static void
on_cam_renderer_param_widget_changed (GtkuParamWidget *pw, const char *param,
void *user_data)
{
cam_renderer_t *cr = (cam_renderer_t*) user_data;
// delete the old texture object if it exists. make sure that we've
// selected the correct OpenGL context
if (cr->texture) {
if (cr->render_place == RENDER_IN_WIDGET) {
gtku_gl_drawing_area_set_context (cr->gl_area);
} else {
gtku_gl_drawing_area_set_context (cr->renderer->viewer->gl_area);
}
glutil_texture_free (cr->texture);
cr->texture = NULL;
}
cr->render_place = gtku_param_widget_get_enum (pw, PARAM_RENDER_IN);
if (cr->render_place == RENDER_IN_WIDGET) {
gtk_widget_show (GTK_WIDGET (cr->gl_area));
} else {
gtk_widget_hide (GTK_WIDGET (cr->gl_area));
}
cr->is_uploaded = 0;
viewer_request_redraw (cr->renderer->viewer);
}
static void
on_param_changed( GtkuParamWidget *pw, const char *name, void *user_data )
{
if( ! strcmp( name, "Integer 1" ) ) {
printf("int1: %d\n", gtku_param_widget_get_int( pw, name ) );
} else if ( ! strcmp( name, "Integer Slider" ) ) {
printf("int slider: %d\n", gtku_param_widget_get_int( pw, name ) );
} else if ( ! strcmp( name, "Double Slider" ) ) {
printf("double slider: %f\n", gtku_param_widget_get_double( pw, name ) );
} else if ( ! strcmp( name, "check1" ) ||
! strcmp( name, "check2" ) ||
! strcmp( name, "check3" ) ) {
printf("%s: %s\n", name,
gtku_param_widget_get_bool( pw, name ) ? "True" : "False" );
} else if( ! strcmp( name, "Menu" ) ) {
printf("menu: %s / %d\n",
gtku_param_widget_get_enum_str( pw, name ),
gtku_param_widget_get_enum( pw, name ) );
}
}
static void my_draw( Viewer *viewer, Renderer *renderer )
{
RendererTextured *self = (RendererTextured*) renderer->user;
GtkuParamWidget *pw = GTKU_PARAM_WIDGET (self->pw);
int colormode = gtku_param_widget_get_enum(pw, COLOR_MENU);
if(colormode == COLOR_NONE)
return;
double total_theta = 0;
double last_ctheta = HUGE;
double pos[3];
if (!ctrans_have_pose(self->ctrans))
return;
ctrans_local_pos(self->ctrans, pos);
glEnable(GL_DEPTH_TEST);
glPointSize(2.0);
glBegin(GL_POINTS);
for (unsigned int cidx = 0; cidx < gu_ptr_circular_size(self->circular); cidx++) {
struct velodyne_data *vdata = (struct velodyne_data*) gu_ptr_circular_index(self->circular, cidx);
// do these returns still need to be projected
if (vdata->samples == NULL) {
vdata->samples = (velodyne_sample_t*) calloc(velodyne_decoder_estimate_samples(self->calib, vdata->data, vdata->datalen),
sizeof(velodyne_sample_t));
velodyne_decoder_t vdecoder;
velodyne_decoder_init(self->calib, &vdecoder, vdata->data, vdata->datalen);
while (!velodyne_decoder_next(self->calib, &vdecoder, &vdata->samples[vdata->num_samples])) {
velodyne_sample_t *vsample = &vdata->samples[vdata->num_samples++];
if (vsample->range < 0.25 && fabs(mod2pi(vsample->theta+M_PI/2)) < to_radians(20)) {
bad_samples[vsample->logical]++;
}
total_ranges[vsample->logical]++;
if (vsample->range < 0.01)
bad_ranges[vsample->logical]++;
double sensor_xyz[4] = { vsample->xyz[0], vsample->xyz[1], vsample->xyz[2], 1 };
double local_xyz[4];
matrix_vector_multiply_4x4_4d(vdata->m, sensor_xyz, local_xyz);
vsample->xyz[0] = local_xyz[0];
vsample->xyz[1] = local_xyz[1];
vsample->xyz[2] = local_xyz[2];
vdata->ctheta = vsample->ctheta;
/*
int thissign = sgn(mod2pi(vsample.ctheta));
if (thissign==1 && lastsign==-1) {
rotation_count++;
int ROTATION_COUNT_THRESH = 5;
if (rotation_count == ROTATION_COUNT_THRESH) {
double elapsed_time = (v->utime - rotation_utime)/1000000.0;
printf("velodyne %6s [%8d]: %5.3f Hz\n",
vdecoder.version_string, vdecoder.revolution_count,
rotation_count / elapsed_time);
rotation_count = 0;
rotation_utime = v->utime;
if (0) {
for (int i = 0; i < 64; i++)
printf("%3d : %6f\n", i, ((double)bad_ranges[i]*100.0)/total_ranges[i]);
}
}
}
*/
}
}
// have we plotted a whole revolution of data?
if (last_ctheta == HUGE)
last_ctheta = vdata->ctheta;
total_theta += fabs(mod2pi(last_ctheta - vdata->ctheta));
if (total_theta > self->numScans*2*M_PI)
break;
last_ctheta = vdata->ctheta;
//do motion comensation
//struct velodyne_data motion_compensated;
//motion_compensated.samples = (velodyne_sample_t*)malloc(vdata->num_samples);
//motion_compensate_scan(vdata, self, &motion_compensated);
// project these samples
for (unsigned int s = 0; s < vdata->num_samples; s++) {
velodyne_sample_t *vsample = &vdata->samples[s];
if(vsample->range > RANGE_THRESH)
{
switch (colormode)
{
case COLOR_INTENSITY:
{
double v = vsample->intensity;
glColor3fv(color_util_jet(v));
break;
}
case COLOR_RGB:
{
double rgb[3];
rgb[0] = (double)(vdata->rgbdata->rgb[s][0])/255;
rgb[1] = (double)(vdata->rgbdata->rgb[s][1])/255;
rgb[2] = (double)(vdata->rgbdata->rgb[s][2])/255;
glColor3dv(rgb);
break;
}
case COLOR_LASER:
glColor3d(self->laser_colors[vsample->logical][0],
self->laser_colors[vsample->logical][1],
self->laser_colors[vsample->logical][2]);
break;
case COLOR_DRAB:
glColor3d(0.3, 0.3, 0.3);
break;
case COLOR_Z:
{
double z = vsample->xyz[2] - pos[2];
double Z_MIN = -1, Z_MAX = 2;
double z_norm = (z - Z_MIN) / (Z_MAX - Z_MIN);
glColor3fv(color_util_jet(z_norm));
break;
}
case COLOR_COUNTED:
{
switch (vsample->logical%10)
{
case 0:
glColor3d(1, 1, 0.5); break;
case 5:
glColor3d(0.5, 1, 1); break;
default:
glColor3d(0.3, 0.3, 0.3); break;
}
}
break;
}
glVertex3dv(vsample->xyz);
}
}
}
glEnd();
}
static void
cam_thumb_draw (Viewer *viewer, Renderer *renderer)
{
RendererCamThumb *self = (RendererCamThumb*) renderer->user;
GLint viewport[4];
glGetIntegerv (GL_VIEWPORT, viewport);
// transform into window coordinates, where <0, 0> is the top left corner
// of the window and <viewport[2], viewport[3]> is the bottom right corner
// of the window
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
gluOrtho2D(0, viewport[2], 0, viewport[3]);
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glLoadIdentity();
glTranslatef(0, viewport[3], 0);
glScalef(1, -1, 1);
double vp_width = viewport[2] - viewport[0];
double vp_height = viewport[3] - viewport[1];
GPtrArray *crlist = gu_hash_table_get_vals (self->cam_handlers);
for (int criter = 0; criter < g_ptr_array_size(crlist); criter++) {
cam_renderer_t *cr = g_ptr_array_index(crlist, criter);
if (!cr->last_image) continue;
double aspect = cr->last_image->width /
(double) cr->last_image->height;
double thumb_width, thumb_height;
if ((vp_width / 3) / aspect > vp_height / 3) {
thumb_height = vp_height / 3;
thumb_width = thumb_height * aspect;
} else {
thumb_width = vp_width / 3;
thumb_height = thumb_width / aspect;
}
int rmode = gtku_param_widget_get_enum (cr->pw, PARAM_RENDER_IN);
if (rmode == RENDER_IN_WIDGET) continue;
point2d_t p1 = { viewport[0], viewport[1] };
switch (rmode) {
case RENDER_IN_BOTTOM_RIGHT:
p1.x = vp_width - thumb_width;
p1.y = vp_height - thumb_height;
break;
case RENDER_IN_BOTTOM_CENTER:
p1.x = vp_width / 3;
p1.y = vp_height - thumb_height;
break;
case RENDER_IN_BOTTOM_LEFT:
p1.x = 0;
p1.y = vp_height - thumb_height;
break;
case RENDER_IN_TOP_LEFT:
p1.x = 0;
p1.y = 0;
break;
case RENDER_IN_TOP_CENTER:
p1.x = vp_width / 3;
p1.y = 0;
break;
case RENDER_IN_TOP_RIGHT:
p1.x = vp_width - thumb_width;
p1.y = 0;
break;
default:
break;
}
glPushMatrix ();
glTranslatef (p1.x, p1.y, 1);
glScalef (thumb_width, thumb_height, 1);
cam_renderer_draw (cr);
glPopMatrix ();
}
g_ptr_array_free (crlist, TRUE);
glMatrixMode(GL_PROJECTION);
glPopMatrix();
glMatrixMode(GL_MODELVIEW);
glPopMatrix();
}
static void
on_image (const lcm_recv_buf_t *rbuf, const char *channel,
const lcmtypes_image_t *msg, void *user_data)
{
RendererCamThumb *self = (RendererCamThumb*) user_data;
if (! self->renderer.enabled) return;
cam_renderer_t *cr = g_hash_table_lookup (self->cam_handlers, channel);
if (!cr) {
cr = (cam_renderer_t*) calloc (1, sizeof (cam_renderer_t));
cr->renderer = self;
cr->render_place = 0;
cr->channel = strdup (channel);
g_hash_table_replace (self->cam_handlers, cr->channel, cr);
}
if (! cr->msg_received) {
cr->gl_area = GTKU_GL_DRAWING_AREA (gtku_gl_drawing_area_new (FALSE));
cr->pw = GTKU_PARAM_WIDGET (gtku_param_widget_new ());
gtku_param_widget_add_enum (cr->pw, PARAM_RENDER_IN,
0,
cr->render_place,
"Here", RENDER_IN_WIDGET,
"Top Left", RENDER_IN_TOP_LEFT,
"Top Cent.", RENDER_IN_TOP_CENTER,
"Top Right", RENDER_IN_TOP_RIGHT,
"Bot. Left", RENDER_IN_BOTTOM_LEFT,
"Bot. Cent.", RENDER_IN_BOTTOM_CENTER,
"Bot. Right", RENDER_IN_BOTTOM_RIGHT,
NULL);
cr->expander = gtk_expander_new (channel);
gtk_box_pack_start (GTK_BOX (self->renderer.widget),
cr->expander, TRUE, TRUE, 0);
GtkWidget *vbox = gtk_vbox_new (FALSE, 0);
gtk_container_add (GTK_CONTAINER (cr->expander), vbox);
gtk_box_pack_start (GTK_BOX (vbox),
GTK_WIDGET (cr->pw), TRUE, TRUE, 0);
gtk_box_pack_start (GTK_BOX (vbox),
GTK_WIDGET (cr->gl_area), TRUE, TRUE, 0);
g_signal_connect (G_OBJECT (cr->gl_area), "size-allocate",
G_CALLBACK (on_gl_area_size), cr);
cr->width = msg->width;
cr->height = msg->height;
gtk_widget_show_all (GTK_WIDGET (cr->expander));
gtk_expander_set_expanded (GTK_EXPANDER (cr->expander), cr->expanded);
if (cr->render_place == RENDER_IN_WIDGET) {
gtk_widget_show (GTK_WIDGET (cr->gl_area));
} else {
gtk_widget_hide (GTK_WIDGET (cr->gl_area));
}
g_signal_connect (G_OBJECT (cr->pw), "changed",
G_CALLBACK (on_cam_renderer_param_widget_changed), cr);
g_signal_connect (G_OBJECT (cr->gl_area), "expose-event",
G_CALLBACK (on_gl_area_expose), cr);
g_signal_connect (G_OBJECT (cr->expander), "notify::expanded",
G_CALLBACK (on_expander_expanded), cr);
cr->texture = NULL;
cr->last_image = NULL;
cr->renderer = self;
cr->uncompressed_buffer_size = msg->width * msg->height * 3;
cr->uncompresed_buffer =
(uint8_t*) malloc (cr->uncompressed_buffer_size);
cr->msg_received = 1;
}
if (cr->last_image) {
lcmtypes_image_t_destroy (cr->last_image);
}
cr->last_image = lcmtypes_image_t_copy (msg);
cr->is_uploaded = 0;
switch (gtku_param_widget_get_enum (cr->pw, PARAM_RENDER_IN)) {
case RENDER_IN_WIDGET:
if (gtk_expander_get_expanded (GTK_EXPANDER (cr->expander)))
gtku_gl_drawing_area_invalidate (cr->gl_area);
default:
viewer_request_redraw (self->viewer);
break;
}
}