vertex_tag.cpp

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// 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.
//
// 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
// HOLDER 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 "vertex_tag.h"
 
#include "g2o/stuff/macros.h"
 
#ifdef G2O_HAVE_OPENGL
#include "g2o/EXTERNAL/freeglut/freeglut_minimal.h"
#include "g2o/stuff/opengl_primitives.h"
#include "g2o/stuff/opengl_wrapper.h"
#endif
 
#include <iomanip>
using namespace std;
 
namespace g2o {
 
VertexTag::VertexTag() : RobotData() {}
 
VertexTag::~VertexTag() {}
 
bool VertexTag::read(std::istream& is) {
  is >> _name;
  is >> _position.x() >> _position.y() >> _position.z();
  is >> _odom2d.x() >> _odom2d.y() >> _odom2d.z();
  is >> _timestamp;
  is >> _hostname;
  is >> _loggerTimestamp;
  return true;
}
 
bool VertexTag::write(std::ostream& os) const {
  os << _name << " ";
  os << FIXED(_position.x()
              << " " << _position.y() << " " << _position.z() << " ");
  os << FIXED(_odom2d.x() << " " << _odom2d.y() << " " << _odom2d.z() << " ");
  os << FIXED(" " << timestamp() << " " << hostname() << " "
                  << loggerTimestamp());
  return os.good();
}
 
#ifdef G2O_HAVE_OPENGL
VertexTagDrawAction::VertexTagDrawAction()
    : DrawAction(typeid(VertexTag).name()), _textSize(nullptr) {}
 
bool VertexTagDrawAction::refreshPropertyPtrs(
    HyperGraphElementAction::Parameters* params_) {
  if (!DrawAction::refreshPropertyPtrs(params_)) return false;
  if (_previousParams) {
    _textSize = _previousParams->makeProperty<DoubleProperty>(
        _typeName + "::TEXT_SIZE", 1);
  } else {
    _textSize = 0;
  }
  return true;
}
 
HyperGraphElementAction* VertexTagDrawAction::operator()(
    HyperGraph::HyperGraphElement* element,
    HyperGraphElementAction::Parameters* params_) {
  if (typeid(*element).name() != _typeName) return nullptr;
 
  refreshPropertyPtrs(params_);
  if (!_previousParams) {
    return this;
  }
  VertexTag* that = static_cast<VertexTag*>(element);
 
  glPushMatrix();
  glColor3f(1.f, 0.2f, 1.f);
  glTranslatef(that->position().x(), that->position().y(),
               that->position().z());
  float textSize = 1;
  if (_textSize) textSize = (float)_textSize->value();
  opengl::drawBox(0.1f * textSize, 0.1f * textSize, 0.1f * textSize);
  glTranslatef(0.2f * textSize, 0.f, 0.f);
  glScalef(0.003f * textSize, 0.003f * textSize, 1.f);
  freeglut_minimal::glutStrokeString(freeglut_minimal::GLUT_STROKE_ROMAN,
                                     that->name().c_str());
  glPopMatrix();
  return this;
}
#endif
 
}  // namespace g2o