selection_manager.h

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/*
 * Copyright (c) 2008, 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
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef RVIZ_SELECTION_MANAGER_H
#define RVIZ_SELECTION_MANAGER_H

#include <map>

#include <QObject>

#include "forwards.h"
#include "selection_handler.h"
#include "rviz/rviz_export.h"

#ifndef Q_MOC_RUN
#include <boost/shared_ptr.hpp>
#include <boost/unordered_map.hpp>
#include <boost/thread/recursive_mutex.hpp>

#include <OgreTexture.h>
#include <OgreMaterial.h>
#include <OgreMaterialManager.h>
#include <OgreMovableObject.h>
#include <OgreRenderQueueListener.h>
#include <OgreSharedPtr.h>
#endif

#include <vector>
#include <set>

namespace ros
{
class Publisher;
}

namespace Ogre
{
class SceneManager;
class Viewport;
class WireBoundingBox;
class SceneNode;
class Material;
class PixelBox;
class Rectangle2D;
class MovableObject;
} // namespace Ogre

namespace rviz
{
class Object;
class PropertyTreeModel;
class ViewportMouseEvent;
class VisualizationManager;

class RVIZ_EXPORT SelectionManager : public QObject,
                                     public Ogre::MaterialManager::Listener,
                                     public Ogre::RenderQueueListener
{
  Q_OBJECT
public:
  enum SelectType
  {
    Add,
    Remove,
    Replace
  };

  SelectionManager(VisualizationManager* manager);
  ~SelectionManager() override;

  void initialize();

  void setDebugMode(bool debug);

  void clearHandlers();
  void addObject(CollObjectHandle obj, SelectionHandler* handler);
  void removeObject(CollObjectHandle obj);

  // control the highlight box being displayed while selecting
  void highlight(Ogre::Viewport* viewport, int x1, int y1, int x2, int y2);
  void removeHighlight();

  // select all objects in bounding box
  void select(Ogre::Viewport* viewport, int x1, int y1, int x2, int y2, SelectType type);

  // @return handles of all objects in the given bounding box
  // @param single_render_pass only perform one rendering pass (point cloud selecting won't work)
  void pick(Ogre::Viewport* viewport,
            int x1,
            int y1,
            int x2,
            int y2,
            M_Picked& results,
            bool single_render_pass = false);

  void update();

  // modify the list of currently selected objects
  void setSelection(const M_Picked& objs);
  void addSelection(const M_Picked& objs);
  void removeSelection(const M_Picked& objs);
  const M_Picked& getSelection()
  {
    return selection_;
  }

  SelectionHandler* getHandler(CollObjectHandle obj);

  static Ogre::ColourValue handleToColor(CollObjectHandle handle);
  // static CollObjectHandle colourToHandle( const Ogre::ColourValue & color );
  static void setPickColor(const Ogre::ColourValue& color, Ogre::SceneNode* node)
  {
    setPickData(colorToHandle(color), color, node);
  }
  static void setPickColor(const Ogre::ColourValue& color, Ogre::MovableObject* object)
  {
    setPickData(colorToHandle(color), color, object);
  }
  static void setPickHandle(CollObjectHandle handle, Ogre::SceneNode* node)
  {
    setPickData(handle, handleToColor(handle), node);
  }
  static void setPickHandle(CollObjectHandle handle, Ogre::MovableObject* object)
  {
    setPickData(handle, handleToColor(handle), object);
  }
  static void setPickData(CollObjectHandle handle, const Ogre::ColourValue& color, Ogre::SceneNode* node);
  static void
  setPickData(CollObjectHandle handle, const Ogre::ColourValue& color, Ogre::MovableObject* object);

  // if a material does not support the picking scheme, paint it black
  Ogre::Technique* handleSchemeNotFound(unsigned short scheme_index,
                                        const Ogre::String& scheme_name,
                                        Ogre::Material* original_material,
                                        unsigned short lod_index,
                                        const Ogre::Renderable* rend) override;

  // create a new unique handle
  CollObjectHandle createHandle();

  // tell all handlers that interactive mode is active/inactive
  void enableInteraction(bool enable);
  bool getInteractionEnabled()
  {
    return interaction_enabled_;
  }

  // tell the view controller to look at the selection
  void focusOnSelection();

  // change the size of the off-screen selection buffer texture
  void setTextureSize(unsigned size);

  bool get3DPoint(Ogre::Viewport* viewport, const int x, const int y, Ogre::Vector3& result_point);

  bool get3DPatch(Ogre::Viewport* viewport,
                  const int x,
                  const int y,
                  const unsigned width,
                  const unsigned height,
                  const bool skip_missing,
                  std::vector<Ogre::Vector3>& result_points);


  bool getPatchDepthImage(Ogre::Viewport* viewport,
                          const int x,
                          const int y,
                          const unsigned width,
                          const unsigned height,
                          std::vector<float>& depth_vector);

  // Implementation for Ogre::RenderQueueListener.
  void renderQueueStarted(uint8_t queueGroupId,
                          const std::string& invocation,
                          bool& skipThisInvocation) override;

  PropertyTreeModel* getPropertyModel()
  {
    return property_model_;
  }

private Q_SLOTS:
  void updateProperties();

private:
  void selectionAdded(const M_Picked& added);
  void selectionRemoved(const M_Picked& removed);

  std::pair<Picked, bool> addSelectedObject(const Picked& obj);
  void removeSelectedObject(const Picked& obj);

  void setHighlightRect(Ogre::Viewport* viewport, int x1, int y1, int x2, int y2);

  void renderAndUnpack(Ogre::Viewport* viewport,
                       uint32_t pass,
                       int x1,
                       int y1,
                       int x2,
                       int y2,
                       V_CollObject& pixels);

  bool render(Ogre::Viewport* viewport,
              Ogre::TexturePtr tex,
              int x1,
              int y1,
              int x2,
              int y2,
              Ogre::PixelBox& dst_box,
              std::string material_scheme,
              unsigned texture_width,
              unsigned textured_height);

  void unpackColors(Ogre::PixelBox& box, V_CollObject& pixels);

  void setDepthTextureSize(unsigned width, unsigned height);

  void publishDebugImage(const Ogre::PixelBox& pixel_box, const std::string& label);

  VisualizationManager* vis_manager_;

  boost::recursive_mutex global_mutex_;

  typedef boost::unordered_map<CollObjectHandle, SelectionHandler*> M_CollisionObjectToSelectionHandler;
  M_CollisionObjectToSelectionHandler objects_;

  bool highlight_enabled_;

  struct Highlight
  {
    int x1;
    int y1;
    int x2;
    int y2;
    Ogre::Viewport* viewport;
  };
  Highlight highlight_;

  M_Picked selection_;

  const static uint32_t s_num_render_textures_ = 2; // If you want to change this number to something > 3
                                                    // you must provide more width for extra handles in
                                                    // the Picked structure (currently a u64)
  Ogre::TexturePtr render_textures_[s_num_render_textures_];
  Ogre::PixelBox pixel_boxes_[s_num_render_textures_];

  // Graphics card -based depth finding of clicked points.
  Ogre::TexturePtr depth_render_texture_;
  uint32_t depth_texture_width_, depth_texture_height_;
  Ogre::PixelBox depth_pixel_box_;

  uint32_t uid_counter_;

  Ogre::Rectangle2D* highlight_rectangle_;
  Ogre::SceneNode* highlight_node_;
  Ogre::Camera* camera_;

  V_CollObject pixel_buffer_;

  bool interaction_enabled_;

  bool debug_mode_;

  Ogre::MaterialPtr fallback_pick_material_;
  Ogre::Technique* fallback_pick_technique_;
  Ogre::Technique* fallback_black_technique_;
  Ogre::Technique* fallback_depth_technique_;
  Ogre::Technique* fallback_pick_cull_technique_;
  Ogre::Technique* fallback_black_cull_technique_;
  Ogre::Technique* fallback_depth_cull_technique_;

  uint32_t texture_size_;

  PropertyTreeModel* property_model_;

  typedef std::map<std::string, ros::Publisher> PublisherMap;
  PublisherMap debug_publishers_;
};

} // namespace rviz

#endif // RVIZ_SELECTION_MANAGER_H