void GuiComboBoxListControl::OnListControlAdoptedSizeInvalidated(compositions::GuiGraphicsComposition* sender, compositions::GuiEventArgs& arguments)
{
Size expectedSize(0, GetFont().size * 20);
Size adoptedSize = containedListControl->GetAdoptedSize(expectedSize);
Size clientSize = GetPreferredMenuClientSize();
clientSize.y = adoptedSize.y + GetSubMenu()->GetClientSize().y - containedListControl->GetBoundsComposition()->GetBounds().Height();
SetPreferredMenuClientSize(clientSize);
if (GetSubMenuOpening())
{
GetSubMenu()->SetClientSize(clientSize);
}
}
// Initialization for this application
bool SlamDriver::init(void)
{
std::cout << "SlamDriver init." << std::endl;
#ifdef ENABLE_LOG
std::cout << "Logging is enabled. This severely hits performance! It can be disabled in dtslam/log.h." << std::endl;
#else
std::cout << "Logging is disabled. See dtslam/log.h to enable it." << std::endl;
#endif
#ifdef ENABLE_PROFILER
std::cout << "Profiling is enabled.\n";
#else
std::cout << "Profiling is disabled. See dtslam/Profiler.h to enable it.\n";
#endif
Profiler::Instance().setCurrentThreadName("render");
char glogstr[] = "dtslam";
google::InitGoogleLogging(glogstr);
if (!initImageSrc())
{
DTSLAM_LOG << "Couldn't initialize image source.\n";
return false;
}
// Initialize Shader
if (!mShaders.init())
{
DTSLAM_LOG << "Couldn't initialize shaders.\n";
return false;
}
//Determine downscale at input
int width = mImageSrc->getSourceSize().width;
mDownsampleInputCount = 0;
while(width > FLAGS_DriverMaxImageWidth)
{
width = (width+1)/2;
mDownsampleInputCount++;
}
int scale = 1<<mDownsampleInputCount;
mImageSrc->setDownsample(mDownsampleInputCount);
mImageSize = mImageSrc->getSize();
DTSLAM_LOG << "Input image size after downsampling: " << mImageSize << "\n";
//Check size vs calibration
cv::Size expectedSize(FLAGS_CameraWidth/scale, FLAGS_CameraHeight/scale);
if(mImageSize.width != expectedSize.width || mImageSize.height != expectedSize.height)
{
DTSLAM_LOG << "Warning: image size " << mImageSize << " does not match calibration size " << expectedSize << "\n";
}
//Get first frame
if(!mImageSrc->update())
{
DTSLAM_LOG << "Couldn't get first frame from image source.\n";
return false;
}
//Init camera
mCamera.reset(new CameraModel());
mCamera->init((float)FLAGS_CameraFx / scale, (float)FLAGS_CameraFy / scale, (float)FLAGS_CameraU0 / scale, (float)FLAGS_CameraV0 / scale, FLAGS_CameraWidth / scale, FLAGS_CameraHeight / scale);
mCamera->getDistortionModel().init((float)FLAGS_CameraK1, (float)FLAGS_CameraK2);
mCamera->getDistortionModel().setMaxRadius(mCamera->getMaxRadiusSq(mImageSize));
mCamera->initLUT();
//Slam system
cv::Mat1b imageGray = mImageSrc->getImgGray();
cv::Mat3b imageColor = mImageSrc->getImgColor();
mSlam.init(mCamera.get(), mImageSrc->getCaptureTime(), imageColor, imageGray);
mSlam.setSingleThreaded(FLAGS_DriverSingleThreaded);
//Add windows
mWindows.push_back(std::unique_ptr<BaseWindow>(new MatchesWindow()));
mWindows.push_back(std::unique_ptr<BaseWindow>(new MapExpanderWindow()));
mWindows.push_back(std::unique_ptr<BaseWindow>(new MapWindow()));
mWindows.push_back(std::unique_ptr<BaseWindow>(new KeyFramePairWindow()));
mWindows.push_back(std::unique_ptr<BaseWindow>(new ARWindow()));
mWindows.push_back(std::unique_ptr<BaseWindow>(new TestMatchWindow()));
mWindows.push_back(std::unique_ptr<BaseWindow>(new FrameLinkWindow()));
//Add bindings
mKeyBindings.addBinding(true,GLUT_KEY_F5,static_cast<KeyBindingHandler<SlamDriver>::SimpleBindingFunc>(&SlamDriver::runVideo),"Run the video stream.");
mKeyBindings.addBinding(true, GLUT_KEY_F8, static_cast<KeyBindingHandler<SlamDriver>::SimpleBindingFunc>(&SlamDriver::saveMap), "Save the map to disk.");
mKeyBindings.addBinding(true, GLUT_KEY_F9, static_cast<KeyBindingHandler<SlamDriver>::SimpleBindingFunc>(&SlamDriver::loadMap), "Load the map from disk.");
mKeyBindings.addBinding(false, ' ', static_cast<KeyBindingHandler<SlamDriver>::SimpleBindingFunc>(&SlamDriver::stepVideo), "Advance one frame.");
mKeyBindings.addBinding(false,'p',static_cast<KeyBindingHandler<SlamDriver>::SimpleBindingFunc>(&SlamDriver::toggleProfilerMode),"Toggle profiler mode.");
mKeyBindings.addBinding(false,'P',static_cast<KeyBindingHandler<SlamDriver>::SimpleBindingFunc>(&SlamDriver::resetProfiler),"Reset profiler counts.");
mKeyBindings.addBinding(false,'r',static_cast<KeyBindingHandler<SlamDriver>::SimpleBindingFunc>(&SlamDriver::resetSystem),"Reset the slam system.");
mKeyBindings.addBinding(false,'R',static_cast<KeyBindingHandler<SlamDriver>::SimpleBindingFunc>(&SlamDriver::startRecording),"Reset and start recording.");
mKeyBindings.addBinding(true,GLUT_KEY_F1,static_cast<KeyBindingHandler<SlamDriver>::SimpleBindingFunc>(&SlamDriver::resyncTracker),"Resyncs the tracker with/without 2D matches.");
for(int i=0; i<(int)mWindows.size(); ++i)
mKeyBindings.addBinding(false,i+'1',static_cast<KeyBindingHandler<SlamDriver>::BindingFunc>(&SlamDriver::changeWindowKey),"Show window: " + mWindows[i]->getName());
mKeyBindings.addBinding(false,27,static_cast<KeyBindingHandler<SlamDriver>::SimpleBindingFunc>(&SlamDriver::escapePressed),"Quit.");
DTSLAM_LOG << "\nBasic keys:\n";
mKeyBindings.showHelp();
setActiveWindow(mWindows[0].get());
setARCube(cv::Point3f(0, 0,10), cv::Point3f(0.1, 0, 0), cv::Point3f(0, 0.1, 0), cv::Point3f(0, 0, 0.1));
//disableARCube();
glEnable(GL_POINT_SMOOTH);
glEnable(GL_LINE_SMOOTH);
mFPS = 0;
mLastFPSCheck = std::chrono::high_resolution_clock::now();
mFPSUpdateDuration = std::chrono::duration_cast<std::chrono::high_resolution_clock::duration>(std::chrono::seconds(1));
mFPSSampleAccum = std::chrono::high_resolution_clock::duration(0);
mFPSSampleCount = 0;
mInitialized = true;
return true;
}
bool
PointAttenuationTest::testPointRendering(GLboolean smooth)
{
// epsilon is the allowed size difference in pixels between the
// expected and actual rendering.
const GLfloat epsilon = (smooth ? 1.5 : 1.0) + 0.0;
GLfloat atten[3];
int count = 0;
// Enable front buffer if you want to see the rendering
glDrawBuffer(GL_FRONT);
glReadBuffer(GL_FRONT);
if (smooth) {
glEnable(GL_POINT_SMOOTH);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
}
else {
glDisable(GL_POINT_SMOOTH);
glDisable(GL_BLEND);
}
for (int a = 0; a < 3; a++) {
atten[0] = pow(10.0, -a);
for (int b = -2; b < 3; b++) {
atten[1] = (b == -1) ? 0.0 : pow(10.0, -b);
for (int c = -2; c < 3; c++) {
atten[2] = (c == -1) ? 0.0 : pow(10.0, -c);
PointParameterfvARB(GL_POINT_DISTANCE_ATTENUATION_ARB, atten);
for (float min = 1.0; min < MAX_SIZE; min += 10) {
PointParameterfARB(GL_POINT_SIZE_MIN_ARB, min);
for (float max = min; max < MAX_SIZE; max += 10) {
PointParameterfARB(GL_POINT_SIZE_MAX_ARB, max);
for (float size = 1.0; size < MAX_SIZE; size += 8) {
glPointSize(size);
// draw column of points
glClear(GL_COLOR_BUFFER_BIT);
glBegin(GL_POINTS);
for (float z = -6.0; z <= 6.0; z += 1.0) {
glVertex3f(0, z, z);
}
glEnd();
// test the column of points
for (float z = -6.0; z <= 6.0; z += 1.0) {
count++;
float expected
= expectedSize(size, atten, min, max,
z, smooth);
float actual = measureSize(z);
if (fabs(expected - actual) > epsilon) {
reportFailure(size, atten, min, max,
z, smooth,
expected, actual);
return false;
}
else if(0){
printf("pass z=%f exp=%f act=%f\n",
z, expected, actual);
}
}
}
}
}
}
}
}
reportSuccess(count, smooth);
return true;
}
