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small updates

This commit is contained in:
Vladyslav Usenko 2019-09-10 13:35:19 +02:00
parent d1cbebdc10
commit 5dc7ef2c49
1 changed files with 29 additions and 9 deletions
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38
src/vio.cpp
View File

@ -65,7 +65,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// GUI functions // GUI functions
void draw_image_overlay(pangolin::View& v, size_t cam_id); void draw_image_overlay(pangolin::View& v, size_t cam_id);
void draw_scene(); void draw_scene(pangolin::View& view);
void load_data(const std::string& calib_path); void load_data(const std::string& calib_path);
bool next_step(); bool next_step();
bool prev_step(); bool prev_step();
@ -111,6 +111,10 @@ Button save_traj_btn("ui.save_traj", &saveTrajectoryButton);
pangolin::Var<bool> follow("ui.follow", true, false, true); pangolin::Var<bool> follow("ui.follow", true, false, true);
// pangolin::Var<bool> record("ui.record", false, false, true);
pangolin::OpenGlRenderState camera;
// Visualization variables // Visualization variables
std::unordered_map<int64_t, basalt::VioVisualizationData::Ptr> vis_map; std::unordered_map<int64_t, basalt::VioVisualizationData::Ptr> vis_map;
@ -379,10 +383,12 @@ int main(int argc, char** argv) {
glEnable(GL_DEPTH_TEST); glEnable(GL_DEPTH_TEST);
pangolin::View& img_view_display = pangolin::View& main_display = pangolin::CreateDisplay().SetBounds(
pangolin::CreateDisplay() 0.0, 1.0, pangolin::Attach::Pix(UI_WIDTH), 1.0);
.SetBounds(0.4, 1.0, pangolin::Attach::Pix(UI_WIDTH), 0.4)
.SetLayout(pangolin::LayoutEqual); pangolin::View& img_view_display = pangolin::CreateDisplay()
.SetBounds(0.4, 1.0, 0.0, 0.4)
.SetLayout(pangolin::LayoutEqual);
pangolin::View& plot_display = pangolin::CreateDisplay().SetBounds( pangolin::View& plot_display = pangolin::CreateDisplay().SetBounds(
0.0, 0.4, pangolin::Attach::Pix(UI_WIDTH), 1.0); 0.0, 0.4, pangolin::Attach::Pix(UI_WIDTH), 1.0);
@ -409,7 +415,7 @@ int main(int argc, char** argv) {
Eigen::Vector3d cam_p(-0.5, -3, -5); Eigen::Vector3d cam_p(-0.5, -3, -5);
cam_p = vio->getT_w_i_init().so3() * calib.T_i_c[0].so3() * cam_p; cam_p = vio->getT_w_i_init().so3() * calib.T_i_c[0].so3() * cam_p;
pangolin::OpenGlRenderState camera( camera = pangolin::OpenGlRenderState(
pangolin::ProjectionMatrix(640, 480, 400, 400, 320, 240, 0.001, 10000), pangolin::ProjectionMatrix(640, 480, 400, 400, 320, 240, 0.001, 10000),
pangolin::ModelViewLookAt(cam_p[0], cam_p[1], cam_p[2], 0, 0, 0, pangolin::ModelViewLookAt(cam_p[0], cam_p[1], cam_p[2], 0, 0, 0,
pangolin::AxisZ)); pangolin::AxisZ));
@ -420,6 +426,11 @@ int main(int argc, char** argv) {
.SetBounds(0.4, 1.0, 0.4, 1.0) .SetBounds(0.4, 1.0, 0.4, 1.0)
.SetHandler(new pangolin::Handler3D(camera)); .SetHandler(new pangolin::Handler3D(camera));
display3D.extern_draw_function = draw_scene;
main_display.AddDisplay(img_view_display);
main_display.AddDisplay(display3D);
while (!pangolin::ShouldQuit()) { while (!pangolin::ShouldQuit()) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
@ -444,8 +455,6 @@ int main(int argc, char** argv) {
display3D.Activate(camera); display3D.Activate(camera);
glClearColor(1.0f, 1.0f, 1.0f, 1.0f); glClearColor(1.0f, 1.0f, 1.0f, 1.0f);
draw_scene();
img_view_display.Activate(); img_view_display.Activate();
if (show_frame.GuiChanged()) { if (show_frame.GuiChanged()) {
@ -493,6 +502,13 @@ int main(int argc, char** argv) {
tum_rgbd_fmt = false; tum_rgbd_fmt = false;
} }
// if (record) {
// main_display.RecordOnRender(
// "ffmpeg:[fps=50,bps=80000000,unique_filename]///tmp/"
// "vio_screencap.avi");
// record = false;
// }
pangolin::FinishFrame(); pangolin::FinishFrame();
if (continue_btn) { if (continue_btn) {
@ -651,7 +667,11 @@ void draw_image_overlay(pangolin::View& v, size_t cam_id) {
} }
} }
void draw_scene() { void draw_scene(pangolin::View& view) {
UNUSED(view);
view.Activate(camera);
glClearColor(1.0f, 1.0f, 1.0f, 1.0f);
glPointSize(3); glPointSize(3);
glColor3f(1.0, 0.0, 0.0); glColor3f(1.0, 0.0, 0.0);
glEnable(GL_BLEND); glEnable(GL_BLEND);