void VideoRecordDialog::maybeRecord(RenderDevice* rd) {
if (m_video) {
recordFrame(rd);
}
if (m_screenshotPending) {
screenshot(rd);
m_screenshotPending = false;
}
}
void XDebugProfiler::beginFrame(const char *symbol) {
assert(isNeeded());
// Check the stack depth, abort if we've reached the limit
m_depth++;
if (m_maxDepth != 0 && m_depth >= m_maxDepth) {
raise_error("Maximum function nesting level of '%lu' reached, aborting!",
m_maxDepth);
}
// Record the frame if we are collecting
if (isCollecting()) {
recordFrame(nullptr);
}
}
void XDebugProfiler::endFrame(const TypedValue* retVal, const char* /*symbol*/,
bool /*endMain*/ /* = false */) {
assert(isNeeded());
m_depth--;
if (isCollecting()) {
// If tracing or profiling are enabled, we need to store end frames as well.
// Otherwise we can just overwrite the most recent begin frame
if (m_tracingEnabled || m_profilingEnabled) {
recordFrame(retVal);
} else {
m_nextFrameIdx--;
}
}
}
int QDeclarativeViewer::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
{
_id = QMainWindow::qt_metacall(_c, _id, _a);
if (_id < 0)
return _id;
if (_c == QMetaObject::InvokeMetaMethod) {
switch (_id) {
case 0: setDesignModeBehavior((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 1: sceneResized((*reinterpret_cast< QSize(*)>(_a[1]))); break;
case 2: { bool _r = open((*reinterpret_cast< const QString(*)>(_a[1])));
if (_a[0]) *reinterpret_cast< bool*>(_a[0]) = _r; } break;
case 3: openFile(); break;
case 4: openUrl(); break;
case 5: reload(); break;
case 6: takeSnapShot(); break;
case 7: toggleRecording(); break;
case 8: toggleRecordingWithSelection(); break;
case 9: ffmpegFinished((*reinterpret_cast< int(*)>(_a[1]))); break;
case 10: showProxySettings(); break;
case 11: proxySettingsChanged(); break;
case 12: rotateOrientation(); break;
case 13: statusChanged(); break;
case 14: pauseAnimations(); break;
case 15: stepAnimations(); break;
case 16: setAnimationStep(); break;
case 17: changeAnimationSpeed(); break;
case 18: launch((*reinterpret_cast< const QString(*)>(_a[1]))); break;
case 19: appAboutToQuit(); break;
case 20: autoStartRecording(); break;
case 21: autoStopRecording(); break;
case 22: recordFrame(); break;
case 23: chooseRecordingOptions(); break;
case 24: pickRecordingFile(); break;
case 25: toggleFullScreen(); break;
case 26: changeOrientation((*reinterpret_cast< QAction*(*)>(_a[1]))); break;
case 27: orientationChanged(); break;
case 28: animationSpeedChanged((*reinterpret_cast< qreal(*)>(_a[1]))); break;
case 29: showWarnings((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 30: warningsWidgetOpened(); break;
case 31: warningsWidgetClosed(); break;
default: ;
}
_id -= 32;
}
return _id;
}
// Main draw function
void SlamDriver::draw(void)
{
if(!mFrameByFrame || mAdvanceFrame)
{
bool isFrameAvailable;
{
ProfileSection section("updateFrame");
//Drop frames
mImageSrc->dropFrames(FLAGS_DriverDropFrames);
isFrameAvailable = mImageSrc->update();
}
if(isFrameAvailable)
{
ProfileSection section("execute");
mFrameCount++;
mAdvanceFrame = false;
if (!mUsingCamera)
DTSLAM_LOG << "\nFrame #" << mFrameCount << "\n";
//Read new input frame
cv::Mat1b imageGray = mImageSrc->getImgGray();
cv::Mat3b imageColor = mImageSrc->getImgColor();
//Record
if(mRecordFrames)
recordFrame(imageColor);
//Process new frame
auto tic = std::chrono::high_resolution_clock::now();
mSlam.processImage(mImageSrc->getCaptureTime(), imageColor, imageGray);
mFPSSampleAccum += std::chrono::high_resolution_clock::now()-tic;
mFPSSampleCount++;
mActiveWindow->updateState();
}
}
mSlam.idle();
{
ProfileSection section("draw");
//glClearColor(1.0, 1.0, 1.0, 1.0);
glClearColor(0.0, 0.0, 0.0, 0.0);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
{
ProfileSection section("windowDraw");
mActiveWindow->draw();
}
//Text
std::stringstream ss;
ss << "FPS " << (int)mFPS << "\n";
ss << "Frame " << mFrameCount << "\n";
if(mShowProfiler)
{
Profiler::Instance().logStats(ss);
}
cv::Size2i screenSize = UserInterfaceInfo::Instance().getScreenSize();
float viewportAspect = static_cast<float>(screenSize.width) / screenSize.height;
glViewport(0,0,screenSize.width,screenSize.height);
mShaders.getText().setMVPMatrix(ViewportTiler::GetImageSpaceMvp(viewportAspect, screenSize));
mShaders.getText().setActiveFontSmall();
mShaders.getText().setRenderCharHeight(10);
mShaders.getText().setCaret(cv::Point2f(0,0));
mShaders.getText().setColor(StaticColors::Green());
mShaders.getText().renderText(ss);
//Map stats in the bottom
const float kMapStatsFontHeight = 10.0f;
cv::Point2f corners[] = { cv::Point2f(0.0f, (float)screenSize.height - 2 * kMapStatsFontHeight), cv::Point2f((float)screenSize.width, (float)screenSize.height - 2 * kMapStatsFontHeight),
cv::Point2f(0.0f, (float)screenSize.height), cv::Point2f((float)screenSize.width, (float)screenSize.height) };
mShaders.getColor().setMVPMatrix(ViewportTiler::GetImageSpaceMvp(viewportAspect, screenSize));
mShaders.getColor().drawVertices(GL_TRIANGLE_STRIP, corners, 4, StaticColors::Black(0.5f));
mShaders.getText().setRenderCharHeight(kMapStatsFontHeight);
mShaders.getText().setCaret(corners[0] + cv::Point2f(kMapStatsFontHeight/2, kMapStatsFontHeight/2));
mShaders.getText().setColor(StaticColors::White());
{
TextRendererStream ts(mShaders.getText());
int frameCount = mSlam.getMap().getTotalFrameCount();
int count3D = mSlam.getMap().getTotalFeature3DCount();
int count2D = mSlam.getMap().getTotalFeature2DCount();
if (!FLAGS_DisableRegions)
ts << "Regions: " << mSlam.getMap().getRegions().size() << ", ";
ts << "Keyframes: " << frameCount << ", Features (2D: " << count2D << ", 3D : " << count3D << ")";
switch (mSlam.getTracker().getPoseType() )
{
case EPoseEstimationType::PureRotation:
ts.setColor(StaticColors::Yellow());
ts << " PURE ROTATION";
break;
case EPoseEstimationType::Essential:
ts.setColor(StaticColors::Green());
ts << " ESSENTIAL MODEL";
break;
case EPoseEstimationType::Invalid:
ts.setColor(StaticColors::Red());
ts << " LOST";
break;
}
ts.setColor(StaticColors::White());
//Expander status
switch (mSlam.getMapExpander().getStatus())
{
case ESlamMapExpanderStatus::CheckingFrame:
ts << ", expander checking";
break;
case ESlamMapExpanderStatus::AddingFrame:
ts << ", expander adding";
break;
case ESlamMapExpanderStatus::SingleFrameBA:
ts << ", expander one-frame BA";
break;
}
//BA status
if (mSlam.isBARunning())
{
ts << ", ";
if (mSlam.getActiveRegion()->getAbortBA())
{
ts.setColor(StaticColors::Yellow());
ts << "aborting BA";
ts.setColor(StaticColors::White());
}
else
{
ts << "BA is running";
}
}
else if (mSlam.getActiveRegion()->getShouldBundleAdjust())
{
ts << ", ";
ts.setColor(StaticColors::Yellow());
ts << "BA pending";
ts.setColor(StaticColors::White());
}
}
}
//Update FPS
auto now = std::chrono::high_resolution_clock::now();
auto elapsedDuration = now - mLastFPSCheck;
if (elapsedDuration > mFPSUpdateDuration)
{
if (mFPSSampleCount)
mFPS = mFPSSampleCount / std::chrono::duration_cast<std::chrono::duration<float>>(mFPSSampleAccum).count();
mFPSSampleCount = 0;
mFPSSampleAccum = std::chrono::high_resolution_clock::duration(0);
mLastFPSCheck = now;
}
}
