diff --git a/applications/gui/CMakeLists.txt b/applications/gui/CMakeLists.txt
index c4ea2272fd92e76ccf0aa6b4b9154d06aaea8485..ac9ae7ec20881ab9c4112d9baf0696ce87693536 100644
--- a/applications/gui/CMakeLists.txt
+++ b/applications/gui/CMakeLists.txt
@@ -5,6 +5,7 @@
set(GUISRC
src/main.cpp
src/ctrl_window.cpp
+ src/src_window.cpp
)
add_executable(ftl-gui ${GUISRC})
diff --git a/applications/gui/src/main.cpp b/applications/gui/src/main.cpp
index a12ff59055e2aca407f3b0032850bce52163cc07..f0cd4c325894c5708be23bee6a02d578c726c2d5 100644
--- a/applications/gui/src/main.cpp
+++ b/applications/gui/src/main.cpp
@@ -17,137 +17,18 @@
#include <nanogui/label.h>
#include "ctrl_window.hpp"
+#include "src_window.hpp"
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;
};*/
-template<class T>
-Eigen::Matrix<T,4,4> lookAt
-(
- Eigen::Matrix<T,3,1> const & eye,
- Eigen::Matrix<T,3,1> const & center,
- Eigen::Matrix<T,3,1> const & up
-)
-{
- typedef Eigen::Matrix<T,4,4> Matrix4;
- typedef Eigen::Matrix<T,3,1> Vector3;
-
- Vector3 f = (center - eye).normalized();
- Vector3 u = up.normalized();
- Vector3 s = f.cross(u).normalized();
- u = s.cross(f);
-
- Matrix4 res;
- res << s.x(),s.y(),s.z(),-s.dot(eye),
- u.x(),u.y(),u.z(),-u.dot(eye),
- -f.x(),-f.y(),-f.z(),f.dot(eye),
- 0,0,0,1;
-
- return res;
-}
-
-class VirtualCameraView : public nanogui::ImageView {
- public:
- VirtualCameraView(nanogui::Widget *parent) : nanogui::ImageView(parent, 0) {
- src_ = nullptr;
- eye_ = Eigen::Vector3f(0.0f, 0.0f, 0.0f);
- centre_ = Eigen::Vector3f(0.0f, 0.0f, -4.0f);
- up_ = Eigen::Vector3f(0,1.0f,0);
- lookPoint_ = Eigen::Vector3f(0.0f,0.0f,-4.0f);
- lerpSpeed_ = 0.4f;
- }
- void setSource(RGBDSource *src) { src_ = src; }
-
- bool mouseButtonEvent(const nanogui::Vector2i &p, int button, bool down, int modifiers) {
- //LOG(INFO) << "Mouse move: " << p[0];
- if (src_ && down) {
- Eigen::Vector4f camPos = src_->point(p[0],p[1]);
- camPos *= -1.0f;
- Eigen::Vector4f worldPos = src_->getPose() * camPos;
- lookPoint_ = Eigen::Vector3f(worldPos[0],worldPos[1],worldPos[2]);
- LOG(INFO) << "Depth at click = " << -camPos[2];
- }
- }
-
- bool keyboardEvent(int key, int scancode, int action, int modifiers) {
- LOG(INFO) << "Key press" << key << " - " << action;
- if (key == 81 || key == 83) {
- // TODO Should rotate around lookAt object, but requires correct depth
- Eigen::Quaternion<float> q; q = Eigen::AngleAxis<float>((key == 81) ? 0.01f : -0.01f, up_);
- eye_ = (q * (eye_ - centre_)) + centre_;
- } else if (key == 84 || key == 82) {
- float scalar = (key == 84) ? 0.99f : 1.01f;
- eye_ = ((eye_ - centre_) * scalar) + centre_;
- }
- }
-
- void draw(NVGcontext *ctx) {
- //net_->broadcast("grab");
- if (src_) {
- cv::Mat rgb, depth;
- centre_ += (lookPoint_ - centre_) * (lerpSpeed_ * 0.1f);
- Eigen::Matrix4f viewPose = lookAt<float>(eye_,centre_,up_).inverse();
-
- src_->setPose(viewPose);
- src_->grab();
- src_->getRGBD(rgb, depth);
- if (rgb.rows > 0) {
- texture_.update(rgb);
- bindImage(texture_.texture());
- }
-
- screen()->performLayout(ctx);
- }
- ImageView::draw(ctx);
- }
-
- private:
- RGBDSource *src_;
- GLTexture texture_;
- Eigen::Vector3f eye_;
- Eigen::Vector3f centre_;
- Eigen::Vector3f up_;
- Eigen::Vector3f lookPoint_;
- float lerpSpeed_;
-};
class FTLApplication : public nanogui::Screen {
public:
@@ -155,7 +36,7 @@ class FTLApplication : public nanogui::Screen {
using namespace nanogui;
net_ = net;
- for (auto &src : root->getConfig()["sources"]) {
+ /*for (auto &src : root->getConfig()["sources"]) {
RGBDSource *in = ftl::rgbd::RGBDSource::create(src, net); //new ftl::rgbd::NetSource(src, &net);
if (!in) {
LOG(ERROR) << "Unrecognised source: " << src;
@@ -185,9 +66,10 @@ class FTLApplication : public nanogui::Screen {
//displays.emplace_back(config["display"], src["uri"]);
LOG(INFO) << (string)src["uri"] << " loaded ";
}
- }
+ }*/
- auto window = new ftl::gui::ControlWindow(this, controller);
+ auto cwindow = new ftl::gui::ControlWindow(this, controller);
+ auto swindow = new ftl::gui::SourceWindow(this, controller);
setVisible(true);
performLayout();
diff --git a/applications/gui/src/src_window.cpp b/applications/gui/src/src_window.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..5bbb12c83ad9aa7b05af146eadcd077f698e6c2b
--- /dev/null
+++ b/applications/gui/src/src_window.cpp
@@ -0,0 +1,161 @@
+#include "src_window.hpp"
+
+#include <nanogui/imageview.h>
+#include <nanogui/combobox.h>
+#include <nanogui/label.h>
+#include <nanogui/opengl.h>
+#include <nanogui/glutil.h>
+#include <nanogui/screen.h>
+#include <nanogui/layout.h>
+
+using ftl::gui::SourceWindow;
+using ftl::rgbd::RGBDSource;
+using std::string;
+
+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_;
+};
+
+template<class T>
+Eigen::Matrix<T,4,4> lookAt
+(
+ Eigen::Matrix<T,3,1> const & eye,
+ Eigen::Matrix<T,3,1> const & center,
+ Eigen::Matrix<T,3,1> const & up
+)
+{
+ typedef Eigen::Matrix<T,4,4> Matrix4;
+ typedef Eigen::Matrix<T,3,1> Vector3;
+
+ Vector3 f = (center - eye).normalized();
+ Vector3 u = up.normalized();
+ Vector3 s = f.cross(u).normalized();
+ u = s.cross(f);
+
+ Matrix4 res;
+ res << s.x(),s.y(),s.z(),-s.dot(eye),
+ u.x(),u.y(),u.z(),-u.dot(eye),
+ -f.x(),-f.y(),-f.z(),f.dot(eye),
+ 0,0,0,1;
+
+ return res;
+}
+
+class VirtualCameraView : public nanogui::ImageView {
+ public:
+ VirtualCameraView(nanogui::Widget *parent) : nanogui::ImageView(parent, 0) {
+ src_ = nullptr;
+ eye_ = Eigen::Vector3f(0.0f, 0.0f, 0.0f);
+ centre_ = Eigen::Vector3f(0.0f, 0.0f, -4.0f);
+ up_ = Eigen::Vector3f(0,1.0f,0);
+ lookPoint_ = Eigen::Vector3f(0.0f,0.0f,-4.0f);
+ lerpSpeed_ = 0.4f;
+ }
+
+ void setSource(RGBDSource *src) { src_ = src; }
+
+ bool mouseButtonEvent(const nanogui::Vector2i &p, int button, bool down, int modifiers) {
+ //LOG(INFO) << "Mouse move: " << p[0];
+ if (src_ && down) {
+ Eigen::Vector4f camPos = src_->point(p[0],p[1]);
+ camPos *= -1.0f;
+ Eigen::Vector4f worldPos = src_->getPose() * camPos;
+ lookPoint_ = Eigen::Vector3f(worldPos[0],worldPos[1],worldPos[2]);
+ LOG(INFO) << "Depth at click = " << -camPos[2];
+ }
+ }
+
+ bool keyboardEvent(int key, int scancode, int action, int modifiers) {
+ LOG(INFO) << "Key press" << key << " - " << action;
+ if (key == 81 || key == 83) {
+ // TODO Should rotate around lookAt object, but requires correct depth
+ Eigen::Quaternion<float> q; q = Eigen::AngleAxis<float>((key == 81) ? 0.01f : -0.01f, up_);
+ eye_ = (q * (eye_ - centre_)) + centre_;
+ } else if (key == 84 || key == 82) {
+ float scalar = (key == 84) ? 0.99f : 1.01f;
+ eye_ = ((eye_ - centre_) * scalar) + centre_;
+ }
+ }
+
+ void draw(NVGcontext *ctx) {
+ //net_->broadcast("grab");
+ if (src_) {
+ cv::Mat rgb, depth;
+ centre_ += (lookPoint_ - centre_) * (lerpSpeed_ * 0.1f);
+ Eigen::Matrix4f viewPose = lookAt<float>(eye_,centre_,up_).inverse();
+
+ src_->setPose(viewPose);
+ src_->grab();
+ src_->getRGBD(rgb, depth);
+ if (rgb.rows > 0) {
+ texture_.update(rgb);
+ bindImage(texture_.texture());
+ }
+
+ screen()->performLayout(ctx);
+ }
+ ImageView::draw(ctx);
+ }
+
+ private:
+ RGBDSource *src_;
+ GLTexture texture_;
+ Eigen::Vector3f eye_;
+ Eigen::Vector3f centre_;
+ Eigen::Vector3f up_;
+ Eigen::Vector3f lookPoint_;
+ float lerpSpeed_;
+};
+
+SourceWindow::SourceWindow(nanogui::Widget *parent, ftl::ctrl::Master *ctrl)
+ : nanogui::Window(parent, "Source View"), ctrl_(ctrl) {
+ setLayout(new nanogui::GroupLayout());
+
+ using namespace nanogui;
+
+ src_ = ftl::create<ftl::rgbd::NetSource>(ctrl->getRoot(), "source", ctrl->getNet());
+
+ new Label(this, "Select source","sans-bold");
+ auto available = ctrl->getNet()->findAll<string>("list_streams");
+ auto select = new ComboBox(this, available);
+ select->setCallback([this,available](int ix) {
+ LOG(INFO) << "Change source: " << ix;
+ src_->set("uri", available[ix]);
+ });
+
+ auto imageView = new VirtualCameraView(this);
+ //cam.view = imageView;
+ imageView->setGridThreshold(20);
+ imageView->setSource(src_);
+}
+
+SourceWindow::~SourceWindow() {
+
+}
diff --git a/applications/gui/src/src_window.hpp b/applications/gui/src/src_window.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..b52ae8034ff6733d2582c33dd689e3a7c937f7c9
--- /dev/null
+++ b/applications/gui/src/src_window.hpp
@@ -0,0 +1,29 @@
+#ifndef _FTL_GUI_SRCWINDOW_HPP_
+#define _FTL_GUI_SRCWINDOW_HPP_
+
+#include <nanogui/window.h>
+#include <ftl/master.hpp>
+#include <ftl/uuid.hpp>
+#include <ftl/net_source.hpp>
+
+namespace ftl {
+namespace gui {
+
+/**
+ * Manage connected nodes and add new connections.
+ */
+class SourceWindow : public nanogui::Window {
+ public:
+ SourceWindow(nanogui::Widget *parent, ftl::ctrl::Master *ctrl);
+ ~SourceWindow();
+
+ private:
+ ftl::ctrl::Master *ctrl_;
+ ftl::rgbd::NetSource *src_;
+
+};
+
+}
+}
+
+#endif // _FTL_GUI_SRCWINDOW_HPP_
diff --git a/components/common/cpp/include/ftl/configuration.hpp b/components/common/cpp/include/ftl/configuration.hpp
index 046b58a07bf536a691a970b3a9d93bf4b5ab119b..d38472746254587e4f495547ba48e095f750ed12 100644
--- a/components/common/cpp/include/ftl/configuration.hpp
+++ b/components/common/cpp/include/ftl/configuration.hpp
@@ -126,15 +126,23 @@ T *ftl::config::create(ftl::Configurable *parent, const std::string &name, ARGS
entity["$id"] = id_str + std::string("#") + name;
}
}
- } /*else {
- nlohmann::json &res = resolve(entity);
- if (!res["uri"].is_string()) {
- res["uri"] = *parent->get<std::string>("uri") + std::string("/") + name;
- LOG(WARNING) << "Creating false URI!!! - " << res["uri"].get<std::string>();
+
+ return create<T>(entity, args...);
+ } else if (entity.is_null()) {
+ // Must create the object from scratch...
+ std::string id_str = *parent->get<std::string>("$id");
+ if (id_str.find('#') != std::string::npos) {
+ id_str = id_str + std::string("/") + name;
+ } else {
+ id_str = id_str + std::string("#") + name;
}
- }*/
+ parent->getConfig()[name] = {
+ {"$id", id_str}
+ };
- return create<T>(entity, args...);
+ nlohmann::json &entity2 = parent->getConfig()[name];
+ return create<T>(entity2, args...);
+ }
}
#endif // _FTL_COMMON_CONFIGURATION_HPP_
diff --git a/components/control/cpp/include/ftl/master.hpp b/components/control/cpp/include/ftl/master.hpp
index 2a961af8de19a97ace119a70dd2870e993733dc9..82b68cf525de5e425d2bc705e599028995798dea 100644
--- a/components/control/cpp/include/ftl/master.hpp
+++ b/components/control/cpp/include/ftl/master.hpp
@@ -55,6 +55,9 @@ class Master {
//void onStatus();
// void onChange();
+ ftl::net::Universe *getNet() { return net_; }
+ ftl::Configurable *getRoot() { return root_; }
+
private:
std::vector<std::function<void(const LogEvent&)>> log_handlers_;
ftl::Configurable *root_;
diff --git a/components/rgbd-sources/include/ftl/net_source.hpp b/components/rgbd-sources/include/ftl/net_source.hpp
index c95437da81a75a11084a853221218cbced87e05d..2693128d275e3e4f7ad317e8d93b68dd5f096aa1 100644
--- a/components/rgbd-sources/include/ftl/net_source.hpp
+++ b/components/rgbd-sources/include/ftl/net_source.hpp
@@ -29,15 +29,17 @@ class NetSource : public RGBDSource {
}
void setPose(const Eigen::Matrix4f &pose);
- void setURI(const std::string &uri);
private:
bool has_calibration_;
ftl::UUID peer_;
int N_;
+ bool active_;
+ std::string uri_;
bool _getCalibration(ftl::net::Universe &net, const ftl::UUID &peer, const std::string &src, ftl::rgbd::CameraParameters &p);
void _recv(const std::vector<unsigned char> &jpg, const std::vector<unsigned char> &d);
+ void _updateURI();
};
}
diff --git a/components/rgbd-sources/src/net_source.cpp b/components/rgbd-sources/src/net_source.cpp
index a658be388e09d603f18d9062290982cf39185796..8c0187f039e2a60d2a0b5eb041d3efd1464a99f5 100644
--- a/components/rgbd-sources/src/net_source.cpp
+++ b/components/rgbd-sources/src/net_source.cpp
@@ -45,43 +45,18 @@ NetSource::NetSource(nlohmann::json &config) : RGBDSource(config) {
}
NetSource::NetSource(nlohmann::json &config, ftl::net::Universe *net)
- : RGBDSource(config, net) {
+ : RGBDSource(config, net), active_(false) {
- auto uri = get<string>("uri");
- if (!uri) {
- LOG(ERROR) << "NetSource does not have a URI";
- return;
- }
- auto p = net->findOne<ftl::UUID>("find_stream", *uri);
- if (!p) {
- LOG(ERROR) << "Could not find stream: " << *uri;
- return;
- }
- peer_ = *p;
-
- has_calibration_ = _getCalibration(*net, peer_, *uri, params_);
-
- net->bind(*uri, [this](const vector<unsigned char> &jpg, const vector<unsigned char> &d) {
- unique_lock<mutex> lk(mutex_);
- _recv(jpg, d);
+ on("uri", [this](const config::Event &e) {
+ _updateURI();
});
- N_ = 10;
-
- // Initiate stream with request for first 10 frames
- try {
- net->send(peer_, "get_stream", *uri, 10, 0, net->id(), *uri);
- } catch(...) {
- LOG(ERROR) << "Could not connect to stream " << *uri;
- }
+ _updateURI();
}
NetSource::~NetSource() {
- auto uri = get<string>("uri");
-
- // TODO(Nick) If URI changes then must unbind + rebind.
- if (uri) {
- net_->unbind(*uri);
+ if (uri_.size() > 0) {
+ net_->unbind(uri_);
}
}
@@ -99,6 +74,8 @@ void NetSource::_recv(const vector<unsigned char> &jpg, const vector<unsigned ch
}
void NetSource::setPose(const Eigen::Matrix4f &pose) {
+ if (!active_) return;
+
vector<unsigned char> vec((unsigned char*)pose.data(), (unsigned char*)(pose.data()+(pose.size())));
try {
net_->send(peer_, "set_pose", *get<string>("uri"), vec);
@@ -108,10 +85,45 @@ void NetSource::setPose(const Eigen::Matrix4f &pose) {
RGBDSource::setPose(pose);
}
-void NetSource::setURI(const std::string &uri) {
- //RGBDSource::setURI(uri);
- set("uri", uri);
- has_calibration_ = _getCalibration(*net_, peer_, *get<string>("uri"), params_);
+void NetSource::_updateURI() {
+ active_ = false;
+ auto uri = get<string>("uri");
+
+ // TODO(Nick) If URI changes then must unbind + rebind.
+ if (uri_.size() > 0) {
+ net_->unbind(uri_);
+ }
+
+ if (uri) {
+ auto p = net_->findOne<ftl::UUID>("find_stream", *uri);
+ if (!p) {
+ LOG(ERROR) << "Could not find stream: " << *uri;
+ return;
+ }
+ peer_ = *p;
+
+ has_calibration_ = _getCalibration(*net_, peer_, *uri, params_);
+
+ net_->bind(*uri, [this](const vector<unsigned char> &jpg, const vector<unsigned char> &d) {
+ unique_lock<mutex> lk(mutex_);
+ _recv(jpg, d);
+ });
+
+ N_ = 10;
+
+ // Initiate stream with request for first 10 frames
+ try {
+ net_->send(peer_, "get_stream", *uri, 10, 0, net_->id(), *uri);
+ } catch(...) {
+ LOG(ERROR) << "Could not connect to stream " << *uri;
+ }
+
+ uri_ = *uri;
+ active_ = true;
+ } else {
+ uri_ = "";
+ LOG(WARNING) << "NetSource URI is missing";
+ }
}
void NetSource::grab() {