//--------------------------------------------------------------
void Sprite::setDrawFromCenter(bool yesno) {
bDrawFromCenter = yesno;
for(unsigned int i = 0; i < frames.size(); ++i) {
DrawableFrame* f = frames.at(i);
f->setDrawFromCenter(bDrawFromCenter);
}
}
//--------------------------------------------------------------
void Sprite::draw() {
if(frames.empty()) {
return;
}
// animate frames?
if(bAnimate) {
// go to next frame if time has elapsed
if(ofGetElapsedTimeMillis() - timestamp > frames.at(currentFrame)->getFrameTime()) {
if(bForward) {
nextFrame();
}
else {
prevFrame();
}
timestamp = ofGetElapsedTimeMillis();
}
}
// draw frame(s)?
if(bVisible) {
if(bDrawAllLayers) {
for(unsigned int i = 0; i < frames.size(); ++i) {
DrawableFrame* f = frames.at(i);
f->draw(pos.x, pos.y);
}
}
else if(currentFrame >= 0 && currentFrame < (int) frames.size()) {
DrawableFrame* f = frames.at(currentFrame);
f->draw(pos.x, pos.y);
}
}
}
// PROTECTED
//--------------------------------------------------------------
void Sprite::resizeIfNecessary() {
if(width != 0 && height != 0) {
for(unsigned int i = 0; i < frames.size(); ++i) {
DrawableFrame* f = frames.at(i);
f->setSize(width, height);
}
}
}
//--------------------------------------------------------------
void Sprite::setSize(unsigned int w, unsigned int h) {
width = w;
height = h;
for(unsigned int i = 0; i < frames.size(); ++i) {
DrawableFrame* f = frames.at(i);
f->setSize(w, h);
}
}
void ViewerState::initialGuessSelected(){
cerr << "initial guess" << endl;
DrawableFrame* current = drawableFrameVector.back();
DrawableFrame* reference = drawableFrameVector[drawableFrameVector.size()-2];
current->setTransformation(reference->transformation());
newCloudAdded = true;
wasInitialGuess = true;
*initialGuessViewer = 0;
}
void ViewerState::polishOldThings(){
if(drawableFrameVector.size() > 40) {
pwnGMW->viewer_3d->drawableList().erase(pwnGMW->viewer_3d->drawableList().begin());
DrawableFrame* firstDrawableFrame = drawableFrameVector.front();
if (0 && firstDrawableFrame->frame()){
delete firstDrawableFrame->frame();
}
delete firstDrawableFrame;
drawableFrameVector.erase(drawableFrameVector.begin());
}
}
void ViewerState::clearLastSelected(){
if(drawableFrameVector.size() > 0) {
DrawableFrame* lastDrawableFrame = drawableFrameVector.back();
pwnGMW->viewer_3d->popBack();
//if (lastDrawableFrame->frame()){
// delete lastDrawableFrame->frame();
//}
if (lastDrawableFrame){
delete lastDrawableFrame;
}
drawableFrameVector.pop_back();
}
if(drawableFrameVector.size() > 0) {
DrawableFrame* lastDrawableFrame = drawableFrameVector.back();
globalT = lastDrawableFrame->transformation();;
}
}
void ViewerState::addCloudSelected(){
if(listItem) {
cerr << "adding a frame" << endl;
int index = pwnGMW->listWidget->row(listItem);
cerr << "index: " << endl;
std::string fname = listAssociations[index]->baseFilename()+"_depth.pgm";
DepthImage depthImage;
if (!depthImage.load(fname.c_str(), true)){
cerr << " skipping " << fname << endl;
newCloudAdded = false;
*addCloud = 0;
return;
}
DepthImage scaledDepthImage;
DepthImage::scale(scaledDepthImage, depthImage, reduction);
imageRows = scaledDepthImage.rows();
imageCols = scaledDepthImage.cols();
correspondenceFinder->setSize(imageRows, imageCols);
Frame * frame=new Frame();
converter->compute(*frame, scaledDepthImage, sensorOffset);
OptimizableGraph::DataContainer* dc =listAssociations[index]->dataContainer();
cerr << "datacontainer: " << dc << endl;
VertexSE3* v = dynamic_cast<VertexSE3*>(dc);
cerr << "vertex of the frame: " << v->id() << endl;
DrawableFrame* drawableFrame = new DrawableFrame(globalT, drawableFrameParameters, frame);
drawableFrame->_vertex = v;
Eigen::Isometry3f priorMean;
Matrix6f priorInfo;
bool hasImu =extractAbsolutePrior(priorMean, priorInfo, drawableFrame);
if (hasImu && drawableFrameVector.size()==0){
globalT.linear() = priorMean.linear();
cerr << "!!!! i found an imu for the first vertex, me happy" << endl;
drawableFrame->setTransformation(globalT);
}
drawableFrameVector.push_back(drawableFrame);
pwnGMW->viewer_3d->addDrawable(drawableFrame);
}
newCloudAdded = true;
*addCloud = 0;
_meHasNewFrame = true;
}
//--------------------------------------------------------------
void Sprite::setHeight(unsigned int h) {
for(unsigned int i = 0; i < frames.size(); ++i) {
DrawableFrame* f = frames.at(i);
f->setHeight(h);
}
}
//--------------------------------------------------------------
void Sprite::setWidth(unsigned int w) {
for(unsigned int i = 0; i < frames.size(); ++i) {
DrawableFrame* f = frames.at(i);
f->setWidth(w);
}
}
void ViewerState::optimizeSelected(){
DrawableFrame* current = drawableFrameVector.back();
DrawableFrame* reference = drawableFrameVector[drawableFrameVector.size()-2];
cerr << "optimizing" << endl;
cerr << "current=" << current->frame() << endl;
cerr << "reference= " << reference->frame() << endl;
// cerr computing initial guess based on the frame positions, just for convenience
Eigen::Isometry3d delta = reference->_vertex->estimate().inverse()*current->_vertex->estimate();
for(int c=0; c<4; c++)
for(int r=0; r<3; r++)
initialGuess.matrix()(r,c) = delta.matrix()(r,c);
Eigen::Isometry3f odometryMean;
Matrix6f odometryInfo;
bool hasOdometry = extractRelativePrior(odometryMean, odometryInfo, reference, current);
if (hasOdometry)
initialGuess=odometryMean;
Eigen::Isometry3f imuMean;
Matrix6f imuInfo;
bool hasImu = extractAbsolutePrior(imuMean, imuInfo, current);
initialGuess.matrix().row(3) << 0,0,0,1;
if(!wasInitialGuess) {
aligner->clearPriors();
aligner->setOuterIterations(al_outerIterations);
aligner->setReferenceFrame(reference->frame());
aligner->setCurrentFrame(current->frame());
aligner->setInitialGuess(initialGuess);
aligner->setSensorOffset(sensorOffset);
if (hasOdometry)
aligner->addRelativePrior(odometryMean, odometryInfo);
if (hasImu)
aligner->addAbsolutePrior(reference->transformation(), imuMean, imuInfo);
aligner->align();
}
Eigen::Isometry3f localTransformation =aligner->T();
if (aligner->inliers()<1000 || aligner->error()/aligner->inliers()>10){
cerr << "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!" << endl;
cerr << "aligner: monster failure: inliers = " << aligner->inliers() << endl;
cerr << "aligner: monster failure: error/inliers = " << aligner->error()/aligner->inliers() << endl;
cerr << "Local transformation: " << t2v(aligner->T()).transpose() << endl;
localTransformation = initialGuess;
sleep(1);
}
cout << "Local transformation: " << t2v(aligner->T()).transpose() << endl;
globalT = reference->transformation()*aligner->T();
// Update cloud drawing position.
current->setTransformation(globalT);
current->setLocalTransformation(aligner->T());
// Show zBuffers.
refScn->clear();
currScn->clear();
QImage refQImage;
QImage currQImage;
DepthImageView div;
div.computeColorMap(300, 2000, 128);
div.convertToQImage(refQImage, aligner->correspondenceFinder()->referenceDepthImage());
div.convertToQImage(currQImage, aligner->correspondenceFinder()->currentDepthImage());
refScn->addPixmap((QPixmap::fromImage(refQImage)).scaled(QSize((int)refQImage.width()/(ng_scale*3), (int)(refQImage.height()/(ng_scale*3)))));
currScn->addPixmap((QPixmap::fromImage(currQImage)).scaled(QSize((int)currQImage.width()/(ng_scale*3), (int)(currQImage.height()/(ng_scale*3)))));
pwnGMW->graphicsView1_2d->show();
pwnGMW->graphicsView2_2d->show();
wasInitialGuess = false;
newCloudAdded = false;
*initialGuessViewer = 0;
*optimizeViewer = 0;
}
int main (int argc, char** argv) {
// Handle input
float pointSize;
float pointStep;
float alpha;
int applyTransform;
int step;
string logFilename;
string configFilename;
float di_scaleFactor;
float scale;
g2o::CommandArgs arg;
arg.param("vz_pointSize", pointSize, 1.0f, "Size of the points where are visualized");
arg.param("vz_transform", applyTransform, 1, "Choose if you want to apply the absolute transform of the point clouds");
arg.param("vz_step", step, 1, "Visualize a point cloud each vz_step point clouds");
arg.param("vz_alpha", alpha, 1.0f, "Alpha channel value used for the color points");
arg.param("vz_pointStep", pointStep, 1, "Step at which point are drawn");
arg.param("vz_scale", scale, 2, "Depth image size reduction factor");
arg.param("di_scaleFactor", di_scaleFactor, 0.001f, "Scale factor to apply to convert depth images in meters");
arg.paramLeftOver("configFilename", configFilename, "", "Configuration filename", true);
arg.paramLeftOver("logFilename", logFilename, "", "Log filename", true);
arg.parseArgs(argc, argv);
// Create GUI
QApplication application(argc,argv);
QWidget *mainWindow = new QWidget();
mainWindow->setWindowTitle("pwn_tracker_log_viewer");
QHBoxLayout *hlayout = new QHBoxLayout();
mainWindow->setLayout(hlayout);
QVBoxLayout *vlayout = new QVBoxLayout();
hlayout->addItem(vlayout);
QVBoxLayout *vlayout2 = new QVBoxLayout();
hlayout->addItem(vlayout2);
hlayout->setStretch(1, 1);
QListWidget* listWidget = new QListWidget(mainWindow);
listWidget->setSelectionMode(QAbstractItemView::MultiSelection);
vlayout->addWidget(listWidget);
PWNQGLViewer* viewer = new PWNQGLViewer(mainWindow);
vlayout2->addWidget(viewer);
Eigen::Isometry3f T;
T.setIdentity();
T.matrix().row(3) << 0.0f, 0.0f, 0.0f, 1.0f;
// Read config file
cout << "Loading config file..." << endl;
Aligner *aligner;
DepthImageConverter *converter;
std::vector<Serializable*> instances = readConfig(aligner, converter, configFilename.c_str());
converter->projector()->scale(1.0f/scale);
cout << "... done" << endl;
// Read and parse log file
std::vector<boss::Serializable*> objects;
std::vector<PwnTrackerFrame*> trackerFrames;
std::vector<PwnTrackerRelation*> trackerRelations;
Deserializer des;
des.setFilePath(logFilename);
cout << "Loading log file..." << endl;
load(trackerFrames, trackerRelations, objects, des, step);
cout << "... done" << endl;
// Load the drawable list with the PwnTrackerFrame objects
std::vector<Frame*> pointClouds;
pointClouds.resize(trackerFrames.size());
Frame *dummyFrame = 0;
std::fill(pointClouds.begin(), pointClouds.end(), dummyFrame);
for(size_t i = 0; i < trackerFrames.size(); i++) {
PwnTrackerFrame *pwnTrackerFrame = trackerFrames[i];
char nummero[1024];
sprintf(nummero, "%05d", (int)i);
listWidget->addItem(QString(nummero));
QListWidgetItem *lastItem = listWidget->item(listWidget->count() - 1);
Isometry3f transform = Isometry3f::Identity();
if(applyTransform) {
isometry3d2f(transform, pwnTrackerFrame->transform());
transform = transform*pwnTrackerFrame->sensorOffset;
}
transform.matrix().row(3) << 0.0f, 0.0f, 0.0f, 1.0f;
GLParameterFrame *frameParams = new GLParameterFrame();
frameParams->setStep(pointStep);
frameParams->setShow(false);
DrawableFrame* drawableFrame = new DrawableFrame(transform, frameParams, pointClouds[i]);
viewer->addDrawable(drawableFrame);
}
// Manage GUI
viewer->init();
mainWindow->show();
viewer->show();
listWidget->show();
viewer->setAxisIsDrawn(true);
bool selectionChanged = false;
QListWidgetItem *item = 0;
DepthImage depthImage;
DepthImage scaledDepthImage;
while (mainWindow->isVisible()) {
selectionChanged = false;
for (int i = 0; i<listWidget->count(); i++) {
item = 0;
item = listWidget->item(i);
DrawableFrame *drawableFrame = dynamic_cast<DrawableFrame*>(viewer->drawableList()[i]);
if (item && item->isSelected()) {
if(!drawableFrame->parameter()->show()) {
drawableFrame->parameter()->setShow(true);
selectionChanged = true;
}
if(pointClouds[i] == 0) {
pointClouds[i] = new Frame();
boss_map::ImageBLOB* fromDepthBlob = trackerFrames[i]->depthImage.get();
DepthImage depthImage;
depthImage.fromCvMat(fromDepthBlob->cvImage());
DepthImage::scale(scaledDepthImage, depthImage, scale);
converter->compute(*pointClouds[i], scaledDepthImage);
drawableFrame->setFrame(pointClouds[i]);
delete fromDepthBlob;
}
} else {
drawableFrame->parameter()->setShow(false);
selectionChanged = true;
}
}
if (selectionChanged)
viewer->updateGL();
application.processEvents();
}
return 0;
}
int main (int argc, char** argv) {
// Handle input
int vz_applyTransform, vz_pointStep;
int pwn_chunkStep;
float vz_pointSize, vz_alpha;
float pwn_scaleFactor, pwn_scale;
string pwn_configFilename, pwn_logFilename, pwn_sensorType;
string oc_benchmarkFilename, oc_trajectoryFilename, oc_groundTruthFilename, oc_associationsFilename;
string directory;
g2o::CommandArgs arg;
arg.param("vz_pointSize", vz_pointSize, 1.0f, "Size value of the points to visualize");
arg.param("vz_transform", vz_applyTransform, 1, "Apply absolute transform to the point clouds");
arg.param("vz_alpha", vz_alpha, 1.0f, "Alpha channel value of the points to visualize");
arg.param("vz_pointStep", vz_pointStep, 1, "Step value at which points are drawn");
arg.param("pwn_chunkStep", pwn_chunkStep, 30, "Number of cloud composing a registered scene");
arg.param("pwn_scaleFactor", pwn_scaleFactor, 0.001f, "Scale factor at which the depth images were saved");
arg.param("pwn_scale", pwn_scale, 4.0f, "Scale factor the depth images are loaded");
arg.param("pwn_configFilename", pwn_configFilename, "pwn.conf", "Specify the name of the file that contains the parameter configurations of the pwn structures");
arg.param("pwn_logFilename", pwn_logFilename, "pwn.log", "Specify the name of the file that will contain the trajectory computed in boss format");
arg.param("pwn_sensorType", pwn_sensorType, "kinect", "Sensor type: xtion640/xtion320/kinect/kinectFreiburg1/kinectFreiburg2/kinectFreiburg3");
arg.param("oc_benchmarkFilename", oc_benchmarkFilename, "gicp_benchmark.txt", "Specify the name of the file that will contain the results of the benchmark");
arg.param("oc_trajectoryFilename", oc_trajectoryFilename, "gicp_trajectory.txt", "Specify the name of the file that will contain the trajectory computed");
arg.param("oc_associationsFilename", oc_associationsFilename, "gicp_associations.txt", "Specify the name of the file that contains the images associations");
arg.param("oc_groundTruthFilename", oc_groundTruthFilename, "groundtruth.txt", "Specify the name of the file that contains the ground truth trajectory");
arg.paramLeftOver("directory", directory, ".", "Directory where the program will find the input needed files and the subfolders depth and rgb containing the images", true);
arg.parseArgs(argc, argv);
// Create GUI
QApplication application(argc,argv);
QWidget* mainWindow = new QWidget();
mainWindow->setWindowTitle("GICP Odometry ");
QHBoxLayout* hlayout = new QHBoxLayout();
mainWindow->setLayout(hlayout);
PWNQGLViewer* viewer = new PWNQGLViewer(mainWindow);
hlayout->addWidget(viewer);
viewer->init();
viewer->setAxisIsDrawn(true);
viewer->show();
mainWindow->showMaximized();
mainWindow->show();
// Init odometry controller
GICPOdometryController *gicpOdometryController = new GICPOdometryController(pwn_configFilename.c_str(), pwn_logFilename.c_str());
gicpOdometryController->fileInitialization(oc_groundTruthFilename.c_str(), oc_associationsFilename.c_str(),
oc_trajectoryFilename.c_str(), oc_benchmarkFilename.c_str());
gicpOdometryController->setScaleFactor(pwn_scaleFactor);
gicpOdometryController->setScale(pwn_scale);
gicpOdometryController->setSensorType(pwn_sensorType);
gicpOdometryController->setChunkStep(pwn_chunkStep);
// Compute odometry
bool sceneHasChanged = false;
Frame *frame = 0, *groundTruthReferenceFrame = 0;
Isometry3f groundTruthPose;
GLParameterTrajectory *groundTruthTrajectoryParam = new GLParameterTrajectory(0.02f, Vector4f(0.0f, 1.0f, 0.0f, 0.6f));
GLParameterTrajectory *trajectoryParam = new GLParameterTrajectory(0.02f, Vector4f(1.0f, 0.0f, 0.0f, 0.6f));
std::vector<Isometry3f> trajectory, groundTruthTrajectory;
std::vector<Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > trajectoryColors, groundTruthTrajectoryColors;
DrawableTrajectory *drawableGroundTruthTrajectory = new DrawableTrajectory(Isometry3f::Identity(),
groundTruthTrajectoryParam,
&groundTruthTrajectory,
&groundTruthTrajectoryColors);
DrawableTrajectory *drawableTrajectory = new DrawableTrajectory(Isometry3f::Identity(),
trajectoryParam,
&trajectory,
&trajectoryColors);
viewer->addDrawable(drawableGroundTruthTrajectory);
viewer->addDrawable(drawableTrajectory);
bool finished = false;
while (mainWindow->isVisible()) {
sceneHasChanged = false;
if (sceneHasChanged)
viewer->updateGL();
application.processEvents();
if (finished) {
continue;
}
if (gicpOdometryController->loadFrame(frame)) {
if(gicpOdometryController->counter() == 1) {
gicpOdometryController->getGroundTruthPose(groundTruthPose, atof(gicpOdometryController->timestamp().c_str()));
// Add first frame to draw
groundTruthReferenceFrame = new Frame();
*groundTruthReferenceFrame = *frame;
GLParameterFrame *groundTruthReferenceFrameParams = new GLParameterFrame();
groundTruthReferenceFrameParams->setStep(vz_pointStep);
groundTruthReferenceFrameParams->setShow(true);
groundTruthReferenceFrameParams->parameterPoints()->setColor(Vector4f(1.0f, 0.0f, 1.0f, vz_alpha));
DrawableFrame *drawableGroundTruthReferenceFrame = new DrawableFrame(groundTruthPose, groundTruthReferenceFrameParams, groundTruthReferenceFrame);
GLParameterFrame *frameParams = new GLParameterFrame();
frameParams->setStep(vz_pointStep);
frameParams->setShow(true);
DrawableFrame *drawableFrame = new DrawableFrame(gicpOdometryController->globalPose(), frameParams, frame);
viewer->addDrawable(drawableGroundTruthReferenceFrame);
viewer->addDrawable(drawableFrame);
sceneHasChanged = true;
}
// Compute current transformation
if (gicpOdometryController->processFrame()) {
gicpOdometryController->getGroundTruthPose(groundTruthPose, atof(gicpOdometryController->timestamp().c_str()));
// Add frame to draw
GLParameterFrame *frameParams = new GLParameterFrame();
frameParams->setStep(vz_pointStep);
frameParams->setShow(true);
DrawableFrame *drawableFrame = new DrawableFrame(gicpOdometryController->globalPose(), frameParams, frame);
viewer->addDrawable(drawableFrame);
// Add trajectory pose
groundTruthTrajectory.push_back(groundTruthPose);
groundTruthTrajectoryColors.push_back(Vector4f(0.0f, 1.0f, 0.0f, 0.6f));
trajectory.push_back(gicpOdometryController->globalPose());
trajectoryColors.push_back(Vector4f(1.0f, 0.0f, 0.0f, 0.6f));
drawableGroundTruthTrajectory->updateTrajectoryDrawList();
drawableTrajectory->updateTrajectoryDrawList();
// Write results
gicpOdometryController->writeResults();
sceneHasChanged = true;
}
// Remove old frames
if (viewer->drawableList().size() > 23) {
DrawableFrame *d = dynamic_cast<DrawableFrame*>(viewer->drawableList()[3]);
if (d) {
Frame *f = d->frame();
if (gicpOdometryController->referenceFrame() != f &&
gicpOdometryController->currentFrame() != f) {
viewer->erase(3);
delete d;
delete f;
}
}
}
frame = 0;
}
else {
finished = true;
}
}
return 0;
}