Migrate focus tool (#266)

* Move focus tool from rviz to rviz_default_plugins

* Make focus tool work and fix linters

* Minor refactoring of move tool

* Minor refactoring of focus tool

* Refactoring of focus_tool

* Fix windows warnings

rviz_default_plugins/CMakeLists.txt

@@ -131,6 +131,7 @@ set(rviz_default_plugins_source_files
   src/rviz_default_plugins/robot/robot_element_base_class.cpp
   src/rviz_default_plugins/robot/tf_link_updater.cpp
   src/rviz_default_plugins/tools/measure/measure_tool.cpp
+  src/rviz_default_plugins/tools/focus/focus_tool.cpp
   src/rviz_default_plugins/tools/move/move_tool.cpp
   src/rviz_default_plugins/tools/point/point_tool.cpp
   src/rviz_default_plugins/tools/select/selection_tool.cpp

rviz_default_plugins/include/rviz_default_plugins/tools/move/move_tool.hpp

@@ -44,13 +44,11 @@ namespace rviz_default_plugins
 namespace tools
 {
 
-class DisplayContext;
-
 class RVIZ_DEFAULT_PLUGINS_PUBLIC MoveTool : public rviz_common::Tool
 {
 public:
   MoveTool();
-  virtual ~MoveTool();
+  ~MoveTool() override;
 
   void activate() override;
   void deactivate() override;

rviz_default_plugins/plugins_description.xml

@@ -187,6 +187,15 @@
     </description>
   </class>
 
+  <class
+    name="rviz_default_plugins/FocusCamera"
+    type="rviz_default_plugins::tools::FocusTool"
+    base_class_type="rviz_common::Tool"
+  >
+    <description>
+      Click onto any object to focus the camera there.
+    </description>
+  </class>
 
   <!-- View Controller plugins -->
 

rviz_default_plugins/src/rviz_default_plugins/tools/focus/focus_tool.cpp

@@ -0,0 +1,137 @@
+/*
+ * Copyright (c) 2013, 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
+ * 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 <sstream>
+
+#ifndef _WIN32
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wunused-parameter"
+# pragma GCC diagnostic ignored "-Wpedantic"
+#else
+#pragma warning(push)
+#pragma warning(disable : 4996)
+#endif
+
+#include <OgreCamera.h>
+#include <OgreRay.h>
+#include <OgreVector3.h>
+#include <OgreViewport.h>
+
+#ifndef _WIN32
+# pragma GCC diagnostic pop
+#else
+# pragma warning(pop)
+#endif
+
+#include "rviz_common/display_context.hpp"
+#include "rviz_common/interaction/view_picker_iface.hpp"
+#include "rviz_common/load_resource.hpp"
+#include "rviz_common/render_panel.hpp"
+#include "rviz_common/viewport_mouse_event.hpp"
+#include "rviz_common/view_controller.hpp"
+#include "rviz_rendering/render_window.hpp"
+
+#include "./focus_tool.hpp"
+
+
+namespace rviz_default_plugins
+{
+namespace tools
+{
+
+FocusTool::FocusTool()
+: Tool()
+{}
+
+FocusTool::~FocusTool() = default;
+
+void FocusTool::onInitialize()
+{
+  std_cursor_ = rviz_common::getDefaultCursor();
+  hit_cursor_ = rviz_common::makeIconCursor("package://rviz_common/icons/crosshair.svg");
+}
+
+void FocusTool::activate()
+{}
+
+void FocusTool::deactivate()
+{}
+
+int FocusTool::processMouseEvent(rviz_common::ViewportMouseEvent & event)
+{
+  int flags = 0;
+
+  Ogre::Vector3 position;
+
+  bool success = context_->getViewPicker()->get3DPoint(event.panel, event.x, event.y, position);
+  setCursor(success ? hit_cursor_ : std_cursor_);
+
+  if (!success) {
+    computePositionForDirection(event, position);
+    setStatus("<b>Left-Click:</b> Look in this direction.");
+  } else {
+    setStatusFrom(position);
+  }
+
+  if (event.leftUp()) {
+    if (event.panel->getViewController()) {
+      event.panel->getViewController()->lookAt(position);
+    }
+    flags |= Finished;
+  }
+
+  return flags;
+}
+
+void FocusTool::setStatusFrom(const Ogre::Vector3 & position)
+{
+  std::ostringstream s;
+  s << "<b>Left-Click:</b> Focus on this point.";
+  s.precision(3);
+  s << " [" << position.x << "," << position.y << "," << position.z << "]";
+  setStatus(s.str().c_str());
+}
+
+void FocusTool::computePositionForDirection(
+  const rviz_common::ViewportMouseEvent & event, Ogre::Vector3 & position)
+{
+  auto viewport =
+    rviz_rendering::RenderWindowOgreAdapter::getOgreViewport(event.panel->getRenderWindow());
+  Ogre::Ray mouse_ray = viewport->getCamera()->getCameraToViewportRay(
+    static_cast<float>(event.x) / static_cast<float>(viewport->getActualWidth()),
+    static_cast<float>(event.y) / static_cast<float>(viewport->getActualHeight()));
+
+  position = mouse_ray.getPoint(1.0);
+}
+
+}  // namespace tools
+}  // namespace rviz_default_plugins
+
+#include <pluginlib/class_list_macros.hpp>  // NOLINT
+PLUGINLIB_EXPORT_CLASS(rviz_default_plugins::tools::FocusTool, rviz_common::Tool)

rviz/src/rviz/default_plugin/tools/focus_tool.h → rviz_default_plugins/src/rviz_default_plugins/tools/focus/focus_tool.hpp

@@ -27,38 +27,46 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef RVIZ_FOCUS_TOOL_H
-#define RVIZ_FOCUS_TOOL_H
-
-#include "rviz/tool.h"
+#ifndef RVIZ_DEFAULT_PLUGINS__TOOLS__FOCUS__FOCUS_TOOL_HPP_
+#define RVIZ_DEFAULT_PLUGINS__TOOLS__FOCUS__FOCUS_TOOL_HPP_
 
 #include <QCursor>
 
-namespace rviz
+#include "rviz_common/tool.hpp"
+#include "rviz_common/viewport_mouse_event.hpp"
+
+namespace rviz_default_plugins
+{
+namespace tools
 {
 
 //! The Focus Tool allows the user to set the focal point of the current
 //! view controller with a single mouse click.
-class FocusTool: public Tool
+class FocusTool : public rviz_common::Tool
 {
 public:
   FocusTool();
-  virtual ~FocusTool();
+  ~FocusTool() override;
+
+  void onInitialize() override;
 
-  virtual void onInitialize();
+  void activate() override;
+  void deactivate() override;
 
-  virtual void activate();
-  virtual void deactivate();
+  int processMouseEvent(rviz_common::ViewportMouseEvent & event) override;
 
-  virtual int processMouseEvent( ViewportMouseEvent& event );
+private:
+  void computePositionForDirection(
+    const rviz_common::ViewportMouseEvent & event, Ogre::Vector3 & position);
+
+  void setStatusFrom(const Ogre::Vector3 & position);
 
 protected:
   QCursor std_cursor_;
   QCursor hit_cursor_;
 };
 
-}
-
-#endif
-
+}  // namespace tools
+}  // namespace rviz_default_plugins
 
+#endif  // RVIZ_DEFAULT_PLUGINS__TOOLS__FOCUS__FOCUS_TOOL_HPP_

rviz_default_plugins/src/rviz_default_plugins/tools/move/move_tool.cpp

@@ -50,8 +50,7 @@ MoveTool::MoveTool()
   setIcon(rviz_common::loadPixmap("package://rviz_default_plugins/icons/classes/MoveCamera.png"));
 }
 
-MoveTool::~MoveTool()
-{}
+MoveTool::~MoveTool() = default;
 
 void MoveTool::activate()
 {}
@@ -81,12 +80,5 @@ int MoveTool::processKeyEvent(QKeyEvent * event, rviz_common::RenderPanel * pane
 }  // namespace tools
 }  // namespace rviz_default_plugins
 
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wpedantic"
-#endif
 #include <pluginlib/class_list_macros.hpp>  // NOLINT
 PLUGINLIB_EXPORT_CLASS(rviz_default_plugins::tools::MoveTool, rviz_common::Tool)
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif