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dynamicfusionui.cpp
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dynamicfusionui.cpp
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#include "dynamicfusionui.h"
#include "global_data_holder.h"
#include "WarpField.h"
#include "GpuGaussNewtonSolver.h"
QMutex* g_mutex;
class SaveThread : public QThread
{
public:
SaveThread() :QThread()
{
m_depths.reserve(g_dataholder.m_dparam.fusion_dumping_max_frame);
m_ids.reserve(g_dataholder.m_dparam.fusion_dumping_max_frame);
}
void set_path(QString path)
{
QMutexLocker locker(g_mutex);
m_currentPath = path;
QDir dir(m_currentPath);
if (!dir.exists())
mkdir(m_currentPath.toStdString());
g_dataholder.m_dparam.save(fullfile(m_currentPath.toStdString(), "_param.param.txt").c_str());
}
void push_depth(const std::vector<dfusion::depthtype>& depth,
const std::vector<dfusion::PixelRGBA>* color, int id)
{
QMutexLocker locker(g_mutex);
m_depths.push_back(depth);
m_ids.push_back(id);
if (color)
{
m_colors.push_back(QImage(dfusion::KINECT_WIDTH,
dfusion::KINECT_HEIGHT, QImage::Format_RGBA8888));
const dfusion::PixelRGBA* src = color->data();
QImage& img = m_colors.back();
for (int y = 0; y < dfusion::KINECT_HEIGHT; y++)
for (int x = 0; x < dfusion::KINECT_WIDTH; x++)
{
dfusion::PixelRGBA p = src[y*dfusion::KINECT_WIDTH + x];
img.setPixel(x, y, qRgba(p.r, p.g, p.b, p.a));
}
}
}
protected:
void run()
{
while (1)
{
if (!m_depths.empty())
{
int id = 0;
const std::vector<dfusion::depthtype>* depth = nullptr;
const QImage* color = nullptr;
{
QMutexLocker locker(g_mutex);
id = m_ids.front();
depth = &m_depths.front();
if (m_colors.size())
color = &m_colors.front();
}
QDir dir(m_currentPath);
QString name = dir.absoluteFilePath(QString().sprintf("%08d.depth", id));
g_dataholder.saveDepth(*depth, name.toStdString());
printf("saved: %s\n", name.toStdString().c_str());
if (color)
{
name = dir.absoluteFilePath(QString().sprintf("%08d.png", id));
color->save(name);
}
{
QMutexLocker locker(g_mutex);
m_ids.pop_front();
m_depths.pop_front();
if (m_colors.size())
m_colors.pop_front();
}
}
}
}
private:
QQueue<std::vector<dfusion::depthtype>> m_depths;
QQueue<QImage> m_colors;
QQueue<int> m_ids;
QString m_currentPath;
};
SaveThread g_saveThread;
DynamicFusionUI::DynamicFusionUI(QWidget *parent)
: QMainWindow(parent)
{
ui.setupUi(this);
setAcceptDrops(true);
m_frameIndex = 0;
m_view_normalmap = false;
m_lastState = DynamicFusionUI::Live;
m_state = DynamicFusionUI::Live;
if (g_dataholder.m_dparam.fusion_loading_mode)
m_state = DynamicFusionUI::Pause;
m_renderType = RenderRayCasting;
updateUiFromParam();
g_dataholder.init();
m_fpsTimerId = startTimer(30);
m_autoResetTimerId = startTimer(g_dataholder.m_dparam.view_autoreset_seconds*1000);
m_autoResetRemaingTime = g_dataholder.m_dparam.view_autoreset_seconds;
g_mutex = new QMutex();
g_saveThread.start();
}
DynamicFusionUI::~DynamicFusionUI()
{
g_saveThread.terminate();
delete g_mutex;
}
void DynamicFusionUI::timerEvent(QTimerEvent* ev)
{
if (m_fpsTimerId == ev->timerId())
{
gtime_t time_s = gtime_now();
try
{
//// process a new kinect frame.
switch (m_state)
{
case DynamicFusionUI::Loading:
frameLoading();
break;
case DynamicFusionUI::Saving:
frameLive();
frameSaving();
break;
case DynamicFusionUI::Live:
frameLive();
break;
default:
break;
}
//// process viewers
switch (m_state)
{
case DynamicFusionUI::ShowLoadedStaticVolume:
updateLoadedStaticVolume();
break;
case DynamicFusionUI::Live:
case DynamicFusionUI::Loading:
case DynamicFusionUI::Pause:
updateDynamicFusion();
break;
default:
break;
}
//// visualize the depth via jet map, calculate it on GPU
//ui.widgetDepth->setImage_h(g_dataholder.m_depth_h.data(),
// dfusion::KINECT_WIDTH, dfusion::KINECT_HEIGHT);
if (g_dataholder.m_processor.hasRawDepth() && m_state != Saving)
{
const dfusion::MapArr& nmap = g_dataholder.m_processor.getRawDepthNormal();
ui.widgetDepth->setNormal_d(nmap);
}
else
ui.widgetDepth->setImage_d(g_dataholder.m_depth_d);
}
catch (std::exception e)
{
std::cout << e.what() << std::endl;
}
gtime_t time_e = gtime_now();
double sec = gtime_seconds(time_s, time_e);
double fps = 1.0 / sec;
m_autoResetRemaingTime -= sec;
setWindowTitle(QString().sprintf("[%d] FPS:%.1f; Nodes: %d %d %d %d; Reset: %.1f",
m_frameIndex, fps,
g_dataholder.m_processor.getWarpField()->getNumNodesInLevel(0),
g_dataholder.m_processor.getWarpField()->getNumNodesInLevel(1),
g_dataholder.m_processor.getWarpField()->getNumNodesInLevel(2),
g_dataholder.m_processor.getWarpField()->getNumNodesInLevel(3),
m_autoResetRemaingTime
));
}// end if fps timer id
else if (m_autoResetTimerId == ev->timerId())
{
m_autoResetRemaingTime = g_dataholder.m_dparam.view_autoreset_seconds;
if (g_dataholder.m_dparam.view_autoreset)
{
g_dataholder.m_processor.reset();
printf("auto reset!");
}
}
}
void DynamicFusionUI::dragEnterEvent(QDragEnterEvent* ev)
{
ev->acceptProposedAction();
}
void DynamicFusionUI::dropEvent(QDropEvent *ev)
{
QString s = ev->mimeData()->text();
QUrl url = QUrl(s);
QString path = url.toLocalFile();
QFile file(path);
QFileInfo info(file);
// if dropped a directory, then we load all frames in it.
if (info.isDir())
{
m_currentPath = path;
setState(DynamicFusionUI::Loading);
m_frameIndex = 0;
}
// if dropped a file, then we load as a dumpped volume.
else if (info.isFile())
{
}
}
void DynamicFusionUI::updateUiFromParam()
{
ui.rbMarchCube->setChecked(m_renderType == RenderMarchCube);
ui.rbRayCasting->setChecked(m_renderType == RenderRayCasting);
if (g_dataholder.m_dparam.volume_resolution[0] == 128)
ui.rbResX128->setChecked(true);
if (g_dataholder.m_dparam.volume_resolution[0] == 256)
ui.rbResX256->setChecked(true);
if (g_dataholder.m_dparam.volume_resolution[0] == 384)
ui.rbResX384->setChecked(true);
if (g_dataholder.m_dparam.volume_resolution[0] == 512)
ui.rbResX512->setChecked(true);
if (g_dataholder.m_dparam.volume_resolution[1] == 128)
ui.rbResY128->setChecked(true);
if (g_dataholder.m_dparam.volume_resolution[1] == 256)
ui.rbResY256->setChecked(true);
if (g_dataholder.m_dparam.volume_resolution[1] == 384)
ui.rbResY384->setChecked(true);
if (g_dataholder.m_dparam.volume_resolution[1] == 512)
ui.rbResY512->setChecked(true);
if (g_dataholder.m_dparam.volume_resolution[2] == 128)
ui.rbResZ128->setChecked(true);
if (g_dataholder.m_dparam.volume_resolution[2] == 256)
ui.rbResZ256->setChecked(true);
if (g_dataholder.m_dparam.volume_resolution[2] == 384)
ui.rbResZ384->setChecked(true);
if (g_dataholder.m_dparam.volume_resolution[2] == 512)
ui.rbResZ512->setChecked(true);
ui.sbVoxelsPerMeter->setValue(g_dataholder.m_dparam.voxels_per_meter);
ui.cbNoRigid->setChecked(g_dataholder.m_dparam.view_no_rigid);
ui.cbShowMesh->setChecked(g_dataholder.m_dparam.view_show_mesh);
ui.cbShowColor->setChecked(g_dataholder.m_dparam.view_show_color);
ui.cbShowNodes->setChecked(g_dataholder.m_dparam.view_show_nodes);
ui.cbShowGraph->setChecked(g_dataholder.m_dparam.view_show_graph);
ui.cbShowCorr->setChecked(g_dataholder.m_dparam.view_show_corr);
ui.sbShowGraphLevel->setMaximum(dfusion::WarpField::GraphLevelNum);
ui.sbShowGraphLevel->setValue(g_dataholder.m_dparam.view_show_graph_level);
ui.sbActiveNode->setValue(g_dataholder.m_dparam.view_activeNode_id);
ui.sbNodeRadius->setValue(g_dataholder.m_dparam.warp_radius_search_epsilon*1000);
ui.dbDwLvScale->setValue(g_dataholder.m_dparam.warp_param_dw_lvup_scale);
ui.dbDwSoft->setValue(g_dataholder.m_dparam.warp_param_softness);
ui.sbICPIter->setValue(g_dataholder.m_dparam.fusion_nonRigidICP_maxIter);
ui.sbGSIter->setValue(g_dataholder.m_dparam.fusion_GaussNewton_maxIter);
ui.cbDumpFrames->setChecked(g_dataholder.m_dparam.fusion_dumping_each_frame);
ui.cbEnableNonRigid->setChecked(g_dataholder.m_dparam.fusion_enable_nonRigidSolver);
ui.cbEnableRigid->setChecked(g_dataholder.m_dparam.fusion_enable_rigidSolver);
ui.dbBeta->setValue(g_dataholder.m_dparam.warp_radius_search_beta);
ui.dbLambda->setValue(g_dataholder.m_dparam.fusion_lambda);
ui.gbAutoReset->setChecked(g_dataholder.m_dparam.view_autoreset);
ui.sbAutoResetSeconds->setValue(g_dataholder.m_dparam.view_autoreset_seconds);
ui.sbMaxWeights->setValue(g_dataholder.m_dparam.fusion_max_weight);
ui.dbGSStep->setValue(g_dataholder.m_dparam.fusion_GaussNewton_fixedStep);
ui.sbFrmIdxPlus->setValue(g_dataholder.m_dparam.load_frameIndx_plus_num);
}
void DynamicFusionUI::frameLoading()
{
QDir dir(m_currentPath);
if (!dir.exists())
throw std::exception(("error input path:" + m_currentPath.toStdString()).c_str());
QString name = dir.absoluteFilePath(QString().sprintf("%08d.depth", m_frameIndex));
try
{
g_dataholder.loadDepth(g_dataholder.m_depth_h, name.toStdString());
g_dataholder.m_depth_d.upload(g_dataholder.m_depth_h.data(),
dfusion::KINECT_WIDTH*sizeof(dfusion::depthtype),
dfusion::KINECT_HEIGHT, dfusion::KINECT_WIDTH);
#ifdef ENABLE_COLOR_FUSION
name = dir.absoluteFilePath(QString().sprintf("%08d.png", m_frameIndex));
QImage img(name);
if (!img.isNull())
{
for (int y = 0; y < dfusion::KINECT_HEIGHT; y++)
for (int x = 0; x < dfusion::KINECT_WIDTH; x++)
{
QRgb p = img.pixel(x, y);
dfusion::PixelRGBA& d = g_dataholder.m_color_h[y*dfusion::KINECT_WIDTH + x];
d.r = qRed(p);
d.g = qGreen(p);
d.b = qBlue(p);
d.a = qAlpha(p);
}
}
g_dataholder.m_color_d.upload(g_dataholder.m_color_h.data(),
dfusion::KINECT_WIDTH*sizeof(dfusion::PixelRGBA),
dfusion::KINECT_HEIGHT, dfusion::KINECT_WIDTH);
#endif
}
catch (std::exception e)
{
setState(Pause);
std::cout << e.what() << std::endl;
}
m_frameIndex += g_dataholder.m_dparam.load_frameIndx_plus_num;
}
void DynamicFusionUI::frameSaving()
{
const std::vector<dfusion::PixelRGBA>* cl = nullptr;
#ifdef ENABLE_COLOR_FUSION
cl = &g_dataholder.m_color_h;
#endif
g_saveThread.push_depth(g_dataholder.m_depth_h, cl, m_frameIndex++);
}
void DynamicFusionUI::frameLive()
{
g_dataholder.m_kinect.GetDepthColorIntoBuffer(g_dataholder.m_depth_h.data(),
(uchar*)g_dataholder.m_color_h.data(), true, g_dataholder.m_dparam.mirror_input);
g_dataholder.m_depth_d.upload(g_dataholder.m_depth_h.data(), dfusion::KINECT_WIDTH*sizeof(dfusion::depthtype),
dfusion::KINECT_HEIGHT, dfusion::KINECT_WIDTH);
g_dataholder.m_color_d.upload(g_dataholder.m_color_h.data(), dfusion::KINECT_WIDTH*sizeof(dfusion::PixelRGBA),
dfusion::KINECT_HEIGHT, dfusion::KINECT_WIDTH);
}
void DynamicFusionUI::updateLoadedStaticVolume()
{
Camera cam;
ui.widgetWarpedView->getCameraInfo(cam);
cam.setViewPort(0, dfusion::KINECT_WIDTH, 0, dfusion::KINECT_HEIGHT);
cam.setPerspective(KINECT_DEPTH_V_FOV, float(dfusion::KINECT_WIDTH)/dfusion::KINECT_HEIGHT,
KINECT_NEAREST_METER, 30.f);
g_dataholder.m_rayCaster.setCamera(cam);
switch (m_renderType)
{
case DynamicFusionUI::RenderRayCasting:
g_dataholder.m_rayCaster.shading(g_dataholder.m_lights,
g_dataholder.m_warpedview_shading,
m_view_normalmap);
break;
case DynamicFusionUI::RenderMarchCube:
g_dataholder.m_marchCube.run(g_dataholder.m_mesh);
g_dataholder.m_mesh.renderToImg(cam, g_dataholder.m_lights, g_dataholder.m_warpedview_shading,
g_dataholder.m_dparam);
break;
default:
break;
}
ui.widgetWarpedView->setRayCastingShadingImage(g_dataholder.m_warpedview_shading);
}
void DynamicFusionUI::updateDynamicFusion()
{
if (m_state != DynamicFusionUI::Pause)
g_dataholder.m_processor.processFrame(g_dataholder.m_depth_d,
g_dataholder.m_color_d);
Camera cam;
// warped view
ui.widgetWarpedView->getCameraInfo(cam);
cam.setViewPort(0, ui.widgetWarpedView->width(), 0, ui.widgetWarpedView->height());
g_dataholder.m_processor.shading(cam, g_dataholder.m_lights,
g_dataholder.m_warpedview_shading, false);
ui.widgetWarpedView->setRayCastingShadingImage(g_dataholder.m_warpedview_shading);
// cano view
ui.widgetCanoView->getCameraInfo(cam);
cam.setViewPort(0, ui.widgetCanoView->width(), 0, ui.widgetCanoView->height());
g_dataholder.m_processor.shadingCanonical(cam, g_dataholder.m_lights,
g_dataholder.m_canoview_shading, false);
ui.widgetCanoView->setRayCastingShadingImage(g_dataholder.m_canoview_shading);
// err map
g_dataholder.m_processor.shadingCurrentErrorMap(g_dataholder.m_errorMap_shading,
g_dataholder.m_dparam.view_errorMap_range);
ui.widgetErrMap->setRayCastingShadingImage(g_dataholder.m_errorMap_shading);
// ldp debug, save rendered image
if (g_dataholder.m_dparam.fusion_dumping_each_frame
&& m_frameIndex < g_dataholder.m_dparam.fusion_dumping_max_frame
&& m_state != Pause)
{
// warp view
if (1)
{
std::vector<uchar4> tmpMap(g_dataholder.m_warpedview_shading.rows()
*g_dataholder.m_warpedview_shading.cols());
g_dataholder.m_warpedview_shading.download(tmpMap.data(),
g_dataholder.m_warpedview_shading.cols()*sizeof(uchar4));
QImage img = QImage(g_dataholder.m_warpedview_shading.cols(),
g_dataholder.m_warpedview_shading.rows(), QImage::Format::Format_ARGB32);
for (int y = 0; y < g_dataholder.m_warpedview_shading.rows(); y++)
for (int x = 0; x < g_dataholder.m_warpedview_shading.cols(); x++)
{
uchar4 v = tmpMap[y*g_dataholder.m_warpedview_shading.cols() + x];
img.setPixel(x, y, qRgba(v.x, v.y, v.z, v.w));
}
int fid = g_dataholder.m_processor.getFrameId();
QString name;
name.sprintf("data/screenshots/%06d_%d_%d_%d_%d.png", fid,
g_dataholder.m_processor.getWarpField()->getNumNodesInLevel(0),
g_dataholder.m_processor.getWarpField()->getNumNodesInLevel(1),
g_dataholder.m_processor.getWarpField()->getNumNodesInLevel(2),
g_dataholder.m_processor.getWarpField()->getNumNodesInLevel(3));
img.save(name);
}
// raw view
if (1)
{
std::vector<uchar4> tmpMap;
ui.widgetDepth->download_currentmap(tmpMap);
QImage img = QImage(dfusion::KINECT_WIDTH, dfusion::KINECT_HEIGHT,
QImage::Format::Format_ARGB32);
for (int y = 0; y < dfusion::KINECT_HEIGHT; y++)
for (int x = 0; x < dfusion::KINECT_WIDTH; x++)
{
uchar4 v = tmpMap[y*dfusion::KINECT_WIDTH + x];
img.setPixel(x, y, qRgba(v.x, v.y, v.z, v.w));
}
int fid = g_dataholder.m_processor.getFrameId();
QString name;
name.sprintf("data/screenshots/raw_%06d_%d_%d_%d_%d.png", fid,
g_dataholder.m_processor.getWarpField()->getNumNodesInLevel(0),
g_dataholder.m_processor.getWarpField()->getNumNodesInLevel(1),
g_dataholder.m_processor.getWarpField()->getNumNodesInLevel(2),
g_dataholder.m_processor.getWarpField()->getNumNodesInLevel(3));
img.save(name);
}
#if 1
// error map
if (0)
{
std::vector<uchar4> tmpMap(g_dataholder.m_errorMap_shading.rows()
*g_dataholder.m_errorMap_shading.cols() * sizeof(uchar4));
QImage img = QImage(g_dataholder.m_errorMap_shading.cols(),
g_dataholder.m_errorMap_shading.rows(), QImage::Format::Format_ARGB32);
g_dataholder.m_errorMap_shading.download(tmpMap.data(),
g_dataholder.m_errorMap_shading.cols()*sizeof(uchar4));
for (int y = 0; y < g_dataholder.m_errorMap_shading.rows(); y++)
for (int x = 0; x < g_dataholder.m_errorMap_shading.cols(); x++)
{
uchar4 v = tmpMap[y*g_dataholder.m_errorMap_shading.cols() + x];
img.setPixel(x, y, qRgba(v.x, v.y, v.z, v.w));
}
int fid = g_dataholder.m_processor.getFrameId();
QString name1;
name1.sprintf("data/screenshots/e_%06d_%d_%d_%d_%d.png", fid,
g_dataholder.m_processor.getWarpField()->getNumNodesInLevel(0),
g_dataholder.m_processor.getWarpField()->getNumNodesInLevel(1),
g_dataholder.m_processor.getWarpField()->getNumNodesInLevel(2),
g_dataholder.m_processor.getWarpField()->getNumNodesInLevel(3));
img.save(name1);
}
#endif
}
}
void DynamicFusionUI::on_actionPause_triggered()
{
if (m_state != Pause)
setState(DynamicFusionUI::Pause);
else
restoreState();
}
void DynamicFusionUI::on_pbReset_clicked()
{
g_dataholder.m_processor.updateParam(g_dataholder.m_dparam);
g_dataholder.m_processor.reset();
}
void DynamicFusionUI::on_actionSave_triggered()
{
try
{
setState(DynamicFusionUI::Pause);
QString name = QFileDialog::getSaveFileName(this, "save", "", "*.rawvol");
if (!name.isEmpty())
{
try
{
if (!name.endsWith(".rawvol"))
name.append(".rawvol");
g_dataholder.m_processor.save(name.toStdString().c_str());
}
catch (std::exception e)
{
std::cout << e.what() << std::endl;
}
}
restoreState();
}
catch (std::exception e)
{
std::cout << e.what() << std::endl;
}
}
void DynamicFusionUI::on_actionExport_mesh_triggered()
{
try
{
setState(DynamicFusionUI::Pause);
QString name = QFileDialog::getSaveFileName(this, "save", "", "*.obj");
if (!name.isEmpty())
{
try
{
if (!name.endsWith(".obj"))
name.append(".obj");
ObjMesh mesh;
g_dataholder.m_processor.getWarpedMesh()->toObjMesh(mesh);
mesh.saveObj(name.toStdString().c_str());
}
catch (std::exception e)
{
std::cout << e.what() << std::endl;
}
}
restoreState();
}
catch (std::exception e)
{
std::cout << e.what() << std::endl;
}
}
void DynamicFusionUI::on_actionLoad_triggered()
{
try
{
setState(DynamicFusionUI::Pause);
QString name = QFileDialog::getOpenFileName(this, "load", "", "*.rawvol");
if (!name.isEmpty())
{
try
{
g_dataholder.m_processor.load(name.toStdString().c_str());
}
catch (std::exception e)
{
std::cout << e.what() << std::endl;
}
}
else
restoreState();
}
catch (std::exception e)
{
std::cout << e.what() << std::endl;
}
}
void DynamicFusionUI::on_actionLoad_frames_triggered()
{
//setState(DynamicFusionUI::Pause);
m_currentPath = QFileDialog::getExistingDirectory(this, "load folder", "data/frames/");
if (m_currentPath != "")
{
m_frameIndex = 0;
QDir dir(m_currentPath);
if (!dir.exists())
throw std::exception(("error input path:" + m_currentPath.toStdString()).c_str());
// 0. firstly we try to load existed param files, if existed, we update params.
try
{
g_dataholder.m_dparam.load(fullfile(m_currentPath.toStdString(), "_param.param.txt").c_str());
updateUiFromParam();
g_dataholder.m_processor.updateParam(g_dataholder.m_dparam);
}
catch (std::exception e)
{
std::cout << e.what() << std::endl;
}
// 1. load a pre-saved volume and then start by this frame.
int fid = 0;
int vol_fid = 0;
g_dataholder.m_processor.reset();
for (; vol_fid < g_dataholder.m_dparam.fusion_dumping_max_frame;)
{
std::string volname = fullfile(m_currentPath.toStdString(), std::to_string(vol_fid) + ".rawvol");
if (ldp::file_exist(volname.c_str()))
{
g_dataholder.m_processor.load(volname.c_str());
break;
}
else
vol_fid++;
}
if (vol_fid < g_dataholder.m_dparam.fusion_dumping_max_frame)
fid = vol_fid;
// 2. find the smallest available frame
for (; fid < g_dataholder.m_dparam.fusion_dumping_max_frame; )
{
try
{
QString name = dir.absoluteFilePath(QString().sprintf("%08d.depth", fid));
g_dataholder.loadDepth(g_dataholder.m_depth_h, name.toStdString());
break;
}
catch (std::exception e)
{
fid++;
}
}
m_frameIndex = fid;
setState(DynamicFusionUI::Loading);
g_dataholder.m_processor.updateParam(g_dataholder.m_dparam);
// for convinience, if there exists pre-defined volumes, we
// just pause to visualize it.
if (vol_fid < g_dataholder.m_dparam.fusion_dumping_max_frame)
{
frameLoading();
g_dataholder.m_processor.processFrame(g_dataholder.m_depth_d,
g_dataholder.m_color_d);
setState(DynamicFusionUI::Pause);
}
}
//else
// restoreState();
}
void DynamicFusionUI::on_actionRecord_frames_triggered()
{
if (ui.actionRecord_frames->isChecked())
{
//setState(DynamicFusionUI::Pause);
m_currentPath = QFileDialog::getExistingDirectory(this, "record folder", "data/frames/");
if (m_currentPath != "")
{
m_frameIndex = 0;
g_saveThread.set_path(m_currentPath);
setState(DynamicFusionUI::Saving);
}
else
{
setState(DynamicFusionUI::Live);
}
}
else
{
setState(DynamicFusionUI::Live);
}
}
void DynamicFusionUI::on_actionLoad_volume_triggered()
{
try
{
setState(DynamicFusionUI::Pause);
QString name = QFileDialog::getOpenFileName(this, "load volume", "");
if (!name.isEmpty())
{
setState(DynamicFusionUI::ShowLoadedStaticVolume);
try
{
mpu::VolumeData volume;
volume.load(name.toStdString().c_str());
g_dataholder.m_volume.initFromHost(&volume);
g_dataholder.m_rayCaster.init(g_dataholder.m_volume);
g_dataholder.m_marchCube.init(&g_dataholder.m_volume,
g_dataholder.m_dparam);
g_dataholder.m_dparam.volume_resolution[0] = volume.getResolution()[0];
g_dataholder.m_dparam.volume_resolution[1] = volume.getResolution()[1];
g_dataholder.m_dparam.volume_resolution[2] = volume.getResolution()[2];
g_dataholder.m_dparam.voxels_per_meter = std::lroundf(1.f / volume.getVoxelSize());
updateUiFromParam();
}
catch (std::exception e)
{
std::cout << e.what() << std::endl;
}
}
else
restoreState();
}
catch (std::exception e)
{
std::cout << e.what() << std::endl;
}
}
void DynamicFusionUI::on_actionSave_current_mesh_triggered()
{
try
{
QString name = QFileDialog::getSaveFileName(this, "save mesh", "", ".obj");
if (!name.isEmpty())
{
if (!name.endsWith(".obj"))
name.append(".obj");
ObjMesh mesh;
g_dataholder.m_mesh.toObjMesh(mesh);
mesh.saveObj(name.toStdString().c_str());
}
}
catch (std::exception e)
{
std::cout << e.what() << std::endl;
}
}
void DynamicFusionUI::on_rbRayCasting_clicked()
{
m_renderType = RenderRayCasting;
}
void DynamicFusionUI::on_rbMarchCube_clicked()
{
m_renderType = RenderMarchCube;
}
void DynamicFusionUI::on_rbResX128_clicked()
{
try
{
g_dataholder.m_dparam.volume_resolution[0] = 128;
g_dataholder.m_processor.updateParam(g_dataholder.m_dparam);
}
catch (std::exception e)
{
std::cout << e.what() << std::endl;
}
}
void DynamicFusionUI::on_rbResX256_clicked()
{
try
{
g_dataholder.m_dparam.volume_resolution[0] = 256;
g_dataholder.m_processor.updateParam(g_dataholder.m_dparam);
}
catch (std::exception e)
{
std::cout << e.what() << std::endl;
}
}
void DynamicFusionUI::on_rbResX384_clicked()
{
try
{
g_dataholder.m_dparam.volume_resolution[0] = 384;
g_dataholder.m_processor.updateParam(g_dataholder.m_dparam);
}
catch (std::exception e)
{
std::cout << e.what() << std::endl;
}
}
void DynamicFusionUI::on_rbResX512_clicked()
{
try
{
g_dataholder.m_dparam.volume_resolution[0] = 512;
g_dataholder.m_processor.updateParam(g_dataholder.m_dparam);
}
catch (std::exception e)
{
std::cout << e.what() << std::endl;
}
}
void DynamicFusionUI::on_rbResY128_clicked()
{
try
{
g_dataholder.m_dparam.volume_resolution[1] = 128;
g_dataholder.m_processor.updateParam(g_dataholder.m_dparam);
}
catch (std::exception e)
{
std::cout << e.what() << std::endl;
}
}
void DynamicFusionUI::on_rbResY256_clicked()
{
try
{
g_dataholder.m_dparam.volume_resolution[1] = 256;
g_dataholder.m_processor.updateParam(g_dataholder.m_dparam);
}
catch (std::exception e)
{
std::cout << e.what() << std::endl;
}
}
void DynamicFusionUI::on_rbResY384_clicked()
{
try
{
g_dataholder.m_dparam.volume_resolution[1] = 384;
g_dataholder.m_processor.updateParam(g_dataholder.m_dparam);
}
catch (std::exception e)
{
std::cout << e.what() << std::endl;
}
}
void DynamicFusionUI::on_rbResY512_clicked()
{
try
{
g_dataholder.m_dparam.volume_resolution[1] = 512;
g_dataholder.m_processor.updateParam(g_dataholder.m_dparam);
}
catch (std::exception e)
{
std::cout << e.what() << std::endl;
}
}
void DynamicFusionUI::on_rbResZ128_clicked()
{
try
{
g_dataholder.m_dparam.volume_resolution[2] = 128;
g_dataholder.m_processor.updateParam(g_dataholder.m_dparam);
}
catch (std::exception e)
{
std::cout << e.what() << std::endl;
}
}
void DynamicFusionUI::on_rbResZ256_clicked()
{
try
{
g_dataholder.m_dparam.volume_resolution[2] = 256;
g_dataholder.m_processor.updateParam(g_dataholder.m_dparam);
}
catch (std::exception e)
{
std::cout << e.what() << std::endl;
}
}
void DynamicFusionUI::on_rbResZ384_clicked()
{
try
{
g_dataholder.m_dparam.volume_resolution[2] = 384;
g_dataholder.m_processor.updateParam(g_dataholder.m_dparam);
}
catch (std::exception e)
{
std::cout << e.what() << std::endl;
}
}
void DynamicFusionUI::on_rbResZ512_clicked()
{
try
{
g_dataholder.m_dparam.volume_resolution[2] = 512;
g_dataholder.m_processor.updateParam(g_dataholder.m_dparam);
}
catch (std::exception e)
{
std::cout << e.what() << std::endl;
}
}
void DynamicFusionUI::on_sbVoxelsPerMeter_valueChanged(int v)
{
try
{
g_dataholder.m_dparam.set_voxels_per_meter(v);
}
catch (std::exception e)
{
std::cout << e.what() << std::endl;
}
}
void DynamicFusionUI::on_cbNoRigid_clicked()
{
try
{
g_dataholder.m_dparam.view_no_rigid = ui.cbNoRigid->isChecked();
g_dataholder.m_processor.updateParam(g_dataholder.m_dparam);
}
catch (std::exception e)
{
std::cout << e.what() << std::endl;
}
}
void DynamicFusionUI::on_cbShowMesh_clicked()
{
try
{
g_dataholder.m_dparam.view_show_mesh = ui.cbShowMesh->isChecked();
g_dataholder.m_processor.updateParam(g_dataholder.m_dparam);
}
catch (std::exception e)
{
std::cout << e.what() << std::endl;
}
}
void DynamicFusionUI::on_cbShowColor_clicked()
{
try
{
g_dataholder.m_dparam.view_show_color = ui.cbShowColor->isChecked();
g_dataholder.m_processor.updateParam(g_dataholder.m_dparam);
}
catch (std::exception e)
{
std::cout << e.what() << std::endl;
}
}
void DynamicFusionUI::on_cbShowNodes_clicked()
{
try
{
g_dataholder.m_dparam.view_show_nodes = ui.cbShowNodes->isChecked();
g_dataholder.m_processor.updateParam(g_dataholder.m_dparam);
}
catch (std::exception e)
{
std::cout << e.what() << std::endl;
}
}
void DynamicFusionUI::on_cbShowGraph_clicked()
{
try
{
g_dataholder.m_dparam.view_show_graph = ui.cbShowGraph->isChecked();
g_dataholder.m_processor.updateParam(g_dataholder.m_dparam);
}
catch (std::exception e)
{
std::cout << e.what() << std::endl;
}
}
void DynamicFusionUI::on_cbShowCorr_clicked()
{
try
{
g_dataholder.m_dparam.view_show_corr = ui.cbShowCorr->isChecked();
g_dataholder.m_processor.updateParam(g_dataholder.m_dparam);
}
catch (std::exception e)
{
std::cout << e.what() << std::endl;
}
}
void DynamicFusionUI::on_sbShowGraphLevel_valueChanged(int v)
{
try
{
g_dataholder.m_dparam.view_show_graph_level = v;
g_dataholder.m_processor.updateParam(g_dataholder.m_dparam);
}
catch (std::exception e)
{
std::cout << e.what() << std::endl;
}
}
void DynamicFusionUI::on_sbActiveNode_valueChanged(int v)
{
try
{
g_dataholder.m_dparam.view_activeNode_id = v;
g_dataholder.m_processor.updateParam(g_dataholder.m_dparam);
}
catch (std::exception e)
{
std::cout << e.what() << std::endl;
}
}