From d4e0165a1e07f4f365da66af4c09d988e27f216b Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sat, 29 Jun 2019 13:02:35 +0300
Subject: [PATCH] Allow snapshot camera adjustments
---
applications/gui/src/screen.cpp | 65 +++++++++++++++----
applications/reconstruct/src/voxel_scene.cpp | 12 ++--
.../rgbd-sources/src/snapshot_source.cpp | 19 ++++++
3 files changed, 77 insertions(+), 19 deletions(-)
diff --git a/applications/gui/src/screen.cpp b/applications/gui/src/screen.cpp
index 63965a3fc..00d46ee58 100644
--- a/applications/gui/src/screen.cpp
+++ b/applications/gui/src/screen.cpp
@@ -9,6 +9,7 @@
#include <nanogui/combobox.h>
#include <nanogui/label.h>
#include <nanogui/toolbutton.h>
+#include <nanogui/popupbutton.h>
#include <opencv2/opencv.hpp>
@@ -121,6 +122,7 @@ ftl::gui::Screen::Screen(ftl::Configurable *proot, ftl::net::Universe *pnet, ftl
button->setFixedSize(Vector2i(40,40));
button->setCallback([this]() {
//swindow_->setVisible(true);
+ setActiveCamera(nullptr);
});
/*button = new ToolButton(innertool, ENTYPO_ICON_PLUS);
@@ -132,22 +134,54 @@ ftl::gui::Screen::Screen(ftl::Configurable *proot, ftl::net::Universe *pnet, ftl
//swindow_->setVisible(true);
});*/
- button = new ToolButton(innertool, ENTYPO_ICON_PLUS);
- button->setIconExtraScale(1.5f);
- button->setTheme(toolbuttheme);
- button->setTooltip("Camera Sources");
- button->setFixedSize(Vector2i(40,40));
- button->setCallback([this]() {
+ auto popbutton = new PopupButton(innertool, "", ENTYPO_ICON_PLUS);
+ popbutton->setIconExtraScale(1.5f);
+ popbutton->setTheme(toolbuttheme);
+ popbutton->setTooltip("Add");
+ popbutton->setFixedSize(Vector2i(40,40));
+ popbutton->setSide(Popup::Side::Right);
+ popbutton->setChevronIcon(0);
+ Popup *popup = popbutton->popup();
+ popup->setLayout(new GroupLayout());
+ popup->setTheme(toolbuttheme);
+ //popup->setAnchorHeight(100);
+
+ auto itembutton = new Button(popup, "Add Camera", ENTYPO_ICON_CAMERA);
+ itembutton->setCallback([this,popup]() {
swindow_->setVisible(true);
+ popup->setVisible(false);
});
- button = new ToolButton(innertool, ENTYPO_ICON_TOOLS);
- button->setIconExtraScale(1.5f);
- button->setTheme(toolbuttheme);
- button->setTooltip("Connections");
- button->setFixedSize(Vector2i(40,40));
- button->setCallback([this]() {
+ itembutton = new Button(popup, "Add Node", ENTYPO_ICON_LAPTOP);
+ itembutton->setCallback([this,popup]() {
+ cwindow_->setVisible(true);
+ popup->setVisible(false);
+ });
+
+ popbutton = new PopupButton(innertool, "", ENTYPO_ICON_TOOLS);
+ popbutton->setIconExtraScale(1.5f);
+ popbutton->setTheme(toolbuttheme);
+ popbutton->setTooltip("Tools");
+ popbutton->setFixedSize(Vector2i(40,40));
+ popbutton->setSide(Popup::Side::Right);
+ popbutton->setChevronIcon(0);
+ popup = popbutton->popup();
+ popup->setLayout(new GroupLayout());
+ popup->setTheme(toolbuttheme);
+ //popbutton->setCallback([this]() {
+ // cwindow_->setVisible(true);
+ //});
+
+ itembutton = new Button(popup, "Connections");
+ itembutton->setCallback([this,popup]() {
cwindow_->setVisible(true);
+ popup->setVisible(false);
+ });
+
+ itembutton = new Button(popup, "Manual Registration");
+ itembutton->setCallback([this,popup]() {
+ // Show pose win...
+ popup->setVisible(false);
});
button = new ToolButton(toolbar, ENTYPO_ICON_COG);
@@ -164,9 +198,10 @@ ftl::gui::Screen::Screen(ftl::Configurable *proot, ftl::net::Universe *pnet, ftl
mwindow_->setVisible(false);
cwindow_->setPosition(Eigen::Vector2i(80, 20));
- swindow_->setPosition(Eigen::Vector2i(80, 400));
+ //swindow_->setPosition(Eigen::Vector2i(80, 400));
cwindow_->setVisible(false);
- swindow_->setVisible(false);
+ swindow_->setVisible(true);
+ swindow_->center();
cwindow_->setTheme(windowtheme);
swindow_->setTheme(windowtheme);
@@ -201,8 +236,10 @@ void ftl::gui::Screen::setActiveCamera(ftl::gui::Camera *cam) {
if (cam) {
status_ = cam->source()->getURI();
mwindow_->setVisible(true);
+ swindow_->setVisible(false);
} else {
mwindow_->setVisible(false);
+ swindow_->setVisible(true);
status_ = "No camera...";
}
}
diff --git a/applications/reconstruct/src/voxel_scene.cpp b/applications/reconstruct/src/voxel_scene.cpp
index ccdee9e7d..216325ded 100644
--- a/applications/reconstruct/src/voxel_scene.cpp
+++ b/applications/reconstruct/src/voxel_scene.cpp
@@ -84,12 +84,14 @@ int SceneRep::upload() {
continue;
} else {
auto in = cam.source;
+
+ cam.params.fx = in->parameters().fx;
+ cam.params.fy = in->parameters().fy;
+ cam.params.mx = -in->parameters().cx;
+ cam.params.my = -in->parameters().cy;
+
// Only now do we have camera parameters for allocations...
if (cam.params.m_imageWidth == 0) {
- cam.params.fx = in->parameters().fx;
- cam.params.fy = in->parameters().fy;
- cam.params.mx = -in->parameters().cx;
- cam.params.my = -in->parameters().cy;
cam.params.m_imageWidth = in->parameters().width;
cam.params.m_imageHeight = in->parameters().height;
cam.params.m_sensorDepthWorldMax = in->parameters().maxDepth;
@@ -185,7 +187,7 @@ void SceneRep::garbage() {
void SceneRep::setLastRigidTransform(const Eigen::Matrix4f& lastRigidTransform) {
m_hashParams.m_rigidTransform = MatrixConversion::toCUDA(lastRigidTransform);
- m_hashParams.m_rigidTransformInverse = m_hashParams.m_rigidTransform.getInverse();
+ m_hashParams.m_rigidTransformInverse = MatrixConversion::toCUDA(lastRigidTransform.inverse()); //m_hashParams.m_rigidTransform.getInverse();
}
/*void SceneRep::setLastRigidTransformAndCompactify(const Eigen::Matrix4f& lastRigidTransform, const DepthCameraData& depthCameraData) {
diff --git a/components/rgbd-sources/src/snapshot_source.cpp b/components/rgbd-sources/src/snapshot_source.cpp
index 0e8dec08b..d3e70524e 100644
--- a/components/rgbd-sources/src/snapshot_source.cpp
+++ b/components/rgbd-sources/src/snapshot_source.cpp
@@ -23,5 +23,24 @@ SnapshotSource::SnapshotSource(ftl::rgbd::Source *host, SnapshotReader &reader,
ftl::rgbd::colourCorrection(rgb_, host->value("gamma", 1.0f), host->value("temperature", 6500));
});
+ // Add calibration to config object
+ host_->getConfig()["focal"] = params_.fx;
+ host_->getConfig()["centre_x"] = params_.cx;
+ host_->getConfig()["centre_y"] = params_.cy;
+ host_->getConfig()["baseline"] = params_.baseline;
+
+ host_->on("focal", [this](const ftl::config::Event &e) {
+ params_.fx = host_->value("focal", params_.fx);
+ params_.fy = params_.fx;
+ });
+
+ host_->on("centre_x", [this](const ftl::config::Event &e) {
+ params_.cx = host_->value("centre_x", params_.cx);
+ });
+
+ host_->on("centre_y", [this](const ftl::config::Event &e) {
+ params_.cy = host_->value("centre_y", params_.cy);
+ });
+
setPose(pose);
}
--
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