Merge pull request #1 from matiasvc/develop

Develop

.gitmodules

@@ -1,5 +1,5 @@
 [submodule "Catch2"]
-	path = test/Catch2
+	path = test/unit-tests/Catch2
 	url = [email protected]:catchorg/Catch2.git
 	branch = v2.x
 [submodule "imgui"]

examples/CMakeLists.txt

@@ -1,4 +1,4 @@
-add_subdirectory(Image2D-Example)
+add_subdirectory(Inputs-Example)
 add_subdirectory(Primitives3D-Example)
 add_subdirectory(RGBD-Example)
 add_subdirectory(SimpleLinePlot-Example)

examples/Inputs-Example/CMakeLists.txt

@@ -0,0 +1,24 @@
+cmake_minimum_required(VERSION 3.10)
+project(inputs-example)
+
+add_executable(
+		inputs-example
+		main.cpp
+)
+
+set_target_properties(
+		inputs-example PROPERTIES
+		CXX_STANDARD 17
+		CXX_STANDARD_REQUIRED ON
+)
+
+# This if check is used to work better with a local copy of Toucan.
+# In a regular project the 'if' can be omitted, as the 'find_package' command should always be called.
+if (NOT Toucan_FOUND)
+	find_package(Toucan REQUIRED)
+endif (NOT Toucan_FOUND)
+
+target_link_libraries(
+		inputs-example
+		PRIVATE Toucan::Toucan
+)

examples/Inputs-Example/main.cpp

@@ -0,0 +1,81 @@
+#include <Toucan/Toucan.h>
+
+#include <chrono>
+#include <thread>
+
+int main() {
+
+	Toucan::Initialize();
+
+	bool checkbox_value = true;
+
+	float slider_float_value = 0.0;
+	Toucan::Vector2f slider_float2_value = Toucan::Vector2f::Zero();
+	Toucan::Vector3f slider_float3_value = Toucan::Vector3f::Zero();
+	Toucan::Vector4f slider_float4_value = Toucan::Vector4f::Zero();
+
+	int slider_int_value = 0;
+	Toucan::Vector2i slider_int2_value = Toucan::Vector2i::Zero();
+	Toucan::Vector3i slider_int3_value = Toucan::Vector3i::Zero();
+	Toucan::Vector4i slider_int4_value = Toucan::Vector4i::Zero();
+
+	Toucan::Color color_value = Toucan::Color::White();
+
+	while (Toucan::IsWindowOpen()) {
+		Toucan::BeginInputWindow("Inputs");
+		{
+			if (Toucan::ShowButton("Button")) {
+				std::cout << "Button clicked\n";
+			}
+
+			if (Toucan::ShowCheckbox("Checkbox", checkbox_value)) {
+				std::cout << "Checkbox value changed to:\n" << checkbox_value << '\n';
+			}
+
+			if (Toucan::ShowSliderFloat("Slider float", slider_float_value)) {
+				std::cout << "Slider float value changed to:\n" << slider_float_value << '\n';
+			}
+
+			if (Toucan::ShowSliderFloat2("Slider float 2", slider_float2_value)) {
+				std::cout << "Slider float 2 value changed to:\n" << slider_float2_value << '\n';
+			}
+
+			if (Toucan::ShowSliderFloat3("Slider float 3", slider_float3_value)) {
+				std::cout << "Slider float 3 value changed to:\n" << slider_float3_value << '\n';
+			}
+
+			if (Toucan::ShowSliderFloat4("Slider float 4", slider_float4_value)) {
+				std::cout << "Slider float 4 value changed to:\n" << slider_float4_value << '\n';
+			}
+
+			if (Toucan::ShowSliderInt("Slider int", slider_int_value)) {
+				std::cout << "Slider int value changed to:\n" << slider_int_value << '\n';
+			}
+
+			if (Toucan::ShowSliderInt2("Slider int 2", slider_int2_value)) {
+				std::cout << "Slider int 2 value changed to:\n" << slider_int2_value << '\n';
+			}
+
+			if (Toucan::ShowSliderInt3("Slider int 3", slider_int3_value)) {
+				std::cout << "Slider int 3 value changed to:\n" << slider_int3_value << '\n';
+			}
+
+			if (Toucan::ShowSliderInt4("Slider int 4", slider_int4_value)) {
+				std::cout << "Slider int 4 value changed to:\n" << slider_int4_value << '\n';
+			}
+
+			if (Toucan::ShowColorPicker("Color picker", color_value)) {
+				std::cout << "Color picker value changed to:\n (" <<
+					color_value.r << ", " << color_value.g << ", " << color_value.b << ")\n";
+			}
+		}
+		Toucan::EndInputWindow();
+
+		using namespace std::chrono_literals;
+		std::this_thread::sleep_for(250ms);
+	}
+
+	Toucan::Destroy();
+
+	return 0;
+}

examples/Primitives3D-Example/CMakeLists.txt

@@ -1,3 +1,6 @@
+cmake_minimum_required(VERSION 3.10)
+project(primitives3d-example)
+
 add_executable(
 		primitives3d-example
 		main.cpp
@@ -6,10 +9,15 @@ add_executable(
 set_target_properties(
 		primitives3d-example PROPERTIES
 		CXX_STANDARD 17
-		CXX_EXTENSIONS ON
 		CXX_STANDARD_REQUIRED ON
-		POSITION_INDEPENDENT_CODE ON
 )
+
+# This if check is used to work better with a local copy of Toucan.
+# In a regular project the 'if' can be omitted, as the 'find_package' command should always be called.
+if (NOT Toucan_FOUND)
+	find_package(Toucan REQUIRED)
+endif (NOT Toucan_FOUND)
+
 target_link_libraries(
 		primitives3d-example
 		PRIVATE Toucan::Toucan

examples/RGBD-Example/CMakeLists.txt

@@ -1,28 +1,28 @@
+cmake_minimum_required(VERSION 3.10)
+project(rgbd-example)
+
 add_executable(
 		rgbd-example
 		main.cpp
-		DataLoader.cpp
+		DataLoader.cpp DataLoader.h
+		stb_image.h
 )
 
 set_target_properties(
 		rgbd-example PROPERTIES
 		CXX_STANDARD 17
-		CXX_EXTENSIONS ON
 		CXX_STANDARD_REQUIRED ON
-		POSITION_INDEPENDENT_CODE ON
 )
 
-add_library(stb STATIC stb/stb_image.c)
-target_include_directories(rgbd-example PRIVATE stb)
-
-find_package(Eigen3 REQUIRED NO_MODULE)
-
-find_package(Sophus REQUIRED)
-target_include_directories(rgbd-example PRIVATE ${Sophus_INCLUDE_DIRS})
+# This if check is used to work better with a local copy of Toucan.
+# In a regular project the 'if' can be omitted, as the 'find_package' command should always be called.
+if (NOT Toucan_FOUND)
+	find_package(Toucan REQUIRED)
+endif (NOT Toucan_FOUND)
 
 target_link_libraries(
 		rgbd-example
-		PRIVATE Toucan::Toucan stb stdc++fs Eigen3::Eigen
+		PRIVATE Toucan::Toucan stdc++fs
 )
 
 file(COPY dataset DESTINATION ${CMAKE_CURRENT_BINARY_DIR})

examples/RGBD-Example/DataLoader.cpp

@@ -3,17 +3,18 @@
 #include <cstdint>
 #include <fstream>
 
-#include <stb_image.h>
+#define STB_IMAGE_IMPLEMENTATION
+#include "stb_image.h"
 
 #include <unistd.h>
 
-DataLoader::DataLoader(const std::experimental::filesystem::path& dataset_path, const Sophus::SE3f& transformation) :
-m_dataset_path{dataset_path}, m_transformation{transformation}, m_rgb_index{0}, m_depth_index{0}, m_groundtruth_index{0} {
+DataLoader::DataLoader(const std::filesystem::path& dataset_path) :
+m_dataset_path{dataset_path}, m_rgb_index{0}, m_depth_index{0}, m_groundtruth_index{0} {
 
-	const std::experimental::filesystem::path rgb_file_path = dataset_path / "rgb.txt";
+	const std::filesystem::path rgb_file_path = dataset_path / "rgb.txt";
 
 	std::ifstream rgb_file(rgb_file_path.string());
-	if (!rgb_file.is_open()) { throw std::invalid_argument("Unable to open rgb.txt file"); }
+	if (!rgb_file.is_open()) { throw std::invalid_argument("Unable to open rgb.txt file. Did you run download-dataset.sh?"); }
 
 	std::string line;
 	const std::string decimal = ".";
@@ -32,10 +33,10 @@ m_dataset_path{dataset_path}, m_transformation{transformation}, m_rgb_index{0},
 		m_rgb_files.emplace_back(timestamp, file_name);
 	}
 
-	const std::experimental::filesystem::path depth_file_path = dataset_path / "depth.txt";
+	const std::filesystem::path depth_file_path = dataset_path / "depth.txt";
 
 	std::ifstream depth_file(depth_file_path.string());
-	if (!depth_file.is_open()) { throw std::invalid_argument("Unable to open depth.txt file"); }
+	if (!depth_file.is_open()) { throw std::invalid_argument("Unable to open depth.txt file. Did you run download-dataset.sh?"); }
 
 	while (getline(depth_file, line))
 	{
@@ -50,10 +51,10 @@ m_dataset_path{dataset_path}, m_transformation{transformation}, m_rgb_index{0},
 		m_depth_files.emplace_back(timestamp, file_name);
 	}
 
-	const std::experimental::filesystem::path groundtruth_file_path = dataset_path / "groundtruth.txt";
+	const std::filesystem::path groundtruth_file_path = dataset_path / "groundtruth.txt";
 
 	std::ifstream groudtruth_file(groundtruth_file_path.string());
-	if (!groudtruth_file.is_open()) { throw std::invalid_argument("Unable to open groundtruth.txt file"); }
+	if (!groudtruth_file.is_open()) { throw std::invalid_argument("Unable to open groundtruth.txt file. Did you run download-dataset.sh?"); }
 
 	while (getline(groudtruth_file, line))
 	{
@@ -89,11 +90,12 @@ m_dataset_path{dataset_path}, m_transformation{transformation}, m_rgb_index{0},
 		std::getline(ss, item, ' ');
 		float qw = std::stof(item);
 
-		const Eigen::Quaternionf orientation(qw, qx, qy, qz);
-		const Eigen::Vector3f position(tx, ty, tz);
-		const Sophus::SE3f transform(orientation, position);
+		const Toucan::RigidTransform3Df pose(
+				Toucan::Quaternionf(qw, qx, qy, qz),
+				Toucan::Vector3f(tx, ty, tz)
+		);
 
-		m_ground_truths.emplace_back(timestamp, transform);
+		m_ground_truths.emplace_back(timestamp, pose);
 	}
 
 	this->next();
@@ -127,7 +129,7 @@ int DataLoader::get_current_index() const {
 }
 
 Image DataLoader::get_depth() const {
-	const std::experimental::filesystem::path& depth_image_path = m_dataset_path / m_depth_files[m_depth_index].second;
+	const std::filesystem::path& depth_image_path = m_dataset_path / m_depth_files[m_depth_index].second;
 
 	Image image;
 
@@ -141,7 +143,7 @@ Image DataLoader::get_depth() const {
 }
 
 Image DataLoader::get_rgb() const {
-	const std::experimental::filesystem::path& rgb_image_path = m_dataset_path / m_rgb_files[m_rgb_index].second;
+	const std::filesystem::path& rgb_image_path = m_dataset_path / m_rgb_files[m_rgb_index].second;
 
 	Image image;
 
@@ -154,8 +156,8 @@ Image DataLoader::get_rgb() const {
 	return image;
 }
 
-Sophus::SE3f DataLoader::get_groundtruth() const {
-	return m_transformation * m_ground_truths[m_groundtruth_index].second;
+Toucan::RigidTransform3Df DataLoader::get_groundtruth() const {
+	return m_ground_truths[m_groundtruth_index].second;
 }
 
 uint64_t DataLoader::get_timestamp() const

examples/RGBD-Example/DataLoader.h

@@ -4,9 +4,9 @@
 #include <utility>
 #include <string>
 #include <cstdlib>
-#include <experimental/filesystem>
+#include <filesystem>
 
-#include <sophus/se3.hpp>
+#include <Toucan/DataTypes.h>
 
 struct Image {
 	~Image() {
@@ -23,27 +23,26 @@ struct Image {
 
 class DataLoader {
 public:
-	explicit DataLoader(const std::experimental::filesystem::path& dataset_path, const Sophus::SE3f& transformation = Sophus::SE3f());
+	explicit DataLoader(const std::filesystem::path& dataset_path);
 
 	void next();
 	[[nodiscard]] bool has_next() const;
 	[[nodiscard]] Image get_rgb() const;
 	[[nodiscard]] Image get_depth() const;
-	[[nodiscard]] Sophus::SE3f get_groundtruth() const;
+	[[nodiscard]] Toucan::RigidTransform3Df get_groundtruth() const;
 	[[nodiscard]] uint64_t get_timestamp() const;
 
 	[[nodiscard]] int get_size() const;
 	[[nodiscard]] int get_current_index() const;
 
 private:
-	const std::experimental::filesystem::path m_dataset_path;
-	const Sophus::SE3f m_transformation;
+	const std::filesystem::path m_dataset_path;
 
 	int m_rgb_index;
 	int m_depth_index;
 	int m_groundtruth_index;
 
 	std::vector<std::pair<uint64_t, const std::string>> m_rgb_files;
 	std::vector<std::pair<uint64_t, const std::string>> m_depth_files;
-	std::vector<std::pair<uint64_t, const Sophus::SE3f>> m_ground_truths;
+	std::vector<std::pair<uint64_t, const Toucan::RigidTransform3Df>> m_ground_truths;
 };

examples/RGBD-Example/dataset/download-dataset.sh

@@ -1,3 +1,5 @@
 #!/usr/bin/env bash
 
+cd "$( dirname "${BASH_SOURCE[0]}" )" || exit
+
 wget https://vision.in.tum.de/rgbd/dataset/freiburg3/rgbd_dataset_freiburg3_long_office_household.tgz -O - | tar xvzf -

examples/RGBD-Example/main.cpp

@@ -95,32 +95,26 @@ int main() {
 		project_image(depth_points, image, image_depth);
 
 		auto gt_pose = data_loader.get_groundtruth();
-		auto gt_t = gt_pose.translation();
-		auto gt_q = gt_pose.unit_quaternion();
 
-		pose_path.emplace_back(Toucan::LineVertex3D{Toucan::Vector3f(gt_t.x(), gt_t.y(), gt_t.z()), Toucan::Color::Magenta()});
+		pose_path.emplace_back(Toucan::LineVertex3D{gt_pose.translation, Toucan::Color::Magenta()});
 		Toucan::BeginFigure3D("Point Projection");
 		{
-			Toucan::PushPose3D(Toucan::RigidTransform3Df(Toucan::Quaternionf(Toucan::Vector3f::UnitX(), M_PI_2), Toucan::Vector3f::Zero()));
-			{ // Static transform to align with our coordinate system
-				Toucan::ShowLines3D("Pose path", pose_path);
-
-				Toucan::PushPose3D(Toucan::RigidTransform3Df(Toucan::Quaternionf(gt_q.w(), gt_q.x(), gt_q.y(), gt_q.z()), Toucan::Vector3f(gt_t.x(), gt_t.y(), gt_t.z())));
-				{ // The coordinate system of the camera
-					Toucan::ShowAxis3D("Axis");
-					Toucan::ShowPoints3D("Depth points", depth_points);
-				}
-				Toucan::PopPose3D();
+			Toucan::ShowLines3D("Pose path", pose_path);
+
+			Toucan::PushPose3D(gt_pose);
+			{ // The coordinate system of the camera
+				Toucan::ShowAxis3D("Axis");
+				Toucan::ShowPoints3D("Depth points", depth_points);
 			}
 			Toucan::PopPose3D();
 		}
 		Toucan::EndFigure3D();
 
 		depth_points.clear();
 
-		pos_x_plot.emplace_back(gt_t.x());
-		pos_y_plot.emplace_back(gt_t.y());
-		pos_z_plot.emplace_back(gt_t.z());
+		pos_x_plot.emplace_back(gt_pose.translation.x());
+		pos_y_plot.emplace_back(gt_pose.translation.y());
+		pos_z_plot.emplace_back(gt_pose.translation.z());
 
 		Toucan::BeginFigure2D("Position");
 		{