Merge branch 'develop'

apps/RawLogViewer/CScanAnimation.cpp

@@ -464,9 +464,6 @@ bool CScanAnimation::update_opengl_viz(const CSensoryFrame& sf)
 
 			CSetOfObjects::Ptr gl_objs;
 
-			CColouredPointsMap pointMap;
-			pointMap.loadFromVelodyneScan(*obs);
-
 			// Already in the map with the same sensor label?
 			auto it_gl = m_gl_objects.find(sNameInMap);
 			if (it_gl != m_gl_objects.end())
@@ -496,6 +493,46 @@ bool CScanAnimation::update_opengl_viz(const CSensoryFrame& sf)
 			obs->point_cloud.clear_deep();
 			obs->unload();
 		}
+		else if (IS_CLASS(*it, CObservationRotatingScan))
+		{
+			CObservationRotatingScan::Ptr obs =
+				std::dynamic_pointer_cast<CObservationRotatingScan>(it);
+			obs->load();
+
+			hasToRefreshViz = true;
+			if (tim_last == INVALID_TIMESTAMP || tim_last < obs->timestamp)
+				tim_last = obs->timestamp;
+
+			CSetOfObjects::Ptr gl_objs;
+
+			// Already in the map with the same sensor label?
+			auto it_gl = m_gl_objects.find(sNameInMap);
+			if (it_gl != m_gl_objects.end())
+			{
+				// Update existing object:
+				TRenderObject& ro = it_gl->second;
+				gl_objs = std::dynamic_pointer_cast<CSetOfObjects>(ro.obj);
+				ro.timestamp = obs->timestamp;
+			}
+			else
+			{
+				// Create object:
+				gl_objs = CSetOfObjects::Create();
+
+				TRenderObject ro;
+				ro.obj = gl_objs;
+				ro.timestamp = obs->timestamp;
+				m_gl_objects[sNameInMap] = ro;
+				m_plot3D->getOpenGLSceneRef()->insert(gl_objs);
+			}
+
+			auto& p = theMainWindow->getViewOptions()->m_params;
+
+			// convert to viz object:
+			obsRotatingScan_to_viz(obs, p, *gl_objs);
+
+			obs->unload();
+		}
 		else if (IS_CLASS(*it, CObservationPointCloud))
 		{
 			auto obs = std::dynamic_pointer_cast<CObservationPointCloud>(it);

apps/RawLogViewer/main_show_selected_object.cpp

@@ -37,12 +37,21 @@ using namespace mrpt::poses;
 using namespace mrpt::rtti;
 using namespace std;
 
-static void showImageInGLView(CMyGLCanvas& canvas, const mrpt::img::CImage& im)
+namespace
+{
+void showImageInGLView(
+	mrpt::opengl::Viewport& view, const mrpt::img::CImage& im)
+{
+	view.setImageView(im, true);
+}
+
+void showImageInGLView(CMyGLCanvas& canvas, const mrpt::img::CImage& im)
 {
 	auto scene = canvas.getOpenGLSceneRef();
-	scene->getViewport()->setImageView(im);
+	showImageInGLView(*scene->getViewport(), im);
 	canvas.Refresh();
 }
+}
 
 // Update selected item display:
 void xRawLogViewerFrame::SelectObjectInTreeView(
@@ -157,6 +166,10 @@ void xRawLogViewerFrame::SelectObjectInTreeView(
 		Notebook1->ChangeSelection(8);
 		auto obs = std::dynamic_pointer_cast<CObservation2DRangeScan>(sel_obj);
 
+		// Hide unused viewports:
+		bmp3Dobs_depth->setViewportVisibility(false);
+		bmp3Dobs_int->setViewportVisibility(false);
+
 		// Additional text description: This is not within
 		// getDescriptionAsTextValue() because mrpt-maps is not available within
 		// mrpt-obs:
@@ -184,8 +197,8 @@ void xRawLogViewerFrame::SelectObjectInTreeView(
 // Update 3D view ==========
 #if RAWLOGVIEWER_HAS_3D
 		auto openGLSceneRef = m_gl3DRangeScan->getOpenGLSceneRef();
-		openGLSceneRef->clear();
-		openGLSceneRef->insert(glPts);
+		openGLSceneRef->getViewport()->clear();
+		openGLSceneRef->getViewport()->insert(glPts);
 
 		m_gl3DRangeScan->Refresh();
 #endif
@@ -339,6 +352,10 @@ void xRawLogViewerFrame::SelectObjectInTreeView(
 		obs->load();  // Make sure the 3D point cloud, etc... are all
 		// loaded in memory.
 
+		// Hide unused viewports:
+		bmp3Dobs_depth->setViewportVisibility(false);
+		bmp3Dobs_int->setViewportVisibility(false);
+
 		// Render options
 		// --------------------------------
 		const auto& p = pnViewOptions->m_params;
@@ -347,15 +364,6 @@ void xRawLogViewerFrame::SelectObjectInTreeView(
 
 		obs3Dscan_to_viz(obs, p, *glPts);
 
-// Update 3D view ==========
-#if RAWLOGVIEWER_HAS_3D
-		auto openGLSceneRef = m_gl3DRangeScan->getOpenGLSceneRef();
-		openGLSceneRef->clear();
-		openGLSceneRef->insert(glPts);
-
-		m_gl3DRangeScan->Refresh();
-#endif
-
 		// Update intensity image ======
 		{
 			CImage im;
@@ -387,6 +395,15 @@ void xRawLogViewerFrame::SelectObjectInTreeView(
 
 			obs->confidenceImage.unload();	// For externally-stored datasets
 		}
+
+// Update 3D view ==========
+#if RAWLOGVIEWER_HAS_3D
+		auto openGLSceneRef = m_gl3DRangeScan->getOpenGLSceneRef();
+		openGLSceneRef->getViewport()->clear();
+		openGLSceneRef->getViewport()->insert(glPts);
+
+		m_gl3DRangeScan->Refresh();
+#endif
 		obs->unload();
 	}
 
@@ -398,6 +415,10 @@ void xRawLogViewerFrame::SelectObjectInTreeView(
 		Notebook1->ChangeSelection(8);
 		auto obs = std::dynamic_pointer_cast<CObservationVelodyneScan>(sel_obj);
 
+		// Hide unused viewports:
+		bmp3Dobs_depth->setViewportVisibility(false);
+		bmp3Dobs_int->setViewportVisibility(false);
+
 		obs->generatePointCloud();
 		const auto& p = pnViewOptions->m_params;
 
@@ -407,8 +428,8 @@ void xRawLogViewerFrame::SelectObjectInTreeView(
 // Update 3D view ==========
 #if RAWLOGVIEWER_HAS_3D
 		auto openGLSceneRef = m_gl3DRangeScan->getOpenGLSceneRef();
-		openGLSceneRef->clear();
-		openGLSceneRef->insert(glPts);
+		openGLSceneRef->getViewport()->clear();
+		openGLSceneRef->getViewport()->insert(glPts);
 
 		this->m_gl3DRangeScan->Refresh();
 
@@ -425,6 +446,10 @@ void xRawLogViewerFrame::SelectObjectInTreeView(
 		Notebook1->ChangeSelection(8);
 		auto obs = std::dynamic_pointer_cast<CObservationPointCloud>(sel_obj);
 
+		// Hide unused viewports:
+		bmp3Dobs_depth->setViewportVisibility(false);
+		bmp3Dobs_int->setViewportVisibility(false);
+
 		const auto& p = pnViewOptions->m_params;
 
 		auto glPts = mrpt::opengl::CSetOfObjects::Create();
@@ -433,8 +458,8 @@ void xRawLogViewerFrame::SelectObjectInTreeView(
 // Update 3D view ==========
 #if RAWLOGVIEWER_HAS_3D
 		auto openGLSceneRef = m_gl3DRangeScan->getOpenGLSceneRef();
-		openGLSceneRef->clear();
-		openGLSceneRef->insert(glPts);
+		openGLSceneRef->getViewport()->clear();
+		openGLSceneRef->getViewport()->insert(glPts);
 
 		this->m_gl3DRangeScan->Refresh();
 #endif
@@ -450,12 +475,16 @@ void xRawLogViewerFrame::SelectObjectInTreeView(
 		// ----------------------------------------------------------------------
 		Notebook1->ChangeSelection(8);
 
+		// Hide unused viewports:
+		bmp3Dobs_depth->setViewportVisibility(false);
+		bmp3Dobs_int->setViewportVisibility(false);
+
 // Update 3D view ==========
 #if RAWLOGVIEWER_HAS_3D
 		auto openGLSceneRef = m_gl3DRangeScan->getOpenGLSceneRef();
 
-		openGLSceneRef->clear();
-		openGLSceneRef->insert(viz->getVisualization());
+		openGLSceneRef->getViewport()->clear();
+		openGLSceneRef->getViewport()->insert(viz->getVisualization());
 
 		this->m_gl3DRangeScan->Refresh();
 #endif
@@ -466,20 +495,68 @@ void xRawLogViewerFrame::SelectObjectInTreeView(
 		// ----------------------------------------------------------------------
 		//              CObservationRotatingScan
 		// ----------------------------------------------------------------------
-		Notebook1->ChangeSelection(3);
+		Notebook1->ChangeSelection(8);
 		auto obs = std::dynamic_pointer_cast<CObservationRotatingScan>(sel_obj);
 
+		// Show viewports:
+		bmp3Dobs_depth->setViewportVisibility(true);
+		bmp3Dobs_int->setViewportVisibility(true);
+
 		// Get range image as bitmap:
 		// ---------------------------
-		mrpt::img::CImage img_range;
-		img_range.setFromMatrix(obs->rangeImage, false);
+		int rangeHeight = 40;
+		{
+			mrpt::img::CImage img_range;
+
+			float maxActualRange = obs->rangeImage.maxCoeff();
+			if (maxActualRange == 0) maxActualRange = 1.0f;
+
+			img_range.setFromMatrix(
+				obs->rangeImage.asEigen().cast<float>() *
+					(1.0f / maxActualRange),
+				true /*already in [0,1]*/, true /*flip_vertical*/);
+
+			showImageInGLView(*bmp3Dobs_depth, img_range);
+
+			rangeHeight = img_range.getHeight();
+			bmp3Dobs_depth->setViewportPosition(
+				50, -2 - rangeHeight, -30, rangeHeight);
+		}
 
-		showImageInGLView(*bmpObsStereoLeft, img_range);
+		int intensityHeight = 40;
 
-		mrpt::img::CImage img_intensity;
-		img_intensity.setFromMatrix(obs->intensityImage, false);
+		if (!obs->intensityImage.empty())
+		{
+			mrpt::img::CImage img_intensity;
+
+			float maxActualInt = obs->intensityImage.maxCoeff();
+			if (maxActualInt == 0) maxActualInt = 1.0f;
+
+			img_intensity.setFromMatrix(
+				obs->intensityImage.asEigen().cast<float>() *
+					(1.0f / maxActualInt),
+				true /*already in [0,1]*/, true /*flip_vertical*/);
+
+			showImageInGLView(*bmp3Dobs_int, img_intensity);
+
+			intensityHeight = img_intensity.getHeight();
+			bmp3Dobs_int->setViewportPosition(
+				50, -2 - rangeHeight - 2 - intensityHeight, -30,
+				intensityHeight);
+		}
+
+		bmp3Dobs_3dcloud->addTextMessage(2, -2 - rangeHeight / 2, "Range", 0);
+		bmp3Dobs_3dcloud->addTextMessage(
+			2, -2 - rangeHeight - 2 - intensityHeight / 2, "Intensity", 1);
+
+		// 3D points:
+		const auto& p = pnViewOptions->m_params;
+
+		auto glPts = mrpt::opengl::CSetOfObjects::Create();
+		obsRotatingScan_to_viz(obs, p, *glPts);
 
-		showImageInGLView(*bmpObsStereoRight, img_intensity);
+		bmp3Dobs_3dcloud->clear();
+		bmp3Dobs_3dcloud->insert(glPts);
 	}
 
 	if (classID->derivedFrom(CLASS_ID(CObservation)))

apps/RawLogViewer/xRawLogViewerMain.cpp

@@ -363,7 +363,6 @@ xRawLogViewerFrame::xRawLogViewerFrame(wxWindow* parent, wxWindowID id)
 	wxMenuItem* MenuItem26;
 	wxMenuItem* MenuItem25;
 	wxMenuItem* MenuItem2;
-	wxFlexGridSizer* FlexGridSizer10;
 	wxFlexGridSizer* FlexGridSizer3;
 	wxMenuItem* MenuItem55;
 	wxMenuItem* MenuItem1;
@@ -394,7 +393,6 @@ xRawLogViewerFrame::xRawLogViewerFrame(wxWindow* parent, wxWindowID id)
 	wxMenuBar* MenuBar1;
 	wxFlexGridSizer* FlexGridSizer6;
 	wxFlexGridSizer* fgzMain;
-	wxFlexGridSizer* FlexGridSizer11;
 	wxMenuItem* MenuItem43;
 	wxMenu* Menu2;
 	wxMenuItem* MenuItem18;
@@ -809,51 +807,54 @@ xRawLogViewerFrame::xRawLogViewerFrame(wxWindow* parent, wxWindowID id)
 	pn_CObservationBearingRange->SetSizer(BoxSizer4);
 	BoxSizer4->Fit(pn_CObservationBearingRange);
 	BoxSizer4->SetSizeHints(pn_CObservationBearingRange);
+
+	// Panel[8]: pn_CObservation3DRangeScan
 	pn_CObservation3DRangeScan = new wxPanel(
 		Notebook1, ID_PANEL19, wxDefaultPosition, wxDefaultSize,
 		wxTAB_TRAVERSAL, _T("ID_PANEL19"));
 	FlexGridSizer8 = new wxFlexGridSizer(1, 1, 0, 0);
 	FlexGridSizer8->AddGrowableCol(0);
 	FlexGridSizer8->AddGrowableRow(0);
+
+	// Tabs for 3D observations channels & options:
 	nb_3DObsChannels = new wxNotebook(
 		pn_CObservation3DRangeScan, ID_NOTEBOOK_3DOBS, wxDefaultPosition,
 		wxDefaultSize, 0, _T("ID_NOTEBOOK_3DOBS"));
 
+	// Tab: 3D view + range + intensity:
 	pn3Dobs_3D = new wxPanel(
 		nb_3DObsChannels, ID_PANEL20, wxDefaultPosition, wxDefaultSize,
 		wxTAB_TRAVERSAL, _T("ID_PANEL20"));
 	FlexGridSizer9 = new wxFlexGridSizer(1, 1, 0, 0);
 	FlexGridSizer9->AddGrowableCol(0);
 	FlexGridSizer9->AddGrowableRow(0);
+
 	m_gl3DRangeScan = new CMyGLCanvas(
 		pn3Dobs_3D, ID_XY_GLCANVAS, wxDefaultPosition, wxDefaultSize,
 		wxTAB_TRAVERSAL, _T("ID_XY_GLCANVAS"));
-	FlexGridSizer9->Add(m_gl3DRangeScan, 1, wxEXPAND, 0);
+	FlexGridSizer9->Add(m_gl3DRangeScan, 1, wxEXPAND, 2);
+
+	// OpenGL Views:
+	bmp3Dobs_depth =
+		m_gl3DRangeScan->getOpenGLSceneRef()->createViewport("depth");
+	bmp3Dobs_depth->setCustomBackgroundColor({.0f, .0f, .0f});
+
+	bmp3Dobs_int =
+		m_gl3DRangeScan->getOpenGLSceneRef()->createViewport("intensity");
+	bmp3Dobs_int->setCustomBackgroundColor({.0f, .0f, .0f});
+
+	bmp3Dobs_3dcloud =
+		m_gl3DRangeScan->getOpenGLSceneRef()->getViewport("main");
+
+	// The correct sizes will be updated anyway in SelectObjectInTreeView()
+	bmp3Dobs_depth->setViewportPosition(2, -50 - 2, 1.0, 50);
+	bmp3Dobs_int->setViewportPosition(2, -100 - 2 * 2, 1.0, 50);
+
+	// panel done:
 	pn3Dobs_3D->SetSizer(FlexGridSizer9);
 	FlexGridSizer9->Fit(pn3Dobs_3D);
 	FlexGridSizer9->SetSizeHints(pn3Dobs_3D);
-	pn3Dobs_Depth = new wxPanel(
-		nb_3DObsChannels, ID_PANEL21, wxDefaultPosition, wxDefaultSize,
-		wxTAB_TRAVERSAL, _T("ID_PANEL21"));
-	FlexGridSizer10 = new wxFlexGridSizer(1, 1, 0, 0);
-	FlexGridSizer10->AddGrowableCol(0);
-	FlexGridSizer10->AddGrowableRow(0);
-	bmp3Dobs_depth = new CMyGLCanvas(pn3Dobs_Depth, ID_STATICBITMAP4);
-	FlexGridSizer10->Add(bmp3Dobs_depth, 1, wxEXPAND, 0);
-	pn3Dobs_Depth->SetSizer(FlexGridSizer10);
-	FlexGridSizer10->Fit(pn3Dobs_Depth);
-	FlexGridSizer10->SetSizeHints(pn3Dobs_Depth);
-	pn3Dobs_Int = new wxPanel(
-		nb_3DObsChannels, ID_PANEL22, wxDefaultPosition, wxDefaultSize,
-		wxTAB_TRAVERSAL, _T("ID_PANEL22"));
-	FlexGridSizer11 = new wxFlexGridSizer(1, 1, 0, 0);
-	FlexGridSizer11->AddGrowableCol(0);
-	FlexGridSizer11->AddGrowableRow(0);
-	bmp3Dobs_int = new CMyGLCanvas(pn3Dobs_Int, ID_STATICBITMAP5);
-	FlexGridSizer11->Add(bmp3Dobs_int, 1, wxEXPAND, 0);
-	pn3Dobs_Int->SetSizer(FlexGridSizer11);
-	FlexGridSizer11->Fit(pn3Dobs_Int);
-	FlexGridSizer11->SetSizeHints(pn3Dobs_Int);
+
 	pn3Dobs_Conf = new wxPanel(
 		nb_3DObsChannels, ID_PANEL23, wxDefaultPosition, wxDefaultSize,
 		wxTAB_TRAVERSAL, _T("ID_PANEL23"));
@@ -869,9 +870,7 @@ xRawLogViewerFrame::xRawLogViewerFrame(wxWindow* parent, wxWindowID id)
 	pnViewOptions = new ViewOptions3DPoints(
 		nb_3DObsChannels, ID_PANEL_VIEW_3D_POINT_OPTIONS);
 
-	nb_3DObsChannels->AddPage(pn3Dobs_3D, _("3D view"), false);
-	nb_3DObsChannels->AddPage(pn3Dobs_Depth, _("Depth"), false);
-	nb_3DObsChannels->AddPage(pn3Dobs_Int, _("Intensity"), false);
+	nb_3DObsChannels->AddPage(pn3Dobs_3D, _("3D/Range/Intensity"), true);
 	nb_3DObsChannels->AddPage(pn3Dobs_Conf, _("Confidence"), false);
 	nb_3DObsChannels->AddPage(pnViewOptions, _("Visualization options"), false);