void Camera::get_frame(std::vector<unsigned char>& buffer_rgb, std::vector<float>& point_cloud)
{
buffer_rgb.resize(3 * width * height);
point_cloud.resize(3 * width * height);
std::vector<float> buffer_depth(width * height);
glBindFramebuffer(GL_FRAMEBUFFER, fbo[0]);
glReadPixels(0, 0, width, height, GL_RGB, GL_UNSIGNED_BYTE, &buffer_rgb[0]);
glReadPixels(0, 0, width, height, GL_DEPTH_COMPONENT, GL_FLOAT, &buffer_depth[0]);
glBindFramebuffer(GL_FRAMEBUFFER, 0);
for (int i = 0; i < width * height / 2; ++i) {
const div_t coord = std::div(i, width);
const int x = coord.rem, y = coord.quot, y_inv = height - 1 - y;
std::swap(buffer_depth[i], buffer_depth[y_inv * width + x]);
for (int j = 0; j < 3; ++j)
std::swap(buffer_rgb[3 * i + j], buffer_rgb[3 * (y_inv * width + x) + j]);
}
int viewport[4] = {0, 0, width, height};
Eigen::Matrix4d id = Eigen::Matrix4d::Identity();
for (unsigned i = 0; i < buffer_depth.size(); ++i) {
const std::div_t coords = std::div(i, width);
double out[3];
gluUnProject(coords.rem, coords.quot, buffer_depth[i], id.data(), projection_matrix.data(), viewport, out + 0, out + 1, out + 2);
for (int j = 0; j < 3; ++j)
point_cloud[i * 3 + j] = out[j];
point_cloud[i * 3 + 2] *= -1.0f;
}
glBindVertexArray(vao[0]);
glBindBuffer(GL_ARRAY_BUFFER, vbo[0]);
glBufferData(GL_ARRAY_BUFFER, point_cloud.size() * sizeof(float), &point_cloud[0], GL_STATIC_DRAW);
glVertexPointer(3, GL_FLOAT, 0, 0);
glEnableClientState(GL_VERTEX_ARRAY);
glBindVertexArray(0);
n_points = point_cloud.size() / 3;
}
void Camera::draw(const std::function<void()>& f) const
{
const Eigen::Matrix4d m = Eigen::Map<const Eigen::Matrix4d>(modelview_matrix.data()).inverse();
glPushMatrix();
glMultMatrixd(m.data());
glColor3fv(color.data());
f();
glPopMatrix();
}
void GLWidgetShader::paintGL()
{
if (nVertices!=0)
{
Eigen::Matrix4d MVP;
MVP << -0.0709951 , 0.0997458 , -0.152342 , -0.15187,
-0.0744123 ,-0.00746067, 0.0552333 , -2.31223,
0.263665 , 0.276252 , 0.924317 , -17.4836,
-0.263639, -0.276224 , -0.924224 , 17.6819;
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glLoadIdentity();
glLoadMatrixd(MVP.data());
QVector3D norm(parameters->mirrorPlane.normal().x(), parameters->mirrorPlane.normal().y(),parameters->mirrorPlane.normal().z());
QVector3D projCenter(parameters->projCenter.x(),parameters->projCenter.y(),parameters->projCenter.z());
QVector3D reflectedProjector(parameters->reflectedProjector.x(),parameters->reflectedProjector.y(),parameters->reflectedProjector.z());
QMatrix4x4 qm;
for (int i=0; i<4;i++)
{
for (int j=0; j<4;j++)
{
qm(i,j) = this->m(i,j);
}
}
this->beginShader();
glPointSize(0.1);
glEnableClientState(GL_VERTEX_ARRAY);
shaderProgram->setUniformValue("viewerDistance",(GLfloat)parameters->viewerDistance);
shaderProgram->setUniformValue("viewerHeight",(GLfloat)parameters->viewerHeight);
shaderProgram->setUniformValue( "mirrorNormal",norm );
shaderProgram->setUniformValue("projectorModelViewProjectionMatrix",qm);
//shaderProgram->setUniformValue("ProjectorCenter", projCenter);
shaderProgram->setUniformValue("ReflectedProjector",reflectedProjector);
shaderProgram->setUniformValue("mirrorCenter",QVector3D(parameters->mirrorCenter.x(),parameters->mirrorCenter.y(),parameters->mirrorCenter.z()));
glVertexPointer(3,GL_FLOAT, 0, this->verticesPtr );
glDrawArrays(GL_POINTS, 0, this->nVertices);
if (!this->shaderProgram->log().isEmpty())
qDebug() << "Shader log " << this->shaderProgram->log();
this->endShader();
glDisableClientState(GL_VERTEX_ARRAY);
}
}
void Data4Viewer::drawGlobalView()
{
_pKinect->_pRGBCamera->setGLProjectionMatrix(0.1f, 100.f);
glMatrixMode(GL_MODELVIEW);
Eigen::Affine3d tmp; tmp.setIdentity();
Eigen::Matrix4d mMat;
mMat.row(0) = tmp.matrix().row(0);
mMat.row(1) = -tmp.matrix().row(1);
mMat.row(2) = -tmp.matrix().row(2);
mMat.row(3) = tmp.matrix().row(3);
glLoadMatrixd(mMat.data());
GpuMat rgb(_pKinect->_cvmRGB);
_pKinect->_pRGBCamera->renderCameraInLocal(rgb, _pGL.get(), false, NULL, 0.2f, true); //render in model coordinate
//cout<<("drawRGBView");
return;
}
void MainController::run()
{
while(!pangolin::ShouldQuit() && !((!logReader->hasMore()) && quiet) && !(eFusion->getTick() == end && quiet))
{
if(!gui->pause->Get() || pangolin::Pushed(*gui->step))
{
if((logReader->hasMore() || rewind) && eFusion->getTick() < end)
{
TICK("LogRead");
if(rewind)
{
if(!logReader->hasMore())
{
logReader->getBack();
}
else
{
logReader->getNext();
}
if(logReader->rewound())
{
logReader->currentFrame = 0;
}
}
else
{
logReader->getNext();
}
TOCK("LogRead");
if(eFusion->getTick() < start)
{
eFusion->setTick(start);
logReader->fastForward(start);
}
float weightMultiplier = framesToSkip + 1;
if(framesToSkip > 0)
{
eFusion->setTick(eFusion->getTick() + framesToSkip);
logReader->fastForward(logReader->currentFrame + framesToSkip);
framesToSkip = 0;
}
Eigen::Matrix4f * currentPose = 0;
if(groundTruthOdometry)
{
currentPose = new Eigen::Matrix4f;
currentPose->setIdentity();
*currentPose = groundTruthOdometry->getIncrementalTransformation(logReader->timestamp);
}
eFusion->processFrame(logReader->rgb, logReader->depth, logReader->timestamp, currentPose, weightMultiplier);
if(currentPose)
{
delete currentPose;
}
if(frameskip && Stopwatch::getInstance().getTimings().at("Run") > 1000.f / 30.f)
{
framesToSkip = int(Stopwatch::getInstance().getTimings().at("Run") / (1000.f / 30.f));
}
}
}
else
{
eFusion->predict();
}
TICK("GUI");
if(gui->followPose->Get())
{
pangolin::OpenGlMatrix mv;
Eigen::Matrix4f currPose = eFusion->getCurrPose();
Eigen::Matrix3f currRot = currPose.topLeftCorner(3, 3);
Eigen::Quaternionf currQuat(currRot);
Eigen::Vector3f forwardVector(0, 0, 1);
Eigen::Vector3f upVector(0, iclnuim ? 1 : -1, 0);
Eigen::Vector3f forward = (currQuat * forwardVector).normalized();
Eigen::Vector3f up = (currQuat * upVector).normalized();
Eigen::Vector3f eye(currPose(0, 3), currPose(1, 3), currPose(2, 3));
eye -= forward;
Eigen::Vector3f at = eye + forward;
Eigen::Vector3f z = (eye - at).normalized(); // Forward
Eigen::Vector3f x = up.cross(z).normalized(); // Right
Eigen::Vector3f y = z.cross(x);
Eigen::Matrix4d m;
m << x(0), x(1), x(2), -(x.dot(eye)),
y(0), y(1), y(2), -(y.dot(eye)),
z(0), z(1), z(2), -(z.dot(eye)),
0, 0, 0, 1;
memcpy(&mv.m[0], m.data(), sizeof(Eigen::Matrix4d));
gui->s_cam.SetModelViewMatrix(mv);
}
gui->preCall();
std::stringstream stri;
stri << eFusion->getModelToModel().lastICPCount;
gui->trackInliers->Ref().Set(stri.str());
std::stringstream stre;
stre << (isnan(eFusion->getModelToModel().lastICPError) ? 0 : eFusion->getModelToModel().lastICPError);
gui->trackRes->Ref().Set(stre.str());
if(!gui->pause->Get())
{
gui->resLog.Log((isnan(eFusion->getModelToModel().lastICPError) ? std::numeric_limits<float>::max() : eFusion->getModelToModel().lastICPError), icpErrThresh);
gui->inLog.Log(eFusion->getModelToModel().lastICPCount, icpCountThresh);
}
Eigen::Matrix4f pose = eFusion->getCurrPose();
if(gui->drawRawCloud->Get() || gui->drawFilteredCloud->Get())
{
eFusion->computeFeedbackBuffers();
}
if(gui->drawRawCloud->Get())
{
eFusion->getFeedbackBuffers().at(FeedbackBuffer::RAW)->render(gui->s_cam.GetProjectionModelViewMatrix(), pose, gui->drawNormals->Get(), gui->drawColors->Get());
}
if(gui->drawFilteredCloud->Get())
{
eFusion->getFeedbackBuffers().at(FeedbackBuffer::FILTERED)->render(gui->s_cam.GetProjectionModelViewMatrix(), pose, gui->drawNormals->Get(), gui->drawColors->Get());
}
if(gui->drawGlobalModel->Get())
{
glFinish();
TICK("Global");
if(gui->drawFxaa->Get())
{
gui->drawFXAA(gui->s_cam.GetProjectionModelViewMatrix(),
gui->s_cam.GetModelViewMatrix(),
eFusion->getGlobalModel().model(),
eFusion->getConfidenceThreshold(),
eFusion->getTick(),
eFusion->getTimeDelta(),
iclnuim);
}
else
{
eFusion->getGlobalModel().renderPointCloud(gui->s_cam.GetProjectionModelViewMatrix(),
eFusion->getConfidenceThreshold(),
gui->drawUnstable->Get(),
gui->drawNormals->Get(),
gui->drawColors->Get(),
gui->drawPoints->Get(),
gui->drawWindow->Get(),
gui->drawTimes->Get(),
eFusion->getTick(),
eFusion->getTimeDelta());
}
glFinish();
TOCK("Global");
}
if(eFusion->getLost())
{
glColor3f(1, 1, 0);
}
else
{
glColor3f(1, 0, 1);
}
gui->drawFrustum(pose);
glColor3f(1, 1, 1);
if(gui->drawFerns->Get())
{
glColor3f(0, 0, 0);
for(size_t i = 0; i < eFusion->getFerns().frames.size(); i++)
{
if((int)i == eFusion->getFerns().lastClosest)
continue;
gui->drawFrustum(eFusion->getFerns().frames.at(i)->pose);
}
glColor3f(1, 1, 1);
}
if(gui->drawDefGraph->Get())
{
const std::vector<GraphNode*> & graph = eFusion->getLocalDeformation().getGraph();
for(size_t i = 0; i < graph.size(); i++)
{
pangolin::glDrawCross(graph.at(i)->position(0),
graph.at(i)->position(1),
graph.at(i)->position(2),
0.1);
for(size_t j = 0; j < graph.at(i)->neighbours.size(); j++)
{
pangolin::glDrawLine(graph.at(i)->position(0),
graph.at(i)->position(1),
graph.at(i)->position(2),
graph.at(graph.at(i)->neighbours.at(j))->position(0),
graph.at(graph.at(i)->neighbours.at(j))->position(1),
graph.at(graph.at(i)->neighbours.at(j))->position(2));
}
}
}
if(eFusion->getFerns().lastClosest != -1)
{
glColor3f(1, 0, 0);
gui->drawFrustum(eFusion->getFerns().frames.at(eFusion->getFerns().lastClosest)->pose);
glColor3f(1, 1, 1);
}
const std::vector<PoseMatch> & poseMatches = eFusion->getPoseMatches();
int maxDiff = 0;
for(size_t i = 0; i < poseMatches.size(); i++)
{
if(poseMatches.at(i).secondId - poseMatches.at(i).firstId > maxDiff)
{
maxDiff = poseMatches.at(i).secondId - poseMatches.at(i).firstId;
}
}
for(size_t i = 0; i < poseMatches.size(); i++)
{
if(gui->drawDeforms->Get())
{
if(poseMatches.at(i).fern)
{
glColor3f(1, 0, 0);
}
else
{
glColor3f(0, 1, 0);
}
for(size_t j = 0; j < poseMatches.at(i).constraints.size(); j++)
{
pangolin::glDrawLine(poseMatches.at(i).constraints.at(j).sourcePoint(0), poseMatches.at(i).constraints.at(j).sourcePoint(1), poseMatches.at(i).constraints.at(j).sourcePoint(2),
poseMatches.at(i).constraints.at(j).targetPoint(0), poseMatches.at(i).constraints.at(j).targetPoint(1), poseMatches.at(i).constraints.at(j).targetPoint(2));
}
}
}
glColor3f(1, 1, 1);
eFusion->normaliseDepth(0.3f, gui->depthCutoff->Get());
for(std::map<std::string, GPUTexture*>::const_iterator it = eFusion->getTextures().begin(); it != eFusion->getTextures().end(); ++it)
{
if(it->second->draw)
{
gui->displayImg(it->first, it->second);
}
}
eFusion->getIndexMap().renderDepth(gui->depthCutoff->Get());
gui->displayImg("ModelImg", eFusion->getIndexMap().imageTex());
gui->displayImg("Model", eFusion->getIndexMap().drawTex());
std::stringstream strs;
strs << eFusion->getGlobalModel().lastCount();
gui->totalPoints->operator=(strs.str());
std::stringstream strs2;
strs2 << eFusion->getLocalDeformation().getGraph().size();
gui->totalNodes->operator=(strs2.str());
std::stringstream strs3;
strs3 << eFusion->getFerns().frames.size();
gui->totalFerns->operator=(strs3.str());
std::stringstream strs4;
strs4 << eFusion->getDeforms();
gui->totalDefs->operator=(strs4.str());
std::stringstream strs5;
strs5 << eFusion->getTick() << "/" << logReader->getNumFrames();
gui->logProgress->operator=(strs5.str());
std::stringstream strs6;
strs6 << eFusion->getFernDeforms();
gui->totalFernDefs->operator=(strs6.str());
gui->postCall();
logReader->flipColors = gui->flipColors->Get();
eFusion->setRgbOnly(gui->rgbOnly->Get());
eFusion->setPyramid(gui->pyramid->Get());
eFusion->setFastOdom(gui->fastOdom->Get());
eFusion->setConfidenceThreshold(gui->confidenceThreshold->Get());
eFusion->setDepthCutoff(gui->depthCutoff->Get());
eFusion->setIcpWeight(gui->icpWeight->Get());
eFusion->setSo3(gui->so3->Get());
eFusion->setFrameToFrameRGB(gui->frameToFrameRGB->Get());
resetButton = pangolin::Pushed(*gui->reset);
if(gui->autoSettings)
{
static bool last = gui->autoSettings->Get();
if(gui->autoSettings->Get() != last)
{
last = gui->autoSettings->Get();
static_cast<LiveLogReader *>(logReader)->setAuto(last);
}
}
Stopwatch::getInstance().sendAll();
if(resetButton)
{
break;
}
if(pangolin::Pushed(*gui->save))
{
eFusion->savePly();
}
TOCK("GUI");
}
}