// Render at (x,y) in window coordinates.
void GlText::DrawWindow(GLfloat x, GLfloat y, GLfloat z)
{
// find object point (x,y,z)' in pixel coords
GLdouble projection[16];
GLdouble modelview[16];
GLint view[4];
glGetDoublev(GL_PROJECTION_MATRIX, projection );
glGetDoublev(GL_MODELVIEW_MATRIX, modelview );
glGetIntegerv(GL_VIEWPORT, view );
DisplayBase().Activate();
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
gluOrtho2D(0, DisplayBase().v.w, 0, DisplayBase().v.h);
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glLoadIdentity();
glTranslatef((int)x,(int)y,z);
Draw();
// Restore viewport
glViewport(view[0],view[1],view[2],view[3]);
// Restore modelview / project matrices
glMatrixMode(GL_PROJECTION);
glPopMatrix();
glMatrixMode(GL_MODELVIEW);
glPopMatrix();
}
OculusHud::OculusHud()
: post_unwarp(true), handler(*this)
{
InitialiseOculus();
InitialiseFramebuffer();
InitialiseShader();
// Make this the default fullscreen view
DisplayBase().AddDisplay(*this);
SetBounds(Attach::Pix(0),Attach::Pix(HMD.VResolution),Attach::Pix(0),Attach::Pix(HMD.HResolution));
handler.SetHandler(&pangolin::StaticHandler);
View::SetHandler(&handler);
// Initialise per-eye views / parameters
for(int i=0; i<2; ++i) {
int hw = HMD.HResolution/2;
eyeview[i].SetBounds(Attach::Pix(0),Attach::Pix(HMD.VResolution),Attach::Pix(i*hw),Attach::Pix((1+i)*hw));
this->AddDisplay(eyeview[i]);
}
// Setup default projection parameters
const OVR::Util::Render::DistortionConfig& Distortion = stereo.GetDistortionConfig();
const float ppos = HMD.HResolution * Distortion.XCenterOffset / 4.0f;
SetParams(204.4, ppos, 0.177, -0.083);
common.SetHandler(&pangolin::StaticHandler);
this->AddDisplay(common);
T_oc = IdentityMatrix();
pangolin::SetFullscreen();
}
void CameraCalibration::InitPangolin(int PanelWidth)
{
if(stereo_mode)
{
const int WindowWidth = (ImageSize.width)*2+PanelWidth-1;
const int WindowHeight = ImageSize.height;
// Create OpenGL window in single line thanks to GLUT
CreateGlutWindowAndBind("Main", WindowWidth, WindowHeight, GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH | GLUT_MULTISAMPLE);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Issue specific OpenGl we might need
glEnable (GL_BLEND);
glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
//GLenum err = glewInit();
//if(GLEW_OK != err)
//{
// cerr << "GLEW Error: " << glewGetErrorString(err) << endl;
// exit(0);
//}
panel = &CreatePanel("ui").SetBounds(1.0, 0.0, 0.0, (double)PanelWidth/DisplayBase().v.w);
CamIntrins = new OpenGlMatrixSpec[2];
CamIntrins[0] = ProjectionMatrixRDF_TopLeft(ImageSize.width,
ImageSize.height,
calib_params[0].CameraMatrix.at<double>(0, 0),
calib_params[0].CameraMatrix.at<double>(1, 1),
calib_params[0].CameraMatrix.at<double>(0, 2),
calib_params[0].CameraMatrix.at<double>(1, 2),
0.1,
10000);
CamIntrins[1] = ProjectionMatrixRDF_TopLeft(ImageSize.width,
ImageSize.height,
calib_params[1].CameraMatrix.at<double>(0, 0),
calib_params[1].CameraMatrix.at<double>(1, 1),
calib_params[1].CameraMatrix.at<double>(0, 2),
calib_params[1].CameraMatrix.at<double>(1, 2),
0.1,
10000);
const double panel = (double)(PanelWidth-1)/(double)(WindowWidth-1);
const double middle_h = ((double)(WindowWidth-PanelWidth)/2.0)/(double)(WindowWidth) + (double)(PanelWidth)/(double)(WindowWidth);
view[0] = &Display("ViewLeft").SetBounds(1.0, 0, panel, middle_h, -(double)ImageSize.width/(double)ImageSize.height);
view[1] = &Display("ViewRight").SetBounds(1.0, 0, middle_h, 1.0, -(double)ImageSize.width/(double)ImageSize.height);
}
InitTexture();
glutSpecialFunc(&SpecialKeyFunction);
}
PyObject * pangolin_record_window(PyObject* /*self*/, PyObject* args)
{
Var<std::string> default_record_uri("pango.console.default_record_uri");
const char *record_uri = default_record_uri.Get().c_str();
if (!PyArg_ParseTuple(args, "|s", &record_uri)) {
return NULL;
}
DisplayBase().RecordOnRender(record_uri);
if(context->console_view) {
context->console_view->ShowWithoutAnimation(false);
}
Py_RETURN_NONE;
}
void ToggleConsole()
{
#ifdef HAVE_PYTHON
if( !context->console_view) {
// Create console and let the pangolin context take ownership
context->console_view = new ConsoleView(new PyInterpreter());
context->named_managed_views["pangolin_console"] = context->console_view;
context->console_view->SetFocus();
context->console_view->zorder = std::numeric_limits<int>::max();
DisplayBase().AddDisplay(*context->console_view);
}else{
context->console_view->ToggleShow();
if(context->console_view->IsShown()) {
context->console_view->SetFocus();
}
}
#endif
}
int main( int argc, char* argv[])
{
if(argc < 3)
{
cerr << "Usage: [-mono, -stereo] [config.xml]" << endl;
cerr << "A xml file containing iamge list is required." << endl;
exit(EXIT_FAILURE);
}
string mode(argv[1]);
CameraCalibration camera_calib;
if(mode == "-stereo")
{
// Stereo camera calibration
camera_calib.setStereoMode(true);
string xml_input(argv[2]);
camera_calib.ReadStereoCalibParams(xml_input);
num_frames = camera_calib.getNumFrames();
camera_calib.StereoCalibration();
camera_calib.InitPangolin(150);
static Var<int> img_idx("ui.Image: ", 0, 0, camera_calib.getNumFrames()-1);
static Var<bool> is_stereobind("ui.Stereo Bind", false, true);
static Var<bool> is_undistorted("ui.Undistorted images", false, true);
static Var<bool> is_rectified("ui.Rectified images", false, true);
//static Var<bool> disp_button("ui.Show OpenCV SBM", false, false);
static Var<bool> export_button("ui.Export Results", false, false);
while( !Pangolin::ShouldQuit() )
{
if(Pangolin::HasResized())
DisplayBase().ActivateScissorAndClear();
show_idx = (int*)img_idx.var->val;
if(is_rectified)
{
for(int c_idx=0; c_idx<2; c_idx++)
camera_calib.DrawRectifiedImage(c_idx, img_idx);
}
else
{
for(int c_idx=0; c_idx<2; c_idx++)
camera_calib.DrawChessboardAndImage(c_idx, img_idx, is_undistorted, is_stereobind);
}
camera_calib.panel->Render();
if(Pushed(export_button))
camera_calib.WriteCalibParams();
//if(Pushed(disp_button))
// camera_calib.OpenCVSBM(camera_calib.calib_params[0].ImageList.at(img_idx),
// camera_calib.calib_params[1].ImageList.at(img_idx));
camera_calib.panel->Render();
// Swap frames and Process Events
glutSwapBuffers();
glutMainLoopEvent();
}
}
else
{
// Monocular camera calibration
camera_calib.setStereoMode(false);
string xml_input(argv[1]);
camera_calib.ReadStereoCalibParams(xml_input);
}
return 0;
}
void RenderViews()
{
Viewport::DisableScissor();
DisplayBase().Render();
}