tutorials/Point2Visualization.C

Tutorial: Creating an advanced 2D Visualization

/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
 *
 * Commercial Usage:
 *   Licensees holding valid commercial licenses may use this file in
 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MLAB or NICR.
 *
 * GNU General Public License Usage:
 *   Alternatively, this file may be used under the terms of the GNU
 *   General Public License version 3.0 as published by the Free Software
 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
 *   ensure the GNU General Public License version 3.0 requirements will be
 *   met: http://www.gnu.org/copyleft/gpl.html.
 *   Alternatively you may (at your option) use any later version of the GNU
 *   General Public License if such license has been publicly approved by
 *   MLAB and NICR (or its successors, if any).
 *
 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
 * INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF
 * THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF "MLAB" OR
 * "NICR" HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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 * "MLAB" AND "NICR" SPECIFICALLY DISCLAIM ANY WARRANTIES, INCLUDING,
 * BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
 * FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS
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 */

#include <visualization/Visualization2D.h>

#include <QGraphicsEllipseItem>
#include <QGraphicsScene>

#include <widgets/QtUtils.h>

using namespace mira;

class Point2Visualization :  public Visualization2D
{
    MIRA_META_OBJECT(Point2Visualization,
            ("Name", "Point")
            ("Category", "Geometry")
            ("Description", "Visualizes a point."))
public:
    Point2Visualization() :
        mRoot(NULL),
        mEllipse(NULL)
    {
        mPointChannel.setDataChangedCallback(boost::bind(&Point2Visualization::dataChanged, this, _1));
    }

    virtual ~Point2Visualization()
    {
        delete mEllipse;
    }

    template <typename Reflector>
    void reflect(Reflector& r)
    {
        // call base class reflect
        MIRA_REFLECT_BASE(r, Visualization2D);
        // our channel property for a channel named "Point"
        channelProperty(r, "Point", mPointChannel, "The point channel to visualize");
    }

    virtual void setupScene(IVisualization2DSite* site)
    {
        QGraphicsScene* sceneManager = site->getSceneManager();
        // we will use an ellipse to render our point
        mEllipse = new QGraphicsEllipseItem();
        // give it a size of 1 cm
        mEllipse->setRect(-0.05, -0.05, 0.1, 0.1);
        sceneManager->addItem(mEllipse);
    }

    virtual DataConnection getDataConnection()
    {
        return DataConnection(mPointChannel);
    }

    void dataChanged(ChannelRead<Point2f> read)
    {
        // set position of our scene point
        mEllipse->setPos(read->x(), read->y());
        mFrameID = read->frameID;
        mDataTimestamp = read->timestamp;
    }

protected:

    virtual void update(Duration dt)
    {
        if (!mPointChannel.isValid())
            return;
        // get the transformation between
        // our data frame and the selected frame of the 2D editor view
        RigidTransform2f d = getAuthority().getTransform<RigidTransform2f>(
            mFrameID, mDataTimestamp,
            getSite()->getCameraFrame(), Time::now(),
            getSite()->getFixedFrame());
        // set the transform on the node (indirectly move mEllipse)
        QtUtils::setTransform(mRoot, d);
    }

protected:

    ChannelProperty<Point2f> mPointChannel;
    QGraphicsItem* mRoot;
    QGraphicsEllipseItem* mEllipse;
    std::string mFrameID;
    Time mDataTimestamp;
};

MIRA_CLASS_SERIALIZATION(Point2Visualization, mira::Visualization2D);