tutorials/Point3Visualization.C

Tutorial: Creating an advanced 3D 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
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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/Visualization3D.h>
#include <visualization/3d/MeshObject.h>
#include <OGRE/OgreSceneManager.h>
#include <widgets/OgreUtils.h>

using namespace mira;

class Point3Visualization :  public Visualization3D
{
    MIRA_META_OBJECT(Point3Visualization,
        ("Name", "Point")
        ("Category", "Geomtery")
        ("Description", "Visualizes a point."))
public:
    Point3Visualization() :
        mPoint(NULL),
        mNode(NULL)
    {
        // register our callback function
        mPointChannel.setDataChangedCallback(boost::bind(&Point3Visualization::dataChanged, this, _1));
    }

    virtual ~Point3Visualization()
    {
        delete mPoint;
        if(getSite()==NULL)
            return;

        getSite()->getSceneManager()->destroySceneNode(mNode);
    }

    template <typename Reflector>
    void reflect(Reflector& r)
    {
        // call base class reflect
        MIRA_REFLECT_BASE(r, Visualization3D);
        // our channel property for a channel named "Point"
        channelProperty(r, "Point", mPointChannel, "The point channel to visualize");
    }

    virtual void setupScene(IVisualization3DSite* site)
    {
        Ogre::SceneManager* sceneManager = site->getSceneManager();
        mNode = sceneManager->getRootSceneNode()->createChildSceneNode();
        mPoint = new MeshObject("Sphere.mesh", sceneManager, mNode);
    }

    void dataChanged(ChannelRead<Point3f> read)
    {
        // set position of our scene point
        Ogre::Vector3 p = OgreUtils::toOgreVector(read->value());
        mPoint->setPosition(p);
        // store the frame id and timestamp of our data
        mFrameID = read->frameID;
        mDataTimestamp = read->timestamp;
    }

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

protected:

    virtual void update(Duration dt)
    {
        if (!mPointChannel.isValid())
            return;
        // get the transformation between
        // our data frame and the selected frame of the 3D editor view
        RigidTransform3f d = getAuthority().getTransform<RigidTransform3f>(
            mFrameID, mDataTimestamp,
            getSite()->getCameraFrame(), Time::now(),
            getSite()->getFixedFrame());
        // set the transform on the node (indirectly move mPoint)
        OgreUtils::setTransform(mNode, d);
    }

protected:

    ChannelProperty<Point3f> mPointChannel;
    MeshObject* mPoint;
    Ogre::SceneNode* mNode;
    std::string mFrameID;
    Time mDataTimestamp;
};

MIRA_CLASS_SERIALIZATION(Point3Visualization, mira::Visualization3D);