overlay_camera_display.cpp

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// -*- mode: c++; -*-
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 * Software License Agreement (BSD License)
 *
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#include <boost/bind.hpp>

#include <OgreManualObject.h>
#include <OgreMaterialManager.h>
#include <OgreRectangle2D.h>
#include <OgreRenderSystem.h>
#include <OgreRenderWindow.h>
#include <OgreSceneManager.h>
#include <OgreSceneNode.h>
#include <OgreTextureManager.h>
#include <OgreViewport.h>
#include <OgreTechnique.h>
#include <OgreCamera.h>
#include <OgrePixelFormat.h>
#include <OGRE/OgreHardwarePixelBuffer.h>
#include <OGRE/OgreTechnique.h>
#include <tf/transform_listener.h>

#include "rviz/bit_allocator.h"
#include "rviz/frame_manager.h"
#include "rviz/ogre_helpers/axes.h"
#include "rviz/properties/enum_property.h"
#include "rviz/properties/float_property.h"
#include "rviz/properties/int_property.h"
#include "rviz/properties/ros_topic_property.h"
#include "rviz/render_panel.h"
#include "rviz/uniform_string_stream.h"
#include "rviz/validate_floats.h"
#include "rviz/display_context.h"
#include "rviz/properties/display_group_visibility_property.h"
#include "rviz/load_resource.h"

#include <image_transport/camera_common.h>
#include "overlay_camera_display.h"

namespace jsk_rviz_plugins
{
using namespace rviz;
const QString OverlayCameraDisplay::BACKGROUND( "background" );
const QString OverlayCameraDisplay::OVERLAY( "overlay" );
const QString OverlayCameraDisplay::BOTH( "background and overlay" );

bool validateFloats(const sensor_msgs::CameraInfo& msg)
{
  bool valid = true;
  valid = valid && rviz::validateFloats( msg.D );
  valid = valid && rviz::validateFloats( msg.K );
  valid = valid && rviz::validateFloats( msg.R );
  valid = valid && rviz::validateFloats( msg.P );
  return valid;
}

OverlayCameraDisplay::OverlayCameraDisplay()
  : ImageDisplayBase()
  , texture_()
  , render_panel_( 0 )
  , caminfo_tf_filter_( 0 )
  , new_caminfo_( false )
  , force_render_( false )
  , caminfo_ok_(false)
{
  image_position_property_ = new EnumProperty( "Image Rendering", BOTH,
                                               "Render the image behind all other geometry or overlay it on top, or both.",
                                               this, SLOT( forceRender() ));
  image_position_property_->addOption( BACKGROUND );
  image_position_property_->addOption( OVERLAY );
  image_position_property_->addOption( BOTH );

  alpha_property_ = new FloatProperty( "Overlay Alpha", 0.5,
                                       "The amount of transparency to apply to the camera image when rendered as overlay.",
                                       this, SLOT( updateAlpha() ));
  alpha_property_->setMin( 0 );
  alpha_property_->setMax( 1 );
  

  zoom_property_ = new FloatProperty( "Zoom Factor", 1.0,
                                      "Set a zoom factor below 1 to see a larger part of the world, above 1 to magnify the image.",
                                      this, SLOT( forceRender() ));
  zoom_property_->setMin( 0.00001 );
  zoom_property_->setMax( 100000 );

  width_property_ = new IntProperty("width", 640,
                                    "width of overlay image",
                                    this, SLOT(updateWidth()));
  height_property_ = new IntProperty("height", 480,
                                    "height of overlay image",
                                    this, SLOT(updateHeight()));
  left_property_ = new IntProperty("left", 0,
                                   "left positoin of overlay image",
                                   this, SLOT(updateLeft()));
  top_property_ = new IntProperty("top", 0,
                                  "top positoin of overlay image",
                                   this, SLOT(updateTop()));
  texture_alpha_property_ = new FloatProperty("texture alpha", 0.8,
                                              "texture alpha",
                                              this, SLOT(updateTextureAlpha()));
  texture_alpha_property_->setMin(0.0);
  texture_alpha_property_->setMax(1.0);
}

OverlayCameraDisplay::~OverlayCameraDisplay()
{
  if ( initializedp_ )
  {
    render_panel_->getRenderWindow()->removeListener( this );

    unsubscribe();
    caminfo_tf_filter_->clear();


    //workaround. delete results in a later crash
    render_panel_->hide();
    //delete render_panel_;

    delete bg_screen_rect_;
    delete fg_screen_rect_;

    bg_scene_node_->getParentSceneNode()->removeAndDestroyChild( bg_scene_node_->getName() );
    fg_scene_node_->getParentSceneNode()->removeAndDestroyChild( fg_scene_node_->getName() );

    delete caminfo_tf_filter_;

    context_->visibilityBits()->freeBits(vis_bit_);
  }
}

void OverlayCameraDisplay::onInitialize()
{
  ImageDisplayBase::onInitialize();
  
  caminfo_tf_filter_ = new tf::MessageFilter<sensor_msgs::CameraInfo>(
    *context_->getTFClient(), fixed_frame_.toStdString(),
    queue_size_property_->getInt(), update_nh_ );

  bg_scene_node_ = scene_node_->createChildSceneNode();
  fg_scene_node_ = scene_node_->createChildSceneNode();

  {
    static int count = 0;
    UniformStringStream ss;
    ss << "OverlayCameraDisplayObject" << count++;

    //background rectangle
    bg_screen_rect_ = new Ogre::Rectangle2D(true);
    bg_screen_rect_->setCorners(-1.0f, 1.0f, 1.0f, -1.0f);

    ss << "Material";
    bg_material_ = Ogre::MaterialManager::getSingleton().create( ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME );
    bg_material_->setDepthWriteEnabled(false);

    bg_material_->setReceiveShadows(false);
    bg_material_->setDepthCheckEnabled(false);

    bg_material_->getTechnique(0)->setLightingEnabled(false);
    Ogre::TextureUnitState* tu = bg_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 );

    bg_material_->setCullingMode(Ogre::CULL_NONE);
    bg_material_->setSceneBlending( Ogre::SBT_REPLACE );

    Ogre::AxisAlignedBox aabInf;
    aabInf.setInfinite();

    bg_screen_rect_->setRenderQueueGroup(Ogre::RENDER_QUEUE_BACKGROUND);
    bg_screen_rect_->setBoundingBox(aabInf);
    bg_screen_rect_->setMaterial(bg_material_->getName());

    bg_scene_node_->attachObject(bg_screen_rect_);
    bg_scene_node_->setVisible(false);

    //overlay rectangle
    fg_screen_rect_ = new Ogre::Rectangle2D(true);
    fg_screen_rect_->setCorners(-1.0f, 1.0f, 1.0f, -1.0f);

    fg_material_ = bg_material_->clone( ss.str()+"fg" );
    fg_screen_rect_->setBoundingBox(aabInf);
    fg_screen_rect_->setMaterial(fg_material_->getName());

    fg_material_->setSceneBlending( Ogre::SBT_TRANSPARENT_ALPHA );
    fg_screen_rect_->setRenderQueueGroup(Ogre::RENDER_QUEUE_OVERLAY - 1);

    fg_scene_node_->attachObject(fg_screen_rect_);
    fg_scene_node_->setVisible(false);
  }

  updateAlpha();

  updateWidth();
  updateHeight();
  updateLeft();
  updateTop();
  updateTextureAlpha();
  
  render_panel_ = new RenderPanel();
  render_panel_->getRenderWindow()->addListener( this );
  render_panel_->getRenderWindow()->setAutoUpdated(false);
  render_panel_->getRenderWindow()->setActive( false );
  render_panel_->resize( 640, 480 );
  render_panel_->initialize( context_->getSceneManager(), context_ );

  //setAssociatedWidget( render_panel_ );

  render_panel_->setAutoRender(false);
  render_panel_->setOverlaysEnabled(false);
  render_panel_->getCamera()->setNearClipDistance( 0.01f );

  caminfo_tf_filter_->connectInput(caminfo_sub_);
  caminfo_tf_filter_->registerCallback(boost::bind(&OverlayCameraDisplay::caminfoCallback, this, _1));
  //context_->getFrameManager()->registerFilterForTransformStatusCheck(caminfo_tf_filter_, this);

  vis_bit_ = context_->visibilityBits()->allocBit();
  render_panel_->getViewport()->setVisibilityMask( vis_bit_ );

  visibility_property_ = new DisplayGroupVisibilityProperty(
      vis_bit_, context_->getRootDisplayGroup(), this, "Visibility", true,
      "Changes the visibility of other Displays in the camera view.");

  visibility_property_->setIcon( loadPixmap("package://rviz/icons/visibility.svg",true) );

  this->addChild( visibility_property_, 0 );
  initializedp_ = true;
}

void OverlayCameraDisplay::preRenderTargetUpdate(const Ogre::RenderTargetEvent& evt)
{
  QString image_position = image_position_property_->getString();
  bg_scene_node_->setVisible( caminfo_ok_ && (image_position == BACKGROUND || image_position == BOTH) );
  fg_scene_node_->setVisible( caminfo_ok_ && (image_position == OVERLAY || image_position == BOTH) );

  // set view flags on all displays
  visibility_property_->update();
}

void OverlayCameraDisplay::postRenderTargetUpdate(const Ogre::RenderTargetEvent& evt)
{
  bg_scene_node_->setVisible( false );
  fg_scene_node_->setVisible( false );
}

void OverlayCameraDisplay::onEnable()
{
  subscribe();
  render_panel_->getRenderWindow()->setActive(true);
  if (overlay_) {
    overlay_->show();
  }
}

void OverlayCameraDisplay::onDisable()
{
  render_panel_->getRenderWindow()->setActive(false);
  unsubscribe();
  clear();
  if (overlay_) {
    overlay_->hide();
  }
}

void OverlayCameraDisplay::subscribe()
{
  if ( (!isEnabled()) || (topic_property_->getTopicStd().empty()) )
  {
    return;
  }

  std::string target_frame = fixed_frame_.toStdString();
  ImageDisplayBase::enableTFFilter(target_frame);

  ImageDisplayBase::subscribe();

  std::string topic = topic_property_->getTopicStd();
  std::string caminfo_topic = image_transport::getCameraInfoTopic(topic_property_->getTopicStd());

  try
  {
    caminfo_sub_.subscribe( update_nh_, caminfo_topic, 1 );
    setStatus( StatusProperty::Ok, "Camera Info", "OK" );
  }
  catch( ros::Exception& e )
  {
    setStatus( StatusProperty::Error, "Camera Info", QString( "Error subscribing: ") + e.what() );
  }
}

void OverlayCameraDisplay::unsubscribe()
{
  ImageDisplayBase::unsubscribe();
  caminfo_sub_.unsubscribe();
}

void OverlayCameraDisplay::updateAlpha()
{
  float alpha = alpha_property_->getFloat();

  Ogre::Pass* pass = fg_material_->getTechnique( 0 )->getPass( 0 );
  if( pass->getNumTextureUnitStates() > 0 )
  {
    Ogre::TextureUnitState* tex_unit = pass->getTextureUnitState( 0 );
    tex_unit->setAlphaOperation( Ogre::LBX_MODULATE, Ogre::LBS_MANUAL, Ogre::LBS_CURRENT, alpha );
  }
  else
  {
    fg_material_->setAmbient( Ogre::ColourValue( 0.0f, 1.0f, 1.0f, alpha ));
    fg_material_->setDiffuse( Ogre::ColourValue( 0.0f, 1.0f, 1.0f, alpha ));
  }

  force_render_ = true;
  context_->queueRender();
}

void OverlayCameraDisplay::forceRender()
{
  force_render_ = true;
  context_->queueRender();
}

void OverlayCameraDisplay::updateQueueSize()
{
  caminfo_tf_filter_->setQueueSize( (uint32_t) queue_size_property_->getInt() );
  ImageDisplayBase::updateQueueSize();
}

void OverlayCameraDisplay::clear()
{
  texture_.clear();
  force_render_ = true;
  context_->queueRender();

  new_caminfo_ = false;
  current_caminfo_.reset();

  setStatus( StatusProperty::Warn, "Camera Info",
             "No CameraInfo received on [" + QString::fromStdString( caminfo_sub_.getTopic() ) + "].  Topic may not exist.");
  setStatus( StatusProperty::Warn, "Image", "No Image received");

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

void OverlayCameraDisplay::update( float wall_dt, float ros_dt )
{
  try
  {
    if( texture_.update() || force_render_ )
    {
      caminfo_ok_ = updateCamera();
      force_render_ = false;
    }
  }
  catch( UnsupportedImageEncoding& e )
  {
    setStatus( StatusProperty::Error, "Image", e.what() );
  }

  render_panel_->getRenderWindow()->update();
  if (!overlay_) {
    static int count = 0;
    rviz::UniformStringStream ss;
    ss << "OverlayImageDisplayObject" << count++;
    overlay_.reset(new OverlayObject(ss.str()));
    overlay_->show();
  }
  overlay_->updateTextureSize(render_panel_->getRenderWindow()->getWidth(),
                              render_panel_->getRenderWindow()->getHeight());
  redraw();
  overlay_->setDimensions(width_, height_);
  overlay_->setPosition(left_, top_);
}

void OverlayCameraDisplay::redraw()
{
  Ogre::RenderTarget *rt = render_panel_->getRenderWindow();
  int width = rt->getWidth();
  int height = rt->getHeight();
  Ogre::uchar *data = new Ogre::uchar[width * height * 3];
  Ogre::PixelBox pb(width, height, 1, Ogre::PF_BYTE_RGB, data);
  rt->copyContentsToMemory(pb);
  {
    ScopedPixelBuffer buffer = overlay_->getBuffer();
    QImage Hud = buffer.getQImage(*overlay_);
    for (int i = 0; i < overlay_->getTextureWidth(); i++) {
      for (int j = 0; j < overlay_->getTextureHeight(); j++) {
        Ogre::ColourValue c = pb.getColourAt(i, j, 0);
        QColor color(c.r * 255, c.g * 255, c.b * 255, texture_alpha_ * 255);
        Hud.setPixel(i, j, color.rgba());
      }
    }
  }
  delete[] data;
}
  
bool OverlayCameraDisplay::updateCamera()
{
  sensor_msgs::CameraInfo::ConstPtr info;
  sensor_msgs::Image::ConstPtr image;
  {
    boost::mutex::scoped_lock lock( caminfo_mutex_ );

    info = current_caminfo_;
    image = texture_.getImage();
  }

  if( !info || !image )
  {
    return false;
  }

  if( !validateFloats( *info ))
  {
    setStatus( StatusProperty::Error, "Camera Info", "Contains invalid floating point values (nans or infs)" );
    return false;
  }

  // if we're in 'exact' time mode, only show image if the time is exactly right
  ros::Time rviz_time = context_->getFrameManager()->getTime();
  if ( context_->getFrameManager()->getSyncMode() == FrameManager::SyncExact &&
      rviz_time != image->header.stamp )
  {
    std::ostringstream s;
    s << "Time-syncing active and no image at timestamp " << rviz_time.toSec() << ".";
    setStatus( StatusProperty::Warn, "Time", s.str().c_str() );
    return false;
  }

  Ogre::Vector3 position;
  Ogre::Quaternion orientation;
  context_->getFrameManager()->getTransform( image->header.frame_id, image->header.stamp, position, orientation );

  //printf( "OverlayCameraDisplay:updateCamera(): pos = %.2f, %.2f, %.2f.\n", position.x, position.y, position.z );

  // convert vision (Z-forward) frame to ogre frame (Z-out)
  orientation = orientation * Ogre::Quaternion( Ogre::Degree( 180 ), Ogre::Vector3::UNIT_X );

  float img_width = info->width;
  float img_height = info->height;

  // If the image width is 0 due to a malformed caminfo, try to grab the width from the image.
  if( img_width == 0 )
  {
    ROS_DEBUG( "Malformed CameraInfo on camera [%s], width = 0", qPrintable( getName() ));
    img_width = texture_.getWidth();
  }

  if (img_height == 0)
  {
    ROS_DEBUG( "Malformed CameraInfo on camera [%s], height = 0", qPrintable( getName() ));
    img_height = texture_.getHeight();
  }

  if( img_height == 0.0 || img_width == 0.0 )
  {
    setStatus( StatusProperty::Error, "Camera Info",
               "Could not determine width/height of image due to malformed CameraInfo (either width or height is 0)" );
    return false;
  }

  double fx = info->P[0];
  double fy = info->P[5];

  float win_width = render_panel_->width();
  float win_height = render_panel_->height();
  float zoom_x = zoom_property_->getFloat();
  float zoom_y = zoom_x;

  // Preserve aspect ratio
  if( win_width != 0 && win_height != 0 )
  {
    float img_aspect = (img_width/fx) / (img_height/fy);
    float win_aspect = win_width / win_height;

    if ( img_aspect > win_aspect )
    {
      zoom_y = zoom_y / img_aspect * win_aspect;
    }
    else
    {
      zoom_x = zoom_x / win_aspect * img_aspect;
    }
  }

  // Add the camera's translation relative to the left camera (from P[3]);
  double tx = -1 * (info->P[3] / fx);
  Ogre::Vector3 right = orientation * Ogre::Vector3::UNIT_X;
  position = position + (right * tx);

  double ty = -1 * (info->P[7] / fy);
  Ogre::Vector3 down = orientation * Ogre::Vector3::UNIT_Y;
  position = position + (down * ty);

  if( !rviz::validateFloats( position ))
  {
    setStatus( StatusProperty::Error, "Camera Info", "CameraInfo/P resulted in an invalid position calculation (nans or infs)" );
    return false;
  }

  render_panel_->getCamera()->setPosition( position );
  render_panel_->getCamera()->setOrientation( orientation );

  // calculate the projection matrix
  double cx = info->P[2];
  double cy = info->P[6];

  double far_plane = 100;
  double near_plane = 0.01;

  Ogre::Matrix4 proj_matrix;
  proj_matrix = Ogre::Matrix4::ZERO;
 
  proj_matrix[0][0]= 2.0 * fx/img_width * zoom_x;
  proj_matrix[1][1]= 2.0 * fy/img_height * zoom_y;

  proj_matrix[0][2]= 2.0 * (0.5 - cx/img_width) * zoom_x;
  proj_matrix[1][2]= 2.0 * (cy/img_height - 0.5) * zoom_y;

  proj_matrix[2][2]= -(far_plane+near_plane) / (far_plane-near_plane);
  proj_matrix[2][3]= -2.0*far_plane*near_plane / (far_plane-near_plane);

  proj_matrix[3][2]= -1;

  render_panel_->getCamera()->setCustomProjectionMatrix( true, proj_matrix );
  render_panel_->resize(info->width, info->height);
  setStatus( StatusProperty::Ok, "Camera Info", "OK" );

#if 0
  static Axes* debug_axes = new Axes(scene_manager_, 0, 0.2, 0.01);
  debug_axes->setPosition(position);
  debug_axes->setOrientation(orientation);
#endif

  //adjust the image rectangles to fit the zoom & aspect ratio
  bg_screen_rect_->setCorners( -1.0f*zoom_x, 1.0f*zoom_y, 1.0f*zoom_x, -1.0f*zoom_y );
  fg_screen_rect_->setCorners( -1.0f*zoom_x, 1.0f*zoom_y, 1.0f*zoom_x, -1.0f*zoom_y );

  Ogre::AxisAlignedBox aabInf;
  aabInf.setInfinite();
  bg_screen_rect_->setBoundingBox( aabInf );
  fg_screen_rect_->setBoundingBox( aabInf );

  setStatus( StatusProperty::Ok, "Time", "ok" );
  setStatus( StatusProperty::Ok, "Camera Info", "ok" );

  return true;
}

void OverlayCameraDisplay::processMessage(const sensor_msgs::Image::ConstPtr& msg)
{
  texture_.addMessage(msg);
}

void OverlayCameraDisplay::caminfoCallback( const sensor_msgs::CameraInfo::ConstPtr& msg )
{
  boost::mutex::scoped_lock lock( caminfo_mutex_ );
  current_caminfo_ = msg;
  new_caminfo_ = true;
}

void OverlayCameraDisplay::fixedFrameChanged()
{
  std::string targetFrame = fixed_frame_.toStdString();
  caminfo_tf_filter_->setTargetFrame(targetFrame);
  ImageDisplayBase::fixedFrameChanged();
}

void OverlayCameraDisplay::reset()
{
  ImageDisplayBase::reset();
  clear();
}

void OverlayCameraDisplay::updateWidth()
{
  width_ = width_property_->getInt();
}

void OverlayCameraDisplay::updateHeight()
{
  height_ = height_property_->getInt();
}

void OverlayCameraDisplay::updateLeft()
{
  left_ = left_property_->getInt();
}

void OverlayCameraDisplay::updateTop()
{
  top_ = top_property_->getInt();
}

void OverlayCameraDisplay::updateTextureAlpha()
{
  texture_alpha_ = texture_alpha_property_->getFloat();
}
  
}

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::OverlayCameraDisplay, rviz::Display )