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Pose stream info #3010

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merged 6 commits into from
Jan 9, 2019
Merged

Pose stream info #3010

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5a7d458
Merge pull request #49 from IntelRealSense/development
abernste Jan 6, 2019
e4f0683
Merge pull request #50 from IntelRealSense/development
abernste Jan 6, 2019
5639192
1. Add pose info of: Velocity, Angular Velocity, Acceleration, Angula…
abernste Jan 6, 2019
7db20b4
Fixing Linux build
dorodnic Jan 6, 2019
ec0f6c5
Actually fixing linux build
dorodnic Jan 6, 2019
6956d25
Add pose info on non full screen mode
abernste Jan 8, 2019
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270 changes: 198 additions & 72 deletions common/model-views.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1042,7 +1042,7 @@ namespace rs2
bool subdevice_model::is_there_common_fps()
{
std::vector<int> first_fps_group;
auto group_index = 0;
size_t group_index = 0;
for (; group_index < fps_values_per_stream.size(); ++group_index)
{
if (!fps_values_per_stream[(rs2_stream)group_index].empty())
Expand All @@ -1052,7 +1052,7 @@ namespace rs2
}
}

for (int i = group_index + 1; i < fps_values_per_stream.size(); ++i)
for (size_t i = group_index + 1; i < fps_values_per_stream.size(); ++i)
{
auto fps_group = fps_values_per_stream[(rs2_stream)i];
if (fps_group.empty())
Expand Down Expand Up @@ -1413,7 +1413,7 @@ namespace rs2
{
std::stringstream ss;
ss << "Starting streaming of ";
for (int i = 0; i < profiles.size(); i++)
for (size_t i = 0; i < profiles.size(); i++)
{
ss << profiles[i].stream_type();
if (i < profiles.size() - 1) ss << ", ";
Expand Down Expand Up @@ -2617,77 +2617,184 @@ namespace rs2

void stream_model::show_stream_imu(ImFont* font, const rect &stream_rect, const rs2_vector& axis, rs2_stream stream_type)
{
const auto precision = 3;
auto flags = ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoCollapse | ImGuiWindowFlags_NoTitleBar;
const auto precision = 3;
auto flags = ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoCollapse | ImGuiWindowFlags_NoTitleBar;

ImGui::PushStyleColor(ImGuiCol_Text, light_grey);
ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white);
ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, { 5, 5 });
ImGui::PushStyleVar(ImGuiStyleVar_WindowRounding, 1);
ImGui::PushStyleColor(ImGuiCol_Text, light_grey);
ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white);
ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, { 5, 5 });
ImGui::PushStyleVar(ImGuiStyleVar_WindowRounding, 1);

ImGui::PushStyleColor(ImGuiCol_Button, header_window_bg);
ImGui::PushStyleColor(ImGuiCol_ButtonHovered, header_window_bg);
ImGui::PushStyleColor(ImGuiCol_ButtonActive, header_window_bg);
ImGui::PushStyleColor(ImGuiCol_WindowBg, from_rgba(9, 11, 13, 100));
ImGui::PushStyleColor(ImGuiCol_Button, header_window_bg);
ImGui::PushStyleColor(ImGuiCol_ButtonHovered, header_window_bg);
ImGui::PushStyleColor(ImGuiCol_ButtonActive, header_window_bg);
ImGui::PushStyleColor(ImGuiCol_WindowBg, from_rgba(9, 11, 13, 100));

ImGui::SetNextWindowPos({ stream_rect.x, stream_rect.y });
ImGui::SetNextWindowSize({ stream_rect.w, stream_rect.h });
std::string label = to_string() << "IMU Stream Info of " << profile.unique_id();
ImGui::Begin(label.c_str(), nullptr, flags);
ImGui::SetNextWindowPos({ stream_rect.x, stream_rect.y });
ImGui::SetNextWindowSize({ stream_rect.w, stream_rect.h });
std::string label = to_string() << "IMU Stream Info of " << profile.unique_id();
ImGui::Begin(label.c_str(), nullptr, flags);

struct motion_data {
std::string name;
float coordinate;
std::string units;
std::string toolTip;
ImVec4 colorFg;
ImVec4 colorBg;
int nameExtraSpace;
};
struct motion_data {
std::string name;
float coordinate;
std::string units;
std::string toolTip;
ImVec4 colorFg;
ImVec4 colorBg;
int nameExtraSpace;
};

float norm = std::sqrt((axis.x*axis.x) + (axis.y*axis.y) + (axis.z*axis.z));
float norm = std::sqrt((axis.x*axis.x) + (axis.y*axis.y) + (axis.z*axis.z));

std::map<rs2_stream, std::string> motion_unit = { { RS2_STREAM_GYRO, "Radians/Sec" },{ RS2_STREAM_ACCEL, "Meter/Sec^2" } };
std::vector<motion_data> motion_vector = {{ "X", axis.x, motion_unit[stream_type].c_str(), "Vector X", from_rgba(233, 0, 0, 255, true) , from_rgba(233, 0, 0, 255, true), 0},
{ "Y", axis.y, motion_unit[stream_type].c_str(), "Vector Y", from_rgba(0, 255, 0, 255, true) , from_rgba(2, 100, 2, 255, true), 0},
{ "Z", axis.z, motion_unit[stream_type].c_str(), "Vector Z", from_rgba(85, 89, 245, 255, true) , from_rgba(0, 0, 245, 255, true), 0},
{ "N", norm, "Norm", "||V|| = SQRT(X^2 + Y^2 + Z^2)",from_rgba(255, 255, 255, 255, true) , from_rgba(255, 255, 255, 255, true), 0}};
std::map<rs2_stream, std::string> motion_unit = { { RS2_STREAM_GYRO, "Radians/Sec" },{ RS2_STREAM_ACCEL, "Meter/Sec^2" } };
std::vector<motion_data> motion_vector = { { "X", axis.x, motion_unit[stream_type].c_str(), "Vector X", from_rgba(233, 0, 0, 255, true) , from_rgba(233, 0, 0, 255, true), 0},
{ "Y", axis.y, motion_unit[stream_type].c_str(), "Vector Y", from_rgba(0, 255, 0, 255, true) , from_rgba(2, 100, 2, 255, true), 0},
{ "Z", axis.z, motion_unit[stream_type].c_str(), "Vector Z", from_rgba(85, 89, 245, 255, true) , from_rgba(0, 0, 245, 255, true), 0},
{ "N", norm, "Norm", "||V|| = SQRT(X^2 + Y^2 + Z^2)",from_rgba(255, 255, 255, 255, true) , from_rgba(255, 255, 255, 255, true), 0} };

int line_h = 18;
for (auto&& motion : motion_vector)
int line_h = 18;
for (auto&& motion : motion_vector)
{
auto rc = ImGui::GetCursorPos();
ImGui::SetCursorPos({ rc.x + 12, rc.y + 4 });
ImGui::PushStyleColor(ImGuiCol_Text, motion.colorFg);
ImGui::Text("%s:", motion.name.c_str());
if (ImGui::IsItemHovered())
{
auto rc = ImGui::GetCursorPos();
ImGui::SetCursorPos({ rc.x + 12, rc.y + 4});
ImGui::PushStyleColor(ImGuiCol_Text, motion.colorFg);
ImGui::Text("%s:", motion.name.c_str());
if (ImGui::IsItemHovered())
{
ImGui::SetTooltip(motion.toolTip.c_str());
}
ImGui::PopStyleColor(1);
ImGui::SetTooltip(motion.toolTip.c_str());
}
ImGui::PopStyleColor(1);

ImGui::SameLine();
ImGui::PushStyleColor(ImGuiCol_FrameBg, black);
ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, motion.colorBg);
ImGui::SameLine();
ImGui::PushStyleColor(ImGuiCol_FrameBg, black);
ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, motion.colorBg);

ImGui::SetCursorPos({ rc.x + 27 + motion.nameExtraSpace, rc.y + 1 });
std::string label = to_string() << "##" << motion.name.c_str();
std::string coordinate = to_string() << std::fixed << std::setprecision(precision) << std::showpos << motion.coordinate;
ImGui::InputText(label.c_str(), (char*)coordinate.c_str(), coordinate.size() + 1, ImGuiInputTextFlags_AutoSelectAll | ImGuiInputTextFlags_ReadOnly);
ImGui::SetCursorPos({ rc.x + 27 + motion.nameExtraSpace, rc.y + 1 });
std::string label = to_string() << "##" << motion.name.c_str();
std::string coordinate = to_string() << std::fixed << std::setprecision(precision) << std::showpos << motion.coordinate;
ImGui::InputText(label.c_str(), (char*)coordinate.c_str(), coordinate.size() + 1, ImGuiInputTextFlags_AutoSelectAll | ImGuiInputTextFlags_ReadOnly);

ImGui::SetCursorPos({ rc.x + 80 + motion.nameExtraSpace, rc.y + 4});
ImGui::PushStyleColor(ImGuiCol_Text, from_rgba(255, 255, 255, 100, true));
ImGui::Text("(%s)", motion.units.c_str());
ImGui::SetCursorPos({ rc.x + 80 + motion.nameExtraSpace, rc.y + 4 });
ImGui::PushStyleColor(ImGuiCol_Text, from_rgba(255, 255, 255, 100, true));
ImGui::Text("(%s)", motion.units.c_str());

ImGui::PopStyleColor(3);
ImGui::SetCursorPos({rc.x, rc.y + line_h});
ImGui::PopStyleColor(3);
ImGui::SetCursorPos({ rc.x, rc.y + line_h });
}

ImGui::End();
ImGui::PopStyleColor(6);
ImGui::PopStyleVar(2);
}

void stream_model::show_stream_pose(ImFont* font, const rect &stream_rect, const rs2_pose& pose_frame, rs2_stream stream_type, bool fullScreen)
{
const auto precision = 3;

auto flags = ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoCollapse | ImGuiWindowFlags_NoTitleBar;

ImGui::PushStyleColor(ImGuiCol_Text, light_grey);
ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white);
ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, { 5, 5 });
ImGui::PushStyleVar(ImGuiStyleVar_WindowRounding, 1);

ImGui::PushStyleColor(ImGuiCol_Button, header_window_bg);
ImGui::PushStyleColor(ImGuiCol_ButtonHovered, header_window_bg);
ImGui::PushStyleColor(ImGuiCol_ButtonActive, header_window_bg);
ImGui::PushStyleColor(ImGuiCol_WindowBg, from_rgba(9, 11, 13, 100));

ImGui::SetNextWindowPos({ stream_rect.x, stream_rect.y });
ImGui::SetNextWindowSize({ stream_rect.w, stream_rect.h });
std::string label = to_string() << "Pose Stream Info of " << profile.unique_id();
ImGui::Begin(label.c_str(), nullptr, flags);

struct pose_data {
std::string name;
float data[4];
std::string units;
std::string toolTip;
int nameExtraSpace;
bool showOnNonFullScreen;
};

std::vector<pose_data> pose_vector = {
{ "Velocity", {pose_frame.velocity.x, pose_frame.velocity.y , pose_frame.velocity.z , FLT_MAX }, "(Meter/Sec)", "Velocity: X, Y, Z values of velocity, in Meter/Sec", 50, false},
{ "Angular Velocity",{ pose_frame.angular_velocity.x, pose_frame.angular_velocity.y , pose_frame.angular_velocity.z , FLT_MAX }, "(Radians/Sec)", "Angular Velocity: X, Y, Z values of angular velocity, in Radians/Sec", 50, false},
{ "Acceleration",{ pose_frame.acceleration.x, pose_frame.acceleration.y , pose_frame.acceleration.z , FLT_MAX }, "(Meter/Sec^2)", "Acceleration: X, Y, Z values of acceleration, in Meter/Sec^2", 50, false},
{ "Angular Acceleration",{ pose_frame.angular_acceleration.x, pose_frame.angular_acceleration.y , pose_frame.angular_acceleration.z , FLT_MAX }, "(Radians/Sec^2)", "Angular Acceleration: X, Y, Z values of angular acceleration, in Radians/Sec^2", 50, false},
{ "Translation",{ pose_frame.translation.x, pose_frame.translation.y , pose_frame.translation.z , FLT_MAX }, "(Meter)", "Translation: X, Y, Z values of translation in Meter (relative to initial position)", 50, true},
{ "Rotation",{ pose_frame.rotation.x, pose_frame.rotation.y , pose_frame.rotation.z , pose_frame.rotation.w }, "", "Rotation: Qi, Qj, Qk, Qr components of rotation as represented in quaternion rotation (relative to initial position)", 50, true},
};

int line_h = 18;
for (auto&& pose : pose_vector)
{
if ((fullScreen == false) && (pose.showOnNonFullScreen == false))
{
continue;
}

ImGui::End();
ImGui::PopStyleColor(6);
ImGui::PopStyleVar(2);
auto rc = ImGui::GetCursorPos();
ImGui::SetCursorPos({ rc.x + 12, rc.y + 4 });
ImGui::Text("%s:", pose.name.c_str());
if (ImGui::IsItemHovered())
{
ImGui::SetTooltip(pose.toolTip.c_str());
}

switch (pose_frame.tracker_confidence) //color the line according to confidence
{
case 3: // High confidence - Green
ImGui::PushStyleColor(ImGuiCol_Text, green);
break;
case 2: // Medium confidence - Yellow
ImGui::PushStyleColor(ImGuiCol_Text, yellow);
break;
case 1: // Low confidence - Red
ImGui::PushStyleColor(ImGuiCol_Text, red);
break;
case 0: // Failed confidence - Grey
default: // Fall thourgh
ImGui::PushStyleColor(ImGuiCol_Text, grey);
break;
}

ImGui::SetCursorPos({ rc.x + 100 + (fullScreen?pose.nameExtraSpace:0), rc.y + 1 });
std::string label = to_string() << "##" << pose.name.c_str();

std::string data = "[";
std::string comma = "";
unsigned int i = 0;
while ((pose.data[i] != FLT_MAX) && (i<4))
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Is the extra-verbosity by design ? If so - please put comments.

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non issue

{

data += to_string() << std::fixed << std::setprecision(precision) << std::showpos << comma << pose.data[i];
comma = ", ";
i++;
}
data += "]";

auto textSize = ImGui::CalcTextSize((char*)data.c_str(), (char*)data.c_str() + data.size() + 1);
ImGui::PushItemWidth(textSize.x);
ImGui::InputText(label.c_str(), (char*)data.c_str(), data.size() + 1, ImGuiInputTextFlags_AutoSelectAll | ImGuiInputTextFlags_ReadOnly);
ImGui::PopItemWidth();

ImGui::PopStyleColor(1);

ImGui::SetCursorPos({ rc.x + 300 + (fullScreen?pose.nameExtraSpace:0), rc.y + 4 });
ImGui::PushStyleColor(ImGuiCol_Text, from_rgba(255, 255, 255, 100, true));
ImGui::Text("%s", pose.units.c_str());
ImGui::PopStyleColor(1);

ImGui::SetCursorPos({ rc.x, rc.y + line_h });
}

ImGui::End();
ImGui::PopStyleColor(6);
ImGui::PopStyleVar(2);
}

void stream_model::snapshot_frame(const char* filename, viewer_model& viewer) const
{
std::stringstream ss;
Expand Down Expand Up @@ -3551,7 +3658,7 @@ namespace rs2
else
{
// Go over all available fx(something) layouts
for (int f = 1; f <= active_streams.size(); f++)
for (size_t f = 1; f <= active_streams.size(); f++)
{
auto l = generate_layout(r, top_bar_height, f,
active_streams, stream_index);
Expand All @@ -3574,7 +3681,7 @@ namespace rs2
std::map<int, frame> last_frames;
try
{
auto index = 0;
size_t index = 0;
while (ppf.resulting_queue.poll_for_frame(&f) && ++index < ppf.resulting_queue_max_size)
{
last_frames[f.get_profile().unique_id()] = f;
Expand Down Expand Up @@ -3790,7 +3897,7 @@ namespace rs2
auto last_y = bottom_y_ruler;
auto last_depth_value = 0.f;
auto last_index = 0;
for (auto i = 1; i < rgb_per_distance_vec.size(); ++i)
for (size_t i = 1; i < rgb_per_distance_vec.size(); ++i)
{
auto curr_depth = rgb_per_distance_vec[i].depth_val;
if ((((curr_depth - last_depth_value) < sensitivity) && (i != rgb_per_distance_vec.size() - 1)))
Expand Down Expand Up @@ -3916,13 +4023,32 @@ namespace rs2

auto stream_type = stream_mv.profile.stream_type();

if (streams[stream].is_stream_visible() && (stream_type == RS2_STREAM_GYRO || stream_type == RS2_STREAM_ACCEL))
if (streams[stream].is_stream_visible())
{
auto motion = streams[stream].texture->get_last_frame().as<motion_frame>();
if (motion.get())
switch (stream_type)
{
auto axis = motion.get_motion_data();
stream_mv.show_stream_imu(font1, stream_rect, axis, stream_type);
case RS2_STREAM_GYRO: /* Fall Through */
case RS2_STREAM_ACCEL:
{
auto motion = streams[stream].texture->get_last_frame().as<motion_frame>();
if (motion.get())
{
auto axis = motion.get_motion_data();
stream_mv.show_stream_imu(font1, stream_rect, axis, stream_type);
}
break;
}
case RS2_STREAM_POSE:
{
auto pose = streams[stream].texture->get_last_frame().as<pose_frame>();
if (pose.get())
{
auto pose_data = pose.get_pose_data();
stream_mv.show_stream_pose(font1, stream_rect, pose_data, stream_type, (*this).fullscreen);
}

break;
}
}
}

Expand Down Expand Up @@ -4155,7 +4281,7 @@ namespace rs2
if (!render_quads)
{
glBegin(GL_POINTS);
for (int i = 0; i < last_points.size(); i++)
for (size_t i = 0; i < last_points.size(); i++)
{
if (vertices[i].z)
{
Expand Down Expand Up @@ -5381,7 +5507,7 @@ namespace rs2
sub->stream_enabled[uid] = true;

//Find format
int format_id = 0;
size_t format_id = 0;
rs2_format requested_format = kvp.second.format;
for (; format_id < sub->format_values[uid].size(); format_id++)
{
Expand All @@ -5396,7 +5522,7 @@ namespace rs2

//Find fps
int requested_fps = kvp.second.fps;
int fps_id = 0;
size_t fps_id = 0;
for (; fps_id < sub->shared_fps_values.size(); fps_id++)
{
if (sub->shared_fps_values[fps_id] == requested_fps)
Expand All @@ -5410,7 +5536,7 @@ namespace rs2

//Find Resolution
std::pair<int, int> requested_res{ kvp.second.width,kvp.second.height };
int res_id = 0;
size_t res_id = 0;
for (; res_id < sub->res_values.size(); res_id++)
{
if (sub->res_values[res_id] == requested_res)
Expand Down Expand Up @@ -5448,7 +5574,7 @@ namespace rs2
std::vector<int> curr_values = fw_version_to_int_vec(fw_version);
std::vector<int> min_values = fw_version_to_int_vec(min_fw_version);

for (int i = 0; i < curr_values.size(); i++)
for (size_t i = 0; i < curr_values.size(); i++)
{
if (i >= min_values.size())
{
Expand Down Expand Up @@ -6734,7 +6860,7 @@ namespace rs2
m.timestamp = std::chrono::duration<double, std::milli>(std::chrono::system_clock::now().time_since_epoch()).count();
pending_notifications.push_back(m);

if (pending_notifications.size() > MAX_SIZE)
if (pending_notifications.size() > (size_t)MAX_SIZE)
pending_notifications.erase(pending_notifications.begin());
}

Expand Down
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