v3

src/vio.cpp

@@ -104,7 +104,10 @@ pangolin::Var<bool> drawLineCubeBool("ui.DrawCubeLine", false, true);
 pangolin::Var<bool> zeroOut("ui.ZeroOut", false, true);
 pangolin::Var<bool> drawTexture("ui.drawTexture", true, false);
 pangolin::Var<bool> IfDrawOpenCVCube("ui.DrawOpenCVCube", false, true);
-pangolin::Var<float> saveRenderScale("ui.SaveRenderScale", 1.653, 1.50, 1.8);
+// For the sequence 6
+//pangolin::Var<float> saveRenderScale("ui.SaveRenderScale", 1.653, 1.50, 1.8);
+// For the sequence 0, 1.68 is the right.
+pangolin::Var<float> saveRenderScale("ui.SaveRenderScale", 1.68, 1.5, 1.8);
 pangolin::Var<bool> saveRenderBool("ui.SaveRender", false, true);
 
 pangolin::Var<bool> showCube1("ui.Cube1", true, false);
@@ -678,9 +681,13 @@ int main(int argc, char** argv) {
     pangolin::View& main_display = pangolin::CreateDisplay().SetBounds(
         0.0, 1.0, pangolin::Attach::Pix(UI_WIDTH), 1.0);
 
+    // For the saving of the files. Use 1.68 scale save of 00 sequence.
     pangolin::View& img_view_display = pangolin::CreateDisplay()
-                                           .SetBounds(0.4, 1.0, 0, 0.4)
+                                           .SetBounds(0.0, 1.0, pangolin::Attach::Pix(UI_WIDTH), 1.0)
                                            .SetLayout(pangolin::LayoutEqual);
+//    pangolin::View& img_view_display = pangolin::CreateDisplay()
+//                                           .SetBounds(0.4, 1.0, 0.0, 0.4)
+//                                           .SetLayout(pangolin::LayoutEqual);
 
 //    pangolin::View& plot_display = pangolin::CreateDisplay().SetBounds(
 //        0.0, 0.4, pangolin::Attach::Pix(UI_WIDTH), 1.0);
@@ -764,6 +771,7 @@ int main(int argc, char** argv) {
 
     display3D.extern_draw_function = draw_scene;
 
+    // Appended.
     // Appended.
     ar_view.extern_draw_function = draw_scene_no_camera;
 
@@ -1173,13 +1181,22 @@ void draw_scene(pangolin::View& view) {
     drawLinesCube(xSkew, ySkew, zSkew, 1);
   }
   // For the 6th sequence mono-kitti
-  if (showCube1) {drawLinesCube(-5.5, 3.5, -35.0, cubeSize);}
+//  if (showCube1) {drawLinesCube(-5.5, 3.5, -35.0, cubeSize);}
-  if (showCube2) {drawLinesCube(5.5, 3.5, -40.0, cubeSize);}
+//  if (showCube2) {drawLinesCube(5.5, 3.5, -40.0, cubeSize);}
-  if (showCube3) {drawLinesCube(-5.5, 3.8, -95.0, cubeSize);}
+//  if (showCube3) {drawLinesCube(-5.5, 3.8, -95.0, cubeSize);}
-  if (showCube4) {drawLinesCube(5.5, 3.8, -150.0, cubeSize);}
+//  if (showCube4) {drawLinesCube(5.5, 3.8, -150.0, cubeSize);}
-  if (showCube5) {drawLinesCube(16.0, 4.8, -324.5, cubeSize);}
+//  if (showCube5) {drawLinesCube(16.0, 4.8, -324.5, cubeSize);}
-  if (showCube6) {drawLinesCube(32.8, 4.8, -324.5, cubeSize);}
+//  if (showCube6) {drawLinesCube(32.8, 4.8, -324.5, cubeSize);}
-  if (showCube7) {drawLinesCube(32.5, 4.8, -345.7, cubeSize);}
+//  if (showCube7) {drawLinesCube(32.5, 4.8, -345.7, cubeSize);}
+
+  // For the 1st sequence mono-kitti
+  if (showCube1) {drawLinesCube(0.0, 1.0, -95.0, cubeSize);}
+  if (showCube2) {drawLinesCube(0.0, 1.5, -35.0, cubeSize);}
+  if (showCube3) {drawLinesCube(5.0, 1.5, -40.0, cubeSize);}
+  if (showCube4) {drawLinesCube(-32.0, 1.5, -85.0, cubeSize);}
+  if (showCube5) {drawLinesCube(-32.0, 1.5, -95.0, cubeSize);}
+  if (showCube6) {drawLinesCube(-64.0, 3.0, -95.0, cubeSize);}
+  if (showCube7) {drawLinesCube(-64.0, 3.0, -85.0, cubeSize);}
 //  try{
 //    view.Activate(T);
 //    throw (0);
@@ -1242,8 +1259,8 @@ void draw_scene(pangolin::View& view) {
 void draw_scene_no_camera(pangolin::View& view) {
   UNUSED(view);
   view.Activate(ar_3d_camera);
-//  auto T_w_i = vio_T_w_i[show_frame];
+  auto T_w_i = vio_T_w_i[show_frame];
-//  auto T_i_c = calib.T_i_c[0];
+  auto T_i_c = calib.T_i_c[0];
 
 ////  std::cout << "Extracted T_w_i matrix: " << T_w_i.matrix() << std::endl;
   // If you want to translate OR to Load the constructed matrix (doesn't matter) for
@@ -1275,43 +1292,6 @@ void draw_scene_no_camera(pangolin::View& view) {
 //      axesTic[i] = -axesTic[i];
 //    }
 //  }
-  // TODO: Can I define it outside of the loop? There's no need I guess to
-  //  redefine the the projection matrix every time
-  glMatrixMode(GL_PROJECTION);
-  P.Load();
-
-  // drawLinesCube pushes the matrices, therefore, I need to define in which
-  // stack to push that matrices.
-  glMatrixMode(GL_MODELVIEW);
-  if (zeroOut){
-    xSkew = 0;
-    ySkew = 0;
-    zSkew = 0;
-  }
-  if (drawCubeBool){
-    DrawCube(cubeSize, xSkew, ySkew, zSkew);
-  }
-  if (drawLineCubeBool){
-    drawLinesCube(xSkew, ySkew, zSkew, cubeSize);
-  }
-  // For the 6th sequence mono-kitti
-  if (showCube1) {drawLinesCube(-5.5, 0.5, -35.0, cubeSize);}
-  if (showCube2) {drawLinesCube(5.5, 0.5, -40.0, cubeSize);}
-  if (showCube3) {drawLinesCube(-5.5, 1.0, -95.0, cubeSize);}
-  if (showCube4) {drawLinesCube(5.5, 1.0, -150.0, cubeSize);}
-  if (showCube5) {drawLinesCube(16.0, 4.8, -324.5, cubeSize);}
-  if (showCube6) {drawLinesCube(32.8, 4.8, -324.5, cubeSize);}
-  if (showCube7) {drawLinesCube(32.5, 4.8, -345.7, cubeSize);}
-
-  ar_3d_camera.Follow((T_w_i * T_i_c).matrix());
-  // For the 1st sequence mono-kitti
-//  drawLinesCube(0.0, 1.0, -95.0, cubeSize);
-//  drawLinesCube(0.0, 0.5, -35.0, cubeSize);
-//  drawLinesCube(5.0, 0.5, -40.0, cubeSize);
-//  drawLinesCube(-32.0, 1.0, -85.0, cubeSize);
-//  drawLinesCube(-32.0, 1.5, -95.0, cubeSize);
-//  drawLinesCube(-64.0, 3.0, -95.0, cubeSize);
-//  drawLinesCube(-64.0, 3.0, -85.0, cubeSize);
 
 //  std::cout << "Twi with rot before: " << T_w_i.matrix() << std::endl;
 //  Eigen::Matrix<double, 3, 3> Rot;
@@ -1347,6 +1327,45 @@ void draw_scene_no_camera(pangolin::View& view) {
   glColor3ubv(gt_color);
   if (show_gt) pangolin::glDrawLineStrip(gt_t_w_i);
 
+  // TODO: Can I define it outside of the loop? There's no need I guess to
+  //  redefine the the projection matrix every time
+  glMatrixMode(GL_PROJECTION);
+  P.Load();
+
+  // drawLinesCube pushes the matrices, therefore, I need to define in which
+  // stack to push that matrices.
+  glMatrixMode(GL_MODELVIEW);
+  if (zeroOut){
+    xSkew = 0;
+    ySkew = 0;
+    zSkew = 0;
+  }
+  if (drawCubeBool){
+    DrawCube(cubeSize, xSkew, ySkew, zSkew);
+  }
+  if (drawLineCubeBool){
+    drawLinesCube(xSkew, ySkew, zSkew, cubeSize);
+  }
+  // For the 6th sequence mono-kitti
+//  if (showCube1) {drawLinesCube(-5.5, 0.5, -35.0, cubeSize);}
+//  if (showCube2) {drawLinesCube(5.5, 0.5, -40.0, cubeSize);}
+//  if (showCube3) {drawLinesCube(-5.5, 1.0, -95.0, cubeSize);}
+//  if (showCube4) {drawLinesCube(5.5, 1.0, -150.0, cubeSize);}
+//  if (showCube5) {drawLinesCube(16.0, 4.8, -324.5, cubeSize);}
+//  if (showCube6) {drawLinesCube(32.8, 4.8, -324.5, cubeSize);}
+//  if (showCube7) {drawLinesCube(32.5, 4.8, -345.7, cubeSize);}
+
+  // For the 1st sequence mono-kitti
+    if (showCube1) {drawLinesCube(0.0, 1.0, -95.0, cubeSize);}
+    if (showCube2) {drawLinesCube(0.0, 1.5, -35.0, cubeSize);}
+    if (showCube3) {drawLinesCube(5.0, 1.5, -40.0, cubeSize);}
+    if (showCube4) {drawLinesCube(-32.0, 1.5, -85.0, cubeSize);}
+    if (showCube5) {drawLinesCube(-32.0, 1.5, -95.0, cubeSize);}
+    if (showCube6) {drawLinesCube(-64.0, 3.0, -95.0, cubeSize);}
+    if (showCube7) {drawLinesCube(-64.0, 3.0, -85.0, cubeSize);}
+
+  ar_3d_camera.Follow((T_w_i * T_i_c).matrix());
+
 //  size_t frame_id = show_frame;
 //  int64_t t_ns = vio_dataset->get_image_timestamps()[frame_id];
 //  auto it = vis_map.find(t_ns);