backdrop_display.cpp

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/*
 * Copyright (c) 2012, 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 <sstream>

#include <OGRE/OgreSceneNode.h>
#include <OGRE/OgreSceneManager.h>
#include <OGRE/OgreMaterialManager.h>
#include <OGRE/OgreManualObject.h>

#include <tf/transform_listener.h>

#include <rviz/visualization_manager.h>
#include <rviz/properties/property.h> 
//#include <rviz/properties/property_manager.h> Note: Removed in Hydro
#include <rviz/frame_manager.h>

#include <rviz/image/ros_image_texture.h>
#include "backdrop_display.h"

namespace rviz_backdrop
{



// Hydro re-write, see groovy-devel for how code was before.
// scale 0.01, scene node NULL, teture update(nh)
// Removed initializations.
BackdropDisplay::BackdropDisplay()
  : Display()
  , scale_( 0.01 )
{
  // ---------- Empty Intentionally ---------- //
}


// After the parent rviz::Display::initialize() does its own setup, it
// calls the subclass's onInitialize() function.  This is where we
// instantiate all the workings of the class.
void BackdropDisplay::onInitialize()
{
  // Make an Ogre::SceneNode to contain all our visuals.
  scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode();
  
  // Create a unique name for the material.
  static int count = 0;
  std::stringstream ss;
  ss << "BackdropDisplay" << count++ << "Material";

  // Create the material and connect it to the texture_.
  image_material_ =
    Ogre::MaterialManager::getSingleton().create( ss.str(),
                                                  Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME );
  image_material_->getTechnique( 0 )->setLightingEnabled( false );
  Ogre::TextureUnitState* tu = image_material_->getTechnique( 0 )->getPass( 0 )->createTextureUnitState();
  tu->setTextureName( texture_.getTexture()->getName() );
  tu->setTextureFiltering( Ogre::TFO_NONE );
  tu->setAlphaOperation( Ogre::LBX_SOURCE1, Ogre::LBS_MANUAL, Ogre::LBS_CURRENT, 0.0 );
  image_material_->setCullingMode( Ogre::CULL_NONE );
  image_material_->setSceneBlending( Ogre::SBT_REPLACE );

  // Create the rectangle object
  manual_object_ = scene_manager_->createManualObject();
  scene_node_->attachObject( manual_object_ );
  manual_object_->estimateVertexCount( 10 );
  manual_object_->begin( image_material_->getName(), Ogre::RenderOperation::OT_TRIANGLE_LIST );

  manual_object_->position( -1, -1, 0 );
  manual_object_->textureCoord( 0, 1 );

  manual_object_->position( -1, 1, 0 );
  manual_object_->textureCoord( .5, 1 );

  manual_object_->position( 1, 1, 0 );
  manual_object_->textureCoord( 1, 1 );

  manual_object_->position( 1, 1, 2 );
  manual_object_->textureCoord( 1, 0 );

  manual_object_->position( -1, 1, 2 );
  manual_object_->textureCoord( .5, 0 );

  manual_object_->position( -1, -1, 2 );
  manual_object_->textureCoord( 0, 0 );

  manual_object_->quad( 0, 1, 4, 5 );
  manual_object_->quad( 1, 2, 3, 4 );

  manual_object_->position( -1, -1, 0 );
  manual_object_->textureCoord( 0, .999 );

  manual_object_->position( 1, -1, 0 );
  manual_object_->textureCoord( 0, .999 );

  manual_object_->position( 1, 1, 0 );
  manual_object_->textureCoord( 0, .999 );

  manual_object_->position( -1, 1, 0 );
  manual_object_->textureCoord( 0, .999 );

  manual_object_->quad( 6, 7, 8, 9 );

  manual_object_->end();
}

BackdropDisplay::~BackdropDisplay()
{
  unsubscribe();

  scene_manager_->destroySceneNode( scene_node_ );
  scene_manager_->destroyManualObject( manual_object_ );
  image_material_->unload();
}

void BackdropDisplay::setTopic( const std::string& topic )
{
  unsubscribe();
  topic_ = topic;
  subscribe();

  // Broadcast the fact that the variable has changed.
  //Property::changed();

  // Make sure rviz renders the next time it gets a chance.
 // causeRender();
}

/* Hydro development removal 

void BackdropDisplay::subscribe()
{
  // If we are not actually enabled, don't do it.
  if ( !isEnabled() )
  {
    return;
  }

  try
  {
   // texture_.setTopic( topic_ );
   // setStatus( rviz::status_levels::Ok, "Topic", "OK" );
  }
  catch( ros::Exception& e )
  {
    //setStatus( rviz::status_levels::Error, "Topic", std::string("Error subscribing: ") + e.what() );
  }
}

*/

/* Hydro development removal 

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

*/

void BackdropDisplay::onEnable()
{
  subscribe();
  scene_node_->setVisible( true );
}

void BackdropDisplay::onDisable()
{
  unsubscribe();
  scene_node_->setVisible( false );
}

void BackdropDisplay::update( float dt, float ros_dt )
{
  if (!texture_.getImage())
  {
   // setStatus(rviz::status_levels::Warn, "Image", "No image received");
  }
  else
  {
    std::stringstream ss;
    //ss << texture_.getImageCount() << " images received";
 //   setStatus(rviz::status_levels::Ok, "Image", ss.str());
  }

  //texture_.update();

  sensor_msgs::Image::ConstPtr current_image = texture_.getImage();
  if( current_image )
  {
    scene_node_->setScale( scale_, scale_, scale_ * 2.0 * current_image->height / current_image->width );

    std::string image_frame = current_image->header.frame_id;
    if( image_frame == "" )
    {
    //  image_frame = fixed_frame_;
    //  setStatus(rviz::status_levels::Warn, "Frame", "Image header has empty frame_id.");
    }

    Ogre::Vector3 position;
    Ogre::Quaternion orientation;
    //if( vis_manager_->getFrameManager()->getTransform( image_frame, ros::Time(), position, orientation ))
    //{
    //  scene_node_->setPosition( position );
    //  scene_node_->setOrientation( orientation );
    //  setStatus( rviz::status_levels::Ok, "Frame", "Ok" );
    //}
  //  else
   // {
   //   setStatus( rviz::status_levels::Error,
   //              "Frame", "Can't find a transform from " + fixed_frame_ + " to " + image_frame + "." );
   // }
  }
}

void BackdropDisplay::setScale( float scale )
{
  scale_ = scale;
  //changed( scale_property_ );
}

// Override createProperties() to build and configure a Property
// object for each user-editable property.  ``property_manager_``,
// ``property_prefix_``, and ``parent_category_`` are all initialized before
// this is called.
void BackdropDisplay::createProperties()
{
  //topic_property_ =
  //  new rviz::RosTopicProperty( "Topic",
                                                                //     property_prefix_,
            //                                                         boost::bind( &BackdropDisplay::getTopic, this ),
              //                                                       boost::bind( &BackdropDisplay::setTopic, this, _1 ),
                                     //                                "sensor_msgs::Image topic to //subscribe to.",//
                                                                 //    parent_category_,
                                //                                     SLOT(updateAcc()),
                                 //                                    this );

  //DEPRECATED:Hydro//setPropertyHelpText( topic_property_, "sensor_msgs::Image topic to subscribe to." );
  //rviz::ROSTopicStringPropertyPtr topic_prop = topic_property_.lock();
  //topic_prop->setMessageType( ros::message_traits::datatype<sensor_msgs::Image>() );

  //scale_property_ =
  //  new rviz::FloatProperty( "Scale",
                                                         //   property_prefix_,
                              //                              "Scale of image, in meters per pixel",
                                                            //boost::bind( &BackdropDisplay::getScale, this ),
                                                            //boost::bind( &BackdropDisplay::setScale, this, _1 ),                                                          
      //                                                      SLOT(updateAcc()),
                                                         //   parent_category_,
        //                                                    this );
  //DEPRECATED:Hydro//setPropertyHelpText( scale_property_, "Scale of image, in meters per pixel." );
}

} // end namespace rviz_backdrop

// Tell pluginlib about this class.  It is important to do this in
// global scope, outside our package's namespace.
#include <pluginlib/class_list_macros.h>
PLUGINLIB_DECLARE_CLASS( rviz_backdrop, Backdrop, rviz_backdrop::BackdropDisplay, rviz::Display )
// END_TUTORIAL