feat(camera_view_plugin): add camera view plugin package

common/tier4_camera_view_rviz_plugin/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.14)
+project(tier4_camera_view_rviz_plugin)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+find_package(Qt5 REQUIRED Core Widgets)
+set(QT_LIBRARIES Qt5::Widgets)
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wno-unused-parameter)
+endif()
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/third_person_view_controller.cpp
+  src/third_person_view_tool.cpp
+  src/bird_eye_view_tool.cpp
+  src/bird_eye_view_controller.cpp
+)
+
+target_link_libraries(${PROJECT_NAME}
+  ${QT_LIBRARIES}
+)
+
+pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml)
+
+ament_auto_package(INSTALL_TO_SHARE icons)

common/tier4_camera_view_rviz_plugin/README.md

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+# tier4_camera_view_rviz_plugin
+
+## ThirdPersonView Tool
+
+Add the `tier4_camera_view_rviz_plugin/ThirdPersonViewTool` tool to the RViz. Push the button, the camera will focus on the vehicle and set the target frame to `base_link`. Short cut key 'o'.
+
+## BirdEyeView Tool
+
+Add the `tier4_camera_view_rviz_plugin/BirdEyeViewTool` tool to the RViz. Push the button, the camera will turn to the BEV view, the target frame is consistent with the latest frame. Short cut key 'r'.

common/tier4_camera_view_rviz_plugin/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>tier4_camera_view_rviz_plugin</name>
+  <version>0.0.0</version>
+  <description>The autoware camera view rviz plugin package</description>
+  <maintainer email="[email protected]">Yuxuan Liu</maintainer>
+  <maintainer email="[email protected]">Makoto Yabuta</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <depend>autoware_ad_api_specs</depend>
+  <depend>component_interface_utils</depend>
+  <depend>geometry_msgs</depend>
+  <depend>libqt5-core</depend>
+  <depend>libqt5-gui</depend>
+  <depend>libqt5-widgets</depend>
+  <depend>rclcpp</depend>
+  <depend>rviz_common</depend>
+  <depend>rviz_default_plugins</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+    <rviz plugin="${prefix}/plugins/plugin_description.xml"/>
+  </export>
+</package>

common/tier4_camera_view_rviz_plugin/plugins/plugin_description.xml

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+<library path="tier4_camera_view_rviz_plugin">
+
+  <class name="tier4_camera_view_rviz_plugin/BirdEyeView" type="tier4_camera_view_rviz_plugin::BirdEyeViewController" base_class_type="rviz_common::ViewController">
+    <description>
+      Control the camera for bird-eye view.
+    </description>
+  </class>
+  <class name="tier4_camera_view_rviz_plugin/BirdEyeViewTool" type="tier4_camera_view_rviz_plugin::BirdEyeViewTool" base_class_type="rviz_common::Tool">
+    <description>
+      Bird-eye-view Tool. This tool requires the corresponding BirdEyeViewController.
+    </description>
+  </class>
+  <class name="tier4_camera_view_rviz_plugin/ThirdPersonView" type="tier4_camera_view_rviz_plugin::ThirdPersonViewController" base_class_type="rviz_common::ViewController">
+    <description>
+      Control the camera for third-person view.
+    </description>
+  </class>
+  <class name="tier4_camera_view_rviz_plugin/ThirdPersonViewTool" type="tier4_camera_view_rviz_plugin::ThirdPersonViewTool" base_class_type="rviz_common::Tool">
+    <description>
+      Third-person-view Tool. This tool requires the corresponding ThirdPersonViewController.
+    </description>
+  </class>
+
+</library>

common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.cpp

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+// Copyright 2023-2024 Autoware Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+/*
+ * Copyright (c) 2009, 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 "bird_eye_view_controller.hpp"
+
+#include "rviz_common/display_context.hpp"
+#include "rviz_common/properties/bool_property.hpp"
+#include "rviz_common/properties/float_property.hpp"
+#include "rviz_common/viewport_mouse_event.hpp"
+#include "rviz_rendering/objects/shape.hpp"
+#include "rviz_rendering/orthographic.hpp"
+
+#include <OgreCamera.h>
+#include <OgreQuaternion.h>
+#include <OgreSceneManager.h>
+#include <OgreSceneNode.h>
+#include <OgreVector3.h>
+#include <OgreViewport.h>
+
+namespace tier4_camera_view_rviz_plugin
+{
+static const Ogre::Quaternion ROBOT_TO_CAMERA_ROTATION =
+  Ogre::Quaternion(Ogre::Radian(-Ogre::Math::HALF_PI), Ogre::Vector3::UNIT_Y) *
+  Ogre::Quaternion(Ogre::Radian(-Ogre::Math::HALF_PI), Ogre::Vector3::UNIT_Z);
+
+static const float PITCH_LIMIT_LOW = -Ogre::Math::HALF_PI + 0.001;
+static const float PITCH_LIMIT_HIGH = Ogre::Math::HALF_PI - 0.001;
+
+BirdEyeViewController::BirdEyeViewController() : dragging_(false)
+{
+  scale_property_ = new rviz_common::properties::FloatProperty(
+    "Scale", 10, "How much to scale up the size of things in the scene.", this);
+  angle_property_ = new rviz_common::properties::FloatProperty(
+    "Angle", 0, "Angle around the Z axis to rotate.", this);
+  x_property_ =
+    new rviz_common::properties::FloatProperty("X", 0, "X component of camera position.", this);
+  y_property_ =
+    new rviz_common::properties::FloatProperty("Y", 0, "Y component of camera position.", this);
+}
+
+BirdEyeViewController::~BirdEyeViewController()
+{
+}
+
+void BirdEyeViewController::onInitialize()
+{
+  FramePositionTrackingViewController::onInitialize();
+
+  camera_->setProjectionType(Ogre::PT_ORTHOGRAPHIC);
+  auto camera_parent = getCameraParent(camera_);
+  camera_parent->setFixedYawAxis(false);
+  invert_z_->hide();
+}
+
+void BirdEyeViewController::reset()
+{
+  scale_property_->setFloat(10);
+  angle_property_->setFloat(0);
+  x_property_->setFloat(0);
+  y_property_->setFloat(0);
+}
+
+void BirdEyeViewController::handleMouseEvent(rviz_common::ViewportMouseEvent & event)
+{
+  if (event.shift()) {
+    setStatus("<b>Left-Click:</b> Move X/Y.");
+  } else {
+    setStatus(
+      "<b>Left-Click:</b> Rotate.  <b>Middle-Click:</b> Move X/Y.  <b>Right-Click:</b>: Zoom.  "
+      "<b>Shift</b>: More options.");
+  }
+
+  bool moved = false;
+
+  int32_t diff_x = 0;
+  int32_t diff_y = 0;
+
+  if (event.type == QEvent::MouseButtonPress) {
+    dragging_ = true;
+  } else if (event.type == QEvent::MouseButtonRelease) {
+    dragging_ = false;
+  } else if (dragging_ && event.type == QEvent::MouseMove) {
+    diff_x = event.x - event.last_x;
+    diff_y = event.y - event.last_y;
+    moved = true;
+  }
+
+  if (event.left() && !event.shift()) {
+    setCursor(Rotate2D);
+    angle_property_->add(diff_x * 0.005);
+    orientCamera();
+  } else if (event.middle() || (event.shift() && event.left())) {
+    setCursor(MoveXY);
+    float scale = scale_property_->getFloat();
+    move_camera(-diff_x / scale, diff_y / scale);
+  } else if (event.right()) {
+    setCursor(Zoom);
+    scale_property_->multiply(1.0 - diff_y * 0.01);
+  } else {
+    setCursor(event.shift() ? MoveXY : Rotate2D);
+  }
+
+  if (event.wheel_delta != 0) {
+    int diff = event.wheel_delta;
+    scale_property_->multiply(1.0 - (-diff) * 0.001);
+
+    moved = true;
+  }
+
+  if (moved) {
+    context_->queueRender();
+    emitConfigChanged();
+  }
+}
+
+void BirdEyeViewController::orientCamera()
+{
+  camera_->setOrientation(
+    Ogre::Quaternion(Ogre::Radian(angle_property_->getFloat()), Ogre::Vector3::UNIT_Z));
+}
+
+void BirdEyeViewController::mimic(rviz_common::ViewController * source_view)
+{
+  FramePositionTrackingViewController::mimic(source_view);
+
+  if (BirdEyeViewController * source_ortho = qobject_cast<BirdEyeViewController *>(source_view)) {
+    scale_property_->setFloat(source_ortho->scale_property_->getFloat());
+    angle_property_->setFloat(source_ortho->angle_property_->getFloat());
+    x_property_->setFloat(source_ortho->x_property_->getFloat());
+    y_property_->setFloat(source_ortho->y_property_->getFloat());
+  } else {
+    auto source_camera_parent = getCameraParent(source_view->getCamera());
+    setPosition(source_camera_parent->getPosition());
+  }
+}
+void BirdEyeViewController::update(float dt, float ros_dt)
+{
+  FramePositionTrackingViewController::update(dt, ros_dt);
+  updateCamera();
+}
+
+void BirdEyeViewController::lookAt(const Ogre::Vector3 & point)
+{
+  setPosition(point - target_scene_node_->getPosition());
+}
+
+void BirdEyeViewController::onTargetFrameChanged(
+  const Ogre::Vector3 & old_reference_position,
+  const Ogre::Quaternion & /*old_reference_orientation*/)
+{
+  move_camera(
+    old_reference_position.x - reference_position_.x,
+    old_reference_position.y - reference_position_.y);
+}
+
+void BirdEyeViewController::updateCamera()
+{
+  orientCamera();
+
+  float width = camera_->getViewport()->getActualWidth();
+  float height = camera_->getViewport()->getActualHeight();
+
+  float scale = scale_property_->getFloat();
+  Ogre::Matrix4 proj = rviz_rendering::buildScaledOrthoMatrix(
+    -width / scale / 2, width / scale / 2, -height / scale / 2, height / scale / 2,
+    camera_->getNearClipDistance(), camera_->getFarClipDistance());
+  camera_->setCustomProjectionMatrix(true, proj);
+
+  // For Z, we use half of the far-clip distance set in
+  // selection_context.cpp, so that the shader program which computes
+  // depth can see equal distances above and below the Z=0 plane.
+  auto camera_parent = getCameraParent(camera_);
+  camera_parent->setPosition(x_property_->getFloat(), y_property_->getFloat(), 500);
+}
+
+Ogre::SceneNode * BirdEyeViewController::getCameraParent(Ogre::Camera * camera)
+{
+  auto camera_parent = camera->getParentSceneNode();
+
+  if (!camera_parent) {
+    throw std::runtime_error("camera's parent scene node pointer unexpectedly nullptr");
+  }
+  return camera_parent;
+}
+
+void BirdEyeViewController::setPosition(const Ogre::Vector3 & pos_rel_target)
+{
+  x_property_->setFloat(pos_rel_target.x);
+  y_property_->setFloat(pos_rel_target.y);
+}
+
+void BirdEyeViewController::move_camera(float dx, float dy)
+{
+  float angle = angle_property_->getFloat();
+  x_property_->add(dx * cos(angle) - dy * sin(angle));
+  y_property_->add(dx * sin(angle) + dy * cos(angle));
+}
+
+}  // namespace tier4_camera_view_rviz_plugin
+
+#include <pluginlib/class_list_macros.hpp>
+PLUGINLIB_EXPORT_CLASS(
+  tier4_camera_view_rviz_plugin::BirdEyeViewController, rviz_common::ViewController)