer = tile_set_->GetLayer(i);
      for (int r = 0; r < layer->RowCount(); r++)
      {
        for (int c = 0; c < layer->ColumnCount(); c++)
        {
          multires_image::Tile* tile = layer->GetTile(c, r);

          tile->Transform(transform_, offset);
        }
      }
    }

    transformed_ = true;
  }

  boost::filesystem::path MultiresImagePlugin::MakePathRelative(boost::filesystem::path path, boost::filesystem::path base)
  {
    // Borrowed from: https://svn.boost.org/trac/boost/ticket/1976#comment:2
    if (path.has_root_path())
    {
      if (path.root_path() != base.root_path())
      {
        return path;
      }
      else
      {
        return MakePathRelative(path.relative_path(), base.relative_path());
      }
    }
    else
    {
      if (base.has_root_path())
      {
        ROS_WARN("Cannot uncomplete a path relative path from a rooted base.");
        return path;
      }
      else
      {
        typedef boost::filesystem::path::const_iterator path_iterator;
        path_iterator path_it = path.begin();
        path_iterator base_it = base.begin();
        while (path_it != path.end() && base_it != base.end())
        {
          if (*path_it != *base_it)
            break;
          ++path_it;
          ++base_it;
        }
        boost::filesystem::path result;
        for (; base_it != base.end(); ++base_it)
        {
          result /= "..";
        }
        for (; path_it != path.end(); ++path_it)
        {
          result /= *path_it;
        }
        return result;
      }
    }
  }

  void MultiresImagePlugin::LoadConfig(const YAML::Node& node, const std::string& path)
  {
    if (node["path"])
    {
      std::string path_string;
      node["path"] >> path_string;

      boost::filesystem::path image_path(path_string);
      if (image_path.is_complete() == false)
      {
        boost::filesystem::path base_path(path);
        path_string =
          (path / image_path.relative_path()).normalize().string();
      }

      ui_.path->setText(path_string.c_str());

      AcceptConfiguration();
    }

    if (node["offset_x"])
    {
        node["offset_x"] >> offset_x_;
        ui_.x_offset_spin_box->setValue(offset_x_);
    }
    if (node["offset_y"])
    {
        node["offset_y"] >> offset_y_;
        ui_.y_offset_spin_box->setValue(offset_y_);
    }
  }

  void MultiresImagePlugin::SaveConfig(YAML::Emitter& emitter, const std::string& path)
  {
    boost::filesystem::path abs_path(ui_.path->text().toStdString());
    boost::filesystem::path base_path(path);
    boost::filesystem::path rel_path = MakePathRelative(abs_path, base_path);

    emitter << YAML::Key << "path" << YAML::Value << rel_path.string();
    emitter << YAML::Key << "offset_x" << YAML::Value << offset_x_;
    emitter << YAML::Key << "offset_y" << YAML::Value << offset_y_;
  }
}