From 0dcccf557b3182bb0de5e813ee8c32b89e456ea0 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sat, 1 Jun 2019 18:44:05 +0300
Subject: [PATCH] Initial NanoGUI code
---
CMakeLists.txt | 13 ++
applications/gui/CMakeLists.txt | 23 +++
applications/gui/src/main.cpp | 140 ++++++++++++++++++
components/common/cpp/include/ftl/config.h.in | 1 +
4 files changed, 177 insertions(+)
create mode 100644 applications/gui/CMakeLists.txt
create mode 100644 applications/gui/src/main.cpp
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 512d8b801..d250beab3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -61,6 +61,15 @@ else()
endif()
endif()
+find_library( NANOGUI_LIBRARY NAMES nanogui libnanogui)
+if (NANOGUI_LIBRARY)
+ set(HAVE_NANOGUI TRUE)
+ add_library(nanogui UNKNOWN IMPORTED)
+ #set_property(TARGET nanogui PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${NANOGUI_EXTRA_INCS})
+ set_property(TARGET nanogui PROPERTY IMPORTED_LOCATION ${NANOGUI_LIBRARY})
+ message(STATUS "Found NanoGUI: ${NANOGUI_LIBRARY}")
+endif()
+
find_program( NODE_NPM NAMES npm )
if (NODE_NPM)
message(STATUS "Found NPM: ${NODE_NPM}")
@@ -160,6 +169,10 @@ if (BUILD_RECONSTRUCT AND HAVE_PCL)
add_subdirectory(applications/reconstruct)
endif()
+if (HAVE_NANOGUI)
+ add_subdirectory(applications/gui)
+endif()
+
### Generate Build Configuration Files =========================================
configure_file(${CMAKE_SOURCE_DIR}/components/common/cpp/include/ftl/config.h.in
diff --git a/applications/gui/CMakeLists.txt b/applications/gui/CMakeLists.txt
new file mode 100644
index 000000000..5b1ba133f
--- /dev/null
+++ b/applications/gui/CMakeLists.txt
@@ -0,0 +1,23 @@
+# Need to include staged files and libs
+#include_directories(${PROJECT_SOURCE_DIR}/reconstruct/include)
+#include_directories(${PROJECT_BINARY_DIR})
+
+set(GUISRC
+ src/main.cpp
+)
+
+add_executable(ftl-gui ${GUISRC})
+
+target_include_directories(ftl-gui PUBLIC
+ $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+ $<INSTALL_INTERFACE:include>
+ PRIVATE src)
+
+#if (CUDA_FOUND)
+#set_property(TARGET ftl-gui PROPERTY CUDA_SEPARABLE_COMPILATION ON)
+#endif()
+
+#target_include_directories(cv-node PUBLIC ${PROJECT_SOURCE_DIR}/include)
+target_link_libraries(ftl-gui ftlcommon ftlrgbd Threads::Threads ${OpenCV_LIBS} glog::glog ftlnet ftlrender nanogui GL)
+
+
diff --git a/applications/gui/src/main.cpp b/applications/gui/src/main.cpp
new file mode 100644
index 000000000..6ab767c93
--- /dev/null
+++ b/applications/gui/src/main.cpp
@@ -0,0 +1,140 @@
+#include <ftl/configuration.hpp>
+#include <ftl/net/universe.hpp>
+#include <ftl/rgbd.hpp>
+
+#include <glog/logging.h>
+
+#include <opencv2/opencv.hpp>
+
+#include <nanogui/opengl.h>
+#include <nanogui/glutil.h>
+#include <nanogui/screen.h>
+#include <nanogui/window.h>
+#include <nanogui/layout.h>
+#include <nanogui/imageview.h>
+
+using ftl::config;
+using std::string;
+using ftl::rgbd::RGBDSource;
+
+class GLTexture {
+ public:
+ GLTexture() {
+ glGenTextures(1, &glid_);
+ glBindTexture(GL_TEXTURE_2D, glid_);
+ cv::Mat m(cv::Size(100,100), CV_8UC3);
+ glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB8, m.cols, m.rows, 0, GL_RGB, GL_UNSIGNED_BYTE, m.data);
+ glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+ glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+ glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
+ glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+ }
+ ~GLTexture() {
+ glDeleteTextures(1, &glid_);
+ }
+
+ void update(cv::Mat &m) {
+ if (m.rows == 0) return;
+ glBindTexture(GL_TEXTURE_2D, glid_);
+ // TODO Allow for other formats
+ glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB8, m.cols, m.rows, 0, GL_BGR, GL_UNSIGNED_BYTE, m.data);
+ auto err = glGetError();
+ if (err != 0) LOG(ERROR) << "OpenGL Texture error: " << err;
+ }
+
+ unsigned int texture() const { return glid_; }
+
+ private:
+ unsigned int glid_;
+};
+
+struct SourceViews {
+ ftl::rgbd::RGBDSource *source;
+ GLTexture texture;
+ nanogui::ImageView *view;
+};
+
+class FTLApplication : public nanogui::Screen {
+ public:
+ explicit FTLApplication(ftl::net::Universe *net) : nanogui::Screen(Eigen::Vector2i(1024, 768), "FT-Lab GUI") {
+ using namespace nanogui;
+ net_ = net;
+
+ for (auto &src : config["sources"]) {
+ RGBDSource *in = ftl::rgbd::RGBDSource::create(src, net); //new ftl::rgbd::NetSource(src, &net);
+ if (!in) {
+ LOG(ERROR) << "Unrecognised source: " << src;
+ } else {
+ auto &cam = sources_.emplace_back();
+ cam.source = in;
+
+ auto imageWindow = new Window(this, "Source");
+ imageWindow->setPosition(Eigen::Vector2i(710, 15));
+ imageWindow->setLayout(new GroupLayout());
+ imageWindow->setSize(Vector2i(400,400));
+
+ auto imageView = new ImageView(imageWindow, 0);
+ cam.view = imageView;
+ imageView->setGridThreshold(20);
+ //imageView->setPixelInfoThreshold(20);
+
+ //displays.emplace_back(config["display"], src["uri"]);
+ LOG(INFO) << (string)src["uri"] << " loaded ";
+ }
+ }
+
+ setVisible(true);
+ performLayout();
+ }
+
+ virtual void draw(NVGcontext *ctx) {
+ net_->broadcast("grab");
+ for (auto &src : sources_) {
+ cv::Mat rgb, depth;
+ src.source->grab();
+ src.source->getRGBD(rgb, depth);
+ if (rgb.rows > 0) {
+ src.texture.update(rgb);
+ src.view->bindImage(src.texture.texture());
+ }
+ }
+ performLayout();
+
+ /* Draw the user interface */
+ Screen::draw(ctx);
+ }
+
+ private:
+ std::vector<SourceViews> sources_;
+ ftl::net::Universe *net_;
+};
+
+int main(int argc, char **argv) {
+ ftl::configure(argc, argv, "gui");
+ ftl::net::Universe net(config["net"]);
+
+ net.waitConnections();
+
+ try {
+ nanogui::init();
+
+ /* scoped variables */ {
+ nanogui::ref<FTLApplication> app = new FTLApplication(&net);
+ app->drawAll();
+ app->setVisible(true);
+ nanogui::mainloop();
+ }
+
+ nanogui::shutdown();
+ } catch (const std::runtime_error &e) {
+ std::string error_msg = std::string("Caught a fatal error: ") + std::string(e.what());
+ #if defined(_WIN32)
+ MessageBoxA(nullptr, error_msg.c_str(), NULL, MB_ICONERROR | MB_OK);
+ #else
+ std::cerr << error_msg << std::endl;
+ #endif
+ return -1;
+ }
+
+ return 0;
+}
\ No newline at end of file
diff --git a/components/common/cpp/include/ftl/config.h.in b/components/common/cpp/include/ftl/config.h.in
index 3d2b7d296..296da9eec 100644
--- a/components/common/cpp/include/ftl/config.h.in
+++ b/components/common/cpp/include/ftl/config.h.in
@@ -19,6 +19,7 @@
#cmakedefine HAVE_PCL
#cmakedefine HAVE_RENDER
#cmakedefine HAVE_LIBSGM
+#cmakedefine HAVE_NANOGUI
extern const char *FTL_VERSION_LONG;
extern const char *FTL_VERSION;
--
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