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Merge pull request #350 from SPARK/feature/rviz_display
Feature/rviz display
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,11 +1,13 @@ | ||
| ### Add includes | ||
| target_sources(kimera_vio PRIVATE | ||
| "${CMAKE_CURRENT_LIST_DIR}/Visualizer3D.h" | ||
| "${CMAKE_CURRENT_LIST_DIR}/Visualizer3D-definitions.h" | ||
| "${CMAKE_CURRENT_LIST_DIR}/Visualizer3DModule.h" | ||
| "${CMAKE_CURRENT_LIST_DIR}/Visualizer3DFactory.h" | ||
| "${CMAKE_CURRENT_LIST_DIR}/Visualizer3D.h" | ||
| "${CMAKE_CURRENT_LIST_DIR}/OpenCvVisualizer3D.h" | ||
| "${CMAKE_CURRENT_LIST_DIR}/Display-definitions.h" | ||
| "${CMAKE_CURRENT_LIST_DIR}/Display.h" | ||
| "${CMAKE_CURRENT_LIST_DIR}/DisplayModule.h" | ||
| "${CMAKE_CURRENT_LIST_DIR}/DisplayFactory.h" | ||
| "${CMAKE_CURRENT_LIST_DIR}/Display.h" | ||
| "${CMAKE_CURRENT_LIST_DIR}/OpenCvDisplay.h" | ||
| ) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,117 @@ | ||
| /* ---------------------------------------------------------------------------- | ||
| * Copyright 2017, Massachusetts Institute of Technology, | ||
| * Cambridge, MA 02139 | ||
| * All Rights Reserved | ||
| * Authors: Luca Carlone, et al. (see THANKS for the full author list) | ||
| * See LICENSE for the license information | ||
| * -------------------------------------------------------------------------- */ | ||
|
|
||
| /** | ||
| * @file OpenCvDisplay.h | ||
| * @brief Class to display visualizer output using OpenCV | ||
| * @author Antoni Rosinol | ||
| */ | ||
|
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||
| #pragma once | ||
|
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| #include <opencv2/opencv.hpp> | ||
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| #include "kimera-vio/pipeline/Pipeline-definitions.h" // Needed for shutdown cb | ||
| #include "kimera-vio/utils/Macros.h" | ||
| #include "kimera-vio/visualizer/Display-definitions.h" | ||
| #include "kimera-vio/visualizer/Display.h" | ||
| #include "kimera-vio/visualizer/Visualizer3D-definitions.h" | ||
|
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| namespace VIO { | ||
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| class OpenCv3dDisplay : public DisplayBase { | ||
| public: | ||
| KIMERA_POINTER_TYPEDEFS(OpenCv3dDisplay); | ||
| KIMERA_DELETE_COPY_CONSTRUCTORS(OpenCv3dDisplay); | ||
|
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| OpenCv3dDisplay(const ShutdownPipelineCallback& shutdown_pipeline_cb); | ||
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| // TODO(Toni): consider using `unregisterAllWindows` | ||
| ~OpenCv3dDisplay() override = default; | ||
|
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| /** | ||
| * @brief spinOnce | ||
| * Spins renderers to display data using OpenCV imshow and viz3d | ||
| * Displaying must be done in the main thread, that it is why it is separated | ||
| * from Visualizer3D (plus it makes everything faster as displaying and | ||
| * building 3D graphics is decoupled). | ||
| * @param viz_output | ||
| */ | ||
| void spinOnce(DisplayInputBase::UniquePtr&& viz_output) override; | ||
|
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| private: | ||
| //! Adds 3D widgets to the window, and displays it. | ||
| void spin3dWindow(VisualizerOutput::UniquePtr&& viz_output); | ||
|
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| //! Visualizes 2D data. | ||
| void spin2dWindow(const DisplayInputBase& viz_output); | ||
|
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| //! Sets the visualization properties of the 3D mesh. | ||
| void setMeshProperties(WidgetsMap* widgets); | ||
|
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| //! Sets a 3D Widget Pose, because Widget3D::setPose() doesn't work; | ||
| void setFrustumPose(const cv::Affine3d& frustum_pose); | ||
|
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| //! Keyboard callback. | ||
| static void keyboardCallback(const cv::viz::KeyboardEvent& event, void* t); | ||
|
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| //! Keyboard callback to toggle freezing screen. | ||
| static void toggleFreezeScreenKeyboardCallback(const uchar& code, | ||
| WindowData* window_data); | ||
|
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| //! Keyboard callback to set mesh representation. | ||
| static void setMeshRepresentation(const uchar& code, WindowData* window_data); | ||
|
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| //! Keyboard callback to set mesh shading. | ||
| static void setMeshShadingCallback(const uchar& code, | ||
| WindowData* window_data); | ||
|
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| //! Keyboard callback to set mesh ambient. | ||
| static void setMeshAmbientCallback(const uchar& code, | ||
| WindowData* window_data); | ||
|
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| //! Keyboard callback to set mesh lighting. | ||
| static void setMeshLightingCallback(const uchar& code, | ||
| WindowData* window_data); | ||
|
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| //! Keyboard callback to get current viewer pose. | ||
| static void getViewerPoseKeyboardCallback(const uchar& code, | ||
| WindowData* window_data); | ||
|
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| //! Keyboard callback to get current screen size. | ||
| static void getCurrentWindowSizeKeyboardCallback(const uchar& code, | ||
| WindowData* window_data); | ||
|
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| //! Keyboard callback to get screenshot of current windodw. | ||
| static void getScreenshotCallback(const uchar& code, WindowData* window_data); | ||
|
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| //! Record video sequence at a hardcoded directory relative to executable. | ||
| void recordVideo(); | ||
|
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| //! Useful for when testing on servers without display screen. | ||
| void setOffScreenRendering(); | ||
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| /** | ||
| * @brief safeCast Try to cast display input base to the derived visualizer | ||
| * output, if unsuccessful, it will return a nullptr. | ||
| * @param display_input_base | ||
| * @return | ||
| */ | ||
| VisualizerOutput::UniquePtr safeCast( | ||
| DisplayInputBase::UniquePtr display_input_base); | ||
|
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| private: | ||
| //! Data to visualize (in 3D) | ||
| WindowData window_data_; | ||
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| //! We use this callback to shutdown the pipeline gracefully if | ||
| //! the visualization window is closed. | ||
| ShutdownPipelineCallback shutdown_pipeline_cb_; | ||
| }; | ||
|
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| } // namespace VIO |
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