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adapt to Pangolin API changes
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@christian-rauch
christian-rauch committed Sep 14, 2021
1 parent 28c98c4 commit c6532ba
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Showing 3 changed files with 39 additions and 39 deletions.
2 changes: 1 addition & 1 deletion Core/Shaders/FeedbackBuffer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@
#include "../Utils/Resolution.h"
#include "../Utils/Intrinsics.h"
#include <pangolin/gl/gl.h>
#include <pangolin/display/opengl_render_state.h>
#include <pangolin/gl/opengl_render_state.h>

/// A feedback buffer holds one vertex per pixel (see uvo)
class FeedbackBuffer {
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58 changes: 29 additions & 29 deletions GUI/MainController.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -216,32 +216,32 @@ MainController::MainController(int argc, char* argv[])
showcaseMode = Parse::get().arg(argc, argv, "-sc", empty) > -1;
gui = new GUI(logFile.length() == 0, showcaseMode);

if (Parse::get().arg(argc, argv, "-d", tmpFloat) > -1) gui->depthCutoff->Ref().Set(tmpFloat);
if (Parse::get().arg(argc, argv, "-i", tmpFloat) > -1) gui->icpWeight->Ref().Set(tmpFloat);
if (Parse::get().arg(argc, argv, "-or", tmpFloat) > -1) gui->outlierCoefficient->Ref().Set(tmpFloat);
if (Parse::get().arg(argc, argv, "-segMinNew", tmpFloat) > -1) gui->minRelSizeNew->Ref().Set(tmpFloat);
if (Parse::get().arg(argc, argv, "-segMaxNew", tmpFloat) > -1) gui->maxRelSizeNew->Ref().Set(tmpFloat);
if (Parse::get().arg(argc, argv, "-crfRGB", tmpFloat) > -1) gui->pairwiseRGBSTD->Ref().Set(tmpFloat);
if (Parse::get().arg(argc, argv, "-crfDepth", tmpFloat) > -1) gui->pairwiseDepthSTD->Ref().Set(tmpFloat);
if (Parse::get().arg(argc, argv, "-crfPos", tmpFloat) > -1) gui->pairwisePosSTD->Ref().Set(tmpFloat);
if (Parse::get().arg(argc, argv, "-crfAppearance", tmpFloat) > -1) gui->pairwiseAppearanceWeight->Ref().Set(tmpFloat);
if (Parse::get().arg(argc, argv, "-crfSmooth", tmpFloat) > -1) gui->pairwiseSmoothnessWeight->Ref().Set(tmpFloat);
if (Parse::get().arg(argc, argv, "-offset", tmpFloat) > -1) gui->modelSpawnOffset->Ref().Set(tmpFloat);
if (Parse::get().arg(argc, argv, "-thNew", tmpFloat) > -1) gui->thresholdNew->Ref().Set(tmpFloat);
if (Parse::get().arg(argc, argv, "-k", tmpFloat) > -1) gui->unaryErrorK->Ref().Set(tmpFloat);

gui->flipColors->Ref().Set(logReader->flipColors);
gui->rgbOnly->Ref().Set(false);
gui->enableMultiModel->Ref().Set(Parse::get().arg(argc, argv, "-static", empty) <= -1);
gui->enableSmartDelete->Ref().Set(Parse::get().arg(argc, argv, "-keep", empty) <= -1);
gui->pyramid->Ref().Set(true);
gui->fastOdom->Ref().Set(fastOdom);
// gui->confidenceThreshold->Ref().Set(confidence);
gui->so3->Ref().Set(so3);
gui->frameToFrameRGB->Ref().Set(frameToFrameRGB);
gui->pause->Ref().Set((Parse::get().arg(argc, argv, "-run", empty) <= -1));
// gui->pause->Ref().Set(logFile.length());
// gui->pause->Ref().Set(!showcaseMode);
if (Parse::get().arg(argc, argv, "-d", tmpFloat) > -1) gui->depthCutoff->Ref()->Set(tmpFloat);
if (Parse::get().arg(argc, argv, "-i", tmpFloat) > -1) gui->icpWeight->Ref()->Set(tmpFloat);
if (Parse::get().arg(argc, argv, "-or", tmpFloat) > -1) gui->outlierCoefficient->Ref()->Set(tmpFloat);
if (Parse::get().arg(argc, argv, "-segMinNew", tmpFloat) > -1) gui->minRelSizeNew->Ref()->Set(tmpFloat);
if (Parse::get().arg(argc, argv, "-segMaxNew", tmpFloat) > -1) gui->maxRelSizeNew->Ref()->Set(tmpFloat);
if (Parse::get().arg(argc, argv, "-crfRGB", tmpFloat) > -1) gui->pairwiseRGBSTD->Ref()->Set(tmpFloat);
if (Parse::get().arg(argc, argv, "-crfDepth", tmpFloat) > -1) gui->pairwiseDepthSTD->Ref()->Set(tmpFloat);
if (Parse::get().arg(argc, argv, "-crfPos", tmpFloat) > -1) gui->pairwisePosSTD->Ref()->Set(tmpFloat);
if (Parse::get().arg(argc, argv, "-crfAppearance", tmpFloat) > -1) gui->pairwiseAppearanceWeight->Ref()->Set(tmpFloat);
if (Parse::get().arg(argc, argv, "-crfSmooth", tmpFloat) > -1) gui->pairwiseSmoothnessWeight->Ref()->Set(tmpFloat);
if (Parse::get().arg(argc, argv, "-offset", tmpFloat) > -1) gui->modelSpawnOffset->Ref()->Set(tmpFloat);
if (Parse::get().arg(argc, argv, "-thNew", tmpFloat) > -1) gui->thresholdNew->Ref()->Set(tmpFloat);
if (Parse::get().arg(argc, argv, "-k", tmpFloat) > -1) gui->unaryErrorK->Ref()->Set(tmpFloat);

gui->flipColors->Ref()->Set(logReader->flipColors);
gui->rgbOnly->Ref()->Set(false);
gui->enableMultiModel->Ref()->Set(Parse::get().arg(argc, argv, "-static", empty) <= -1);
gui->enableSmartDelete->Ref()->Set(Parse::get().arg(argc, argv, "-keep", empty) <= -1);
gui->pyramid->Ref()->Set(true);
gui->fastOdom->Ref()->Set(fastOdom);
// gui->confidenceThreshold->Ref()->Set(confidence);
gui->so3->Ref()->Set(so3);
gui->frameToFrameRGB->Ref()->Set(frameToFrameRGB);
gui->pause->Ref()->Set((Parse::get().arg(argc, argv, "-run", empty) <= -1));
// gui->pause->Ref()->Set(logFile.length());
// gui->pause->Ref()->Set(!showcaseMode);

resizeStream = new GPUResize(Resolution::getInstance().width(), Resolution::getInstance().height(), Resolution::getInstance().width() / 2,
Resolution::getInstance().height() / 2);
Expand Down Expand Up @@ -388,7 +388,7 @@ void MainController::run() {
}

if (coFusion->processFrame(logReader->getFrameData(), currentPose, weightMultiplier) && !showcaseMode) {
gui->pause->Ref().Set(true);
gui->pause->Ref()->Set(true);
}

if (exportLabels) {
Expand Down Expand Up @@ -430,11 +430,11 @@ void MainController::run() {

std::stringstream stri;
stri << coFusion->getModelToModel().lastICPCount;
gui->trackInliers->Ref().Set(stri.str());
gui->trackInliers->Ref()->Set(stri.str());

std::stringstream stre;
stre << (std::isnan(coFusion->getModelToModel().lastICPError) ? 0 : coFusion->getModelToModel().lastICPError);
gui->trackRes->Ref().Set(stre.str());
gui->trackRes->Ref()->Set(stre.str());

if (!gui->pause->Get()) {
gui->resLog.Log((std::isnan(coFusion->getModelToModel().lastICPError) ? std::numeric_limits<float>::max()
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18 changes: 9 additions & 9 deletions GUI/Tools/GUI.h
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Original file line number Diff line number Diff line change
Expand Up @@ -260,15 +260,15 @@ class GUI {
pangolin::RegisterKeyPressCallback(' ', pangolin::SetVarFunctor<bool>("ui.Reset", true));
}

pangolin::RegisterKeyPressCallback('p', [&]() { pause->Ref().Set(!pause->Get()); });
pangolin::RegisterKeyPressCallback('c', [&]() { drawColors->Ref().Set(!drawColors->Get()); });
pangolin::RegisterKeyPressCallback('l', [&]() { drawLabelColors->Ref().Set(!drawLabelColors->Get()); });
pangolin::RegisterKeyPressCallback('x', [&]() { drawFxaa->Ref().Set(!drawFxaa->Get()); });
pangolin::RegisterKeyPressCallback('f', [&]() { followPose->Ref().Set(!followPose->Get()); });
pangolin::RegisterKeyPressCallback('q', [&]() { savePoses->Ref().Set(true); });
pangolin::RegisterKeyPressCallback('w', [&]() { saveCloud->Ref().Set(true); });
pangolin::RegisterKeyPressCallback('e', [&]() { saveView->Ref().Set(true); });
pangolin::RegisterKeyPressCallback('s', [&]() { step->Ref().Set(true); });
pangolin::RegisterKeyPressCallback('p', [&]() { pause->Ref()->Set(!pause->Get()); });
pangolin::RegisterKeyPressCallback('c', [&]() { drawColors->Ref()->Set(!drawColors->Get()); });
pangolin::RegisterKeyPressCallback('l', [&]() { drawLabelColors->Ref()->Set(!drawLabelColors->Get()); });
pangolin::RegisterKeyPressCallback('x', [&]() { drawFxaa->Ref()->Set(!drawFxaa->Get()); });
pangolin::RegisterKeyPressCallback('f', [&]() { followPose->Ref()->Set(!followPose->Get()); });
pangolin::RegisterKeyPressCallback('q', [&]() { savePoses->Ref()->Set(true); });
pangolin::RegisterKeyPressCallback('w', [&]() { saveCloud->Ref()->Set(true); });
pangolin::RegisterKeyPressCallback('e', [&]() { saveView->Ref()->Set(true); });
pangolin::RegisterKeyPressCallback('s', [&]() { step->Ref()->Set(true); });
}

virtual ~GUI() {
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