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PLY options #4906

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PLY options #4906

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86bde93
Added ply configuration: meshing / points in viewer
AnnaRomanov Aug 27, 2019
aaf50eb
Added binary / textual format for PLY in viewer
AnnaRomanov Aug 28, 2019
8a893e5
Addded options to ply callback
AnnaRomanov Sep 1, 2019
9d2df5b
Use save_to_ply processing block in viewer, some fixes in the process…
AnnaRomanov Sep 9, 2019
4a2a6b0
moved frame allocator processing block to a new filter class
AnnaRomanov Sep 10, 2019
0652311
added normals to ply
AnnaRomanov Sep 11, 2019
b432726
fix normals export, changed to generic code for file exporters in viewer
AnnaRomanov Sep 18, 2019
37b93dd
back to original export_to_ply function, options are now supported in…
AnnaRomanov Sep 18, 2019
a164a90
fix default option values, remove unnecessary comments
AnnaRomanov Sep 18, 2019
d9336a9
merge fix
AnnaRomanov Sep 18, 2019
018d11c
fix button position
AnnaRomanov Sep 22, 2019
0adaea3
order change
AnnaRomanov Sep 22, 2019
b808ff3
for test
AnnaRomanov Sep 22, 2019
5bf84dc
fix linux build
AnnaRomanov Sep 22, 2019
1db327c
Fix python build, update export_to_ply python example
AnnaRomanov Sep 23, 2019
e858531
Fixes following code review
AnnaRomanov Sep 24, 2019
f94f832
Removed "ok" button and fixed issue with file dialog
AnnaRomanov Oct 2, 2019
eea6ebc
Added make_exporter template function which deduces char array size
AnnaRomanov Oct 3, 2019
9a1f849
Change member name
AnnaRomanov Oct 3, 2019
dbaa4fd
Changed default encoding to binary
AnnaRomanov Oct 17, 2019
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16 changes: 7 additions & 9 deletions common/model-views.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -289,16 +289,14 @@ namespace rs2
texture_data[idx], texture_data[idx + 1], texture_data[idx + 2]);
}

void export_to_ply(const std::string& fname, notifications_model& ns, points p, video_frame texture, bool notify)
void export_frame(const std::string& fname, std::unique_ptr<rs2::filter> exporter, notifications_model& ns, frame data, bool notify)
{
std::thread([&ns, p, texture, fname, notify]() mutable {
if (p)
{
p.export_to_ply(fname, texture);
if (notify) ns.add_notification({ to_string() << "Finished saving 3D view " << (texture ? "to " : "without texture to ") << fname,
RS2_LOG_SEVERITY_INFO,
RS2_NOTIFICATION_CATEGORY_UNKNOWN_ERROR });
}
std::thread([exporter = std::move(exporter), &ns, data, fname, notify]() mutable {
exporter->process(data);
if (notify) ns.add_notification({ to_string() << "Finished saving 3D view " << (data.is<rs2::points>() ? "without texture to " : "to ") <<
fname,
RS2_LOG_SEVERITY_INFO,
RS2_NOTIFICATION_CATEGORY_UNKNOWN_ERROR });
}).detach();
}

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8 changes: 7 additions & 1 deletion common/model-views.h
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Expand Up @@ -191,6 +191,12 @@ namespace rs2
static const char* vsync { "performance.vsync" };
static const char* font_oversample { "performance.font_oversample.v2" };
}
namespace ply
{
static const char* mesh { "ply.mesh" };
static const char* use_normals { "ply.normals" };
static const char* encoding { "ply.encoding" };
}
}

namespace textual_icons
Expand Down Expand Up @@ -949,7 +955,7 @@ namespace rs2
std::shared_ptr<gl::uploader> uploader; // GL element that helps pre-emptively copy frames to the GPU
};

void export_to_ply(const std::string& file_name, notifications_model& ns, points p, video_frame texture, bool notify = true);
void export_frame(const std::string& fname, std::unique_ptr<rs2::filter> exporter, notifications_model& ns, rs2::frame data, bool notify = true);

// Auxillary function to save stream data in its internal (raw) format
bool save_frame_raw_data(const std::string& filename, rs2::frame frame);
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4 changes: 4 additions & 0 deletions common/ux-window.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,10 @@ namespace rs2
config_file::instance().set_default(configurations::performance::show_fps, false);
config_file::instance().set_default(configurations::performance::vsync, true);

config_file::instance().set_default(configurations::ply::mesh, true);
config_file::instance().set_default(configurations::ply::use_normals, false);
config_file::instance().set_default(configurations::ply::encoding, 0);

#ifdef __APPLE__
config_file::instance().set_default(configurations::performance::font_oversample, 8);
config_file::instance().set_default(configurations::performance::enable_msaa, true);
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245 changes: 219 additions & 26 deletions common/viewer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,23 @@

namespace rs2
{
frameset_allocator::frameset_allocator(viewer_model* viewer) : owner(viewer),
filter([this](frame f, frame_source& s)
{
std::vector<rs2::frame> frame_vec;
auto tex = owner->get_last_texture()->get_last_frame(true);
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Pls check whether the capture is safe if device is disconnected while processing the export

if (tex)
{
frame_vec.push_back(tex);
frame_vec.push_back(f);
auto frame = s.allocate_composite_frame(frame_vec);
if (frame)
s.frame_ready(std::move(frame));
}
else
s.frame_ready(std::move(f));
}) {}

void viewer_model::render_pose(rs2::rect stream_rect, float buttons_heights)
{
int num_of_pose_buttons = 2; // trajectory, info
Expand Down Expand Up @@ -83,7 +100,7 @@ namespace rs2
//ImGui::End();
}

void viewer_model::show_3dviewer_header(ImFont* font, rs2::rect stream_rect, bool& paused, std::string& error_message)
void viewer_model::show_3dviewer_header(ImFont* large_font, ImFont* font, rs2::rect stream_rect, bool& paused, std::string& error_message)
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PLs add a comment what is the 2nd font for

{
int combo_boxes = 0;
const float combo_box_width = 200;
Expand Down Expand Up @@ -264,6 +281,193 @@ namespace rs2
}
}

ImGui::PopStyleColor(3);
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It is strange that the section starts with pop and not push - seem to indicate and issue elsewhere.

Please encapsulate this fragment into a function call for maintainability.


float w = stream_rect.w * 0.33f;
float h = stream_rect.h * 0.34f;
float x0 = stream_rect.x * 2;
float y0 = stream_rect.y * 6;
ImGui::SetNextWindowPos({ x0, y0 });
ImGui::SetNextWindowSize({ w, h });

auto flags = ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoMove |
ImGuiWindowFlags_NoCollapse | ImGuiWindowFlags_NoSavedSettings;

ImGui_ScopePushFont(font);
ImGui::PushStyleColor(ImGuiCol_PopupBg, sensor_bg);
ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white);
ImGui::PushStyleColor(ImGuiCol_Text, light_grey);
ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(15, 15));
ImGui::PushStyleVar(ImGuiStyleVar_WindowRounding, 1);

static config_file temp_cfg;
static export_type tab = export_type::ply;
if (ImGui::BeginPopupModal("Export", nullptr, flags))
{
ImGui::SetCursorScreenPos({ (float)(x0), (float)(y0 + 30) });
ImGui::PushStyleColor(ImGuiCol_Button, sensor_bg);
ImGui::PushStyleColor(ImGuiCol_ButtonHovered, sensor_bg);
ImGui::PushFont(large_font);
for (auto& exporter : exporters)
{
ImGui::PushStyleColor(ImGuiCol_Text, tab != exporter.first ? light_grey : light_blue);
ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, tab != exporter.first ? light_grey : light_blue);
ImGui::SameLine();
if (ImGui::Button(exporter.second.name.c_str(), { w / exporters.size() - 50, 30 }))
{
config_file::instance().set(configurations::viewer::settings_tab, tab);
temp_cfg.set(configurations::viewer::settings_tab, tab);
tab = exporter.first;
}
ImGui::PopStyleColor(2);
}

ImGui::PopFont();
if (tab == export_type::ply)
{
bool mesh = temp_cfg.get(configurations::ply::mesh);
bool use_normals = temp_cfg.get(configurations::ply::use_normals);
if (!mesh) use_normals = false;
int encoding = temp_cfg.get(configurations::ply::encoding);

ImGui::PushStyleColor(ImGuiCol_Text, grey);
ImGui::Text("Polygon File Format defines a flexible systematic scheme for storing 3D data");
ImGui::PopStyleColor();
ImGui::NewLine();
ImGui::SetCursorScreenPos({ (float)(x0 + 15), (float)(y0 + 90) });
ImGui::Separator();
if (ImGui::Checkbox("Meshing", &mesh))
{
temp_cfg.set(configurations::ply::mesh, mesh);
}
ImGui::PushStyleColor(ImGuiCol_Text, grey);
ImGui::Text(" Use faces for meshing by connecting each group of 3 adjacent points");
ImGui::PopStyleColor();
ImGui::Separator();

if (!mesh)
{
ImGui::PushStyleVar(ImGuiStyleVar_Alpha, ImGui::GetStyle().Alpha * 0.5f);
ImGui::PushStyleColor(ImGuiCol_FrameBgHovered, black);
ImGui::PushStyleColor(ImGuiCol_FrameBgActive, black);
}
if (ImGui::Checkbox("Normals", &use_normals))
{
if (!mesh)
use_normals = false;
else
temp_cfg.set(configurations::ply::use_normals, use_normals);
}
if (!mesh)
{
if (ImGui::IsItemHovered())
{
ImGui::SetTooltip("Enable meshing to allow vertex normals calculation");
}
ImGui::PopStyleColor(2);
ImGui::PopStyleVar();
}

ImGui::PushStyleColor(ImGuiCol_Text, grey);
ImGui::Text(" Calculate vertex normals and add them to the PLY");
ImGui::PopStyleColor();
ImGui::Separator();

ImGui::Text("Encoding:");
ImGui::PushStyleColor(ImGuiCol_Text, grey);
ImGui::Text("Save PLY as binary, or as a larger textual human-readable file");
ImGui::PopStyleColor();
if (ImGui::RadioButton("Textual", encoding == 0))
{
encoding = 0;
temp_cfg.set(configurations::ply::encoding, encoding);
}
if (ImGui::RadioButton("Binary", encoding == 1))
{
encoding = 1;
temp_cfg.set(configurations::ply::encoding, encoding);
}

auto curr_exporter = exporters.find(tab);
assert(curr_exporter != exporters.end()); // every tab should have a corresponding exporter
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The assert will be discarded in release. A run-time error should probably be generated here

rs2::save_to_ply ply;
curr_exporter->second.options[rs2::save_to_ply::OPTION_PLY_MESH] = mesh;
curr_exporter->second.options[rs2::save_to_ply::OPTION_PLY_NORMALS] = use_normals;
curr_exporter->second.options[rs2::save_to_ply::OPTION_PLY_BINARY] = encoding;
}

ImGui::PopStyleColor(2); // button color

auto apply = [&]() {
config_file::instance() = temp_cfg;
update_configuration();
};

ImGui::SetCursorScreenPos({ (float)(x0 + w / 2 - 190), (float)(y0 + h - 30) });
if (ImGui::Button("OK", ImVec2(120, 0)))
{
ImGui::CloseCurrentPopup();
apply();
}
if (ImGui::IsItemHovered())
{
ImGui::SetTooltip("%s", "Save settings and close");
}
ImGui::SameLine();

if (ImGui::Button("Export", ImVec2(120, 0)))
{
auto curr_exporter = exporters.find(tab);
assert(curr_exporter != exporters.end()); // every tab should have a corresponding exporter
if (auto ret = file_dialog_open(save_file, curr_exporter->second.filters.c_str(), NULL, NULL))
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Same as in line 392

{
auto model = ppf.get_points();
frame tex;
if (selected_tex_source_uid >= 0 && streams.find(selected_tex_source_uid) != streams.end())
{
tex = streams[selected_tex_source_uid].texture->get_last_frame(true);
if (tex) ppf.update_texture(tex);
}

std::string fname(ret);
if (!ends_with(to_lower(fname), curr_exporter->second.extension)) fname += curr_exporter->second.extension;

std::unique_ptr<rs2::filter> exporter;
if (tab == 0)
exporter = std::unique_ptr<rs2::filter>(new rs2::save_to_ply(fname));
auto data = alloc.process(last_points);

for (auto& option : curr_exporter->second.options)
{
exporter->set_option(option.first, option.second);
}

export_frame(fname, std::move(exporter), not_model, data);
exporter.reset();
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Why do you need to reset it explicitly just before scoping out ?

}
}
if (ImGui::IsItemHovered())
{
ImGui::SetTooltip("%s", "Save settings and export file");
}
ImGui::SameLine();
if (ImGui::Button("Cancel", ImVec2(120, 0)))
{
ImGui::CloseCurrentPopup();
}
if (ImGui::IsItemHovered())
{
ImGui::SetTooltip("%s", "Close window without saving any changes to the settings");
}

ImGui::EndPopup();
}
ImGui::PopStyleVar(2);

ImGui::PushStyleColor(ImGuiCol_Button, header_window_bg);
ImGui::PushStyleColor(ImGuiCol_ButtonHovered, header_window_bg);
ImGui::PushStyleColor(ImGuiCol_ButtonActive, header_window_bg);

ImGui::SetCursorPos({ stream_rect.w - 32 * num_of_buttons - 5, 0 });

if (paused)
Expand Down Expand Up @@ -303,24 +507,10 @@ namespace rs2
}

ImGui::SameLine();

if (ImGui::Button(textual_icons::floppy, { 24, buttons_heights }))
{
if (auto ret = file_dialog_open(save_file, "Polygon File Format (PLY)\0*.ply\0", NULL, NULL))
{
auto model = ppf.get_points();

frame tex;
if (selected_tex_source_uid >= 0 && streams.find(selected_tex_source_uid) != streams.end())
{
tex = streams[selected_tex_source_uid].texture->get_last_frame(true);
if (tex) ppf.update_texture(tex);
}

std::string fname(ret);
if (!ends_with(to_lower(fname), ".ply")) fname += ".ply";
export_to_ply(fname.c_str(), not_model, last_points, last_texture->get_last_frame());
}
temp_cfg = config_file::instance();
ImGui::OpenPopup("Export");
}
if (ImGui::IsItemHovered())
ImGui::SetTooltip("Export 3D model to PLY format");
Expand Down Expand Up @@ -399,16 +589,11 @@ namespace rs2
}

auto total_top_bar_height = top_bar_height * (1 + pose_render); // may include single bar or additional bar for pose

ImGui::PopStyleColor(5);

ImGui::PushStyleColor(ImGuiCol_Text, light_grey);
ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white);

ImGui::PushStyleColor(ImGuiCol_Button, header_window_bg);
ImGui::PushStyleColor(ImGuiCol_ButtonHovered, header_window_bg);
ImGui::PushStyleColor(ImGuiCol_ButtonActive, header_window_bg);

auto old_pos = ImGui::GetCursorScreenPos();
ImVec2 pos { stream_rect.x + stream_rect.w - 215, stream_rect.y + total_top_bar_height + 5 };
ImGui::SetCursorScreenPos(pos);
Expand Down Expand Up @@ -567,16 +752,19 @@ namespace rs2
viewer_model::viewer_model()
: ppf(*this),
synchronization_enable(true),
zo_sensors(0)
zo_sensors(0),
alloc(this)
{
syncer = std::make_shared<syncer_model>();
reset_camera();
rs2_error* e = nullptr;
not_model.add_log(to_string() << "librealsense version: " << api_version_to_string(rs2_get_api_version(&e)) << "\n");

update_configuration();

check_permissions();
export_model exp_model("PLY", ".ply", "Polygon File Format(PLY)\0 * .ply");
exporters.insert(std::pair<export_type, export_model>(export_type::ply, exp_model));
}

void viewer_model::gc_streams()
Expand Down Expand Up @@ -1871,8 +2059,8 @@ namespace rs2
temp_cfg.set(configurations::viewer::settings_tab, tab);
}
ImGui::PopStyleColor(2);

ImGui::SameLine();

ImGui::PushStyleColor(ImGuiCol_Text, tab != 3 ? light_grey : light_blue);
ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, tab != 3 ? light_grey : light_blue);
if (ImGui::Button("Updates", { 120, 30 }))
Expand Down Expand Up @@ -2493,6 +2681,11 @@ namespace rs2
return false;
}

std::shared_ptr<texture_buffer> viewer_model::get_last_texture()
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This seem to be a public member - what is the getter for ?

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last_texture is private

{
return last_texture;
}

std::vector<frame> rs2::viewer_model::get_frames(frame frame)
{
std::vector<rs2::frame> res;
Expand Down Expand Up @@ -2578,7 +2771,7 @@ namespace rs2
if (paused)
show_paused_icon(window.get_large_font(), static_cast<int>(panel_width + 15), static_cast<int>(panel_y + 15 + 32), 0);

show_3dviewer_header(window.get_font(), viewer_rect, paused, error_message);
show_3dviewer_header(window.get_large_font(), window.get_font(), viewer_rect, paused, error_message);

update_3d_camera(window, viewer_rect);

Expand Down
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