Viewer config (#79)

* viewer config

* fix pose jitters

config/config_viewer.json

@@ -13,7 +13,12 @@
       4.0
     ],
     "enable_partial_rendering": false,
-    "partial_rendering_budget": 1024
+    "partial_rendering_budget": 1024,
+    "point_shape_circle": true,
+    "point_size_metric": false,
+    "point_size": 10.0,
+    "points_alpha": 0.5,
+    "factors_alpha": 0.5
   },
   "interactive_viewer": {
     "viewer_width": 2560,
@@ -23,6 +28,11 @@
       4.0
     ],
     "enable_partial_rendering": false,
-    "partial_rendering_budget": 1024
+    "partial_rendering_budget": 1024,
+    "point_shape_circle": true,
+    "point_size_metric": false,
+    "point_size": 10.0,
+    "points_alpha": 0.5,
+    "factors_alpha": 0.5
   }
 }

include/glim/viewer/interactive_viewer.hpp

@@ -94,8 +94,15 @@ class InteractiveViewer : public ExtensionModule {
   bool enable_partial_rendering;
   int partial_rendering_budget;
 
+  double point_size;
+  bool point_size_metric;
+  bool point_shape_circle;
+
   Eigen::Vector2f z_range;
 
+  double points_alpha;
+  double factors_alpha;
+
   // Click information
   Eigen::Vector4i right_clicked_info;
   Eigen::Vector3f right_clicked_pos;

include/glim/viewer/standard_viewer.hpp

@@ -79,8 +79,14 @@ class StandardViewer : public ExtensionModule {
   std::vector<std::pair<boost::weak_ptr<gtsam::NonlinearFactor>, FactorLineGetter>> odometry_factor_lines;
   std::unordered_map<std::uint64_t, Eigen::Isometry3f> odometry_poses;
 
+  double point_size;
+  bool point_size_metric;
+  bool point_shape_circle;
+
   Eigen::Vector2f z_range;
   Eigen::Vector2f auto_z_range;
+  double points_alpha;
+  double factors_alpha;
 
   std::unique_ptr<TrajectoryManager> trajectory;
   std::vector<Eigen::Isometry3f> submap_keyframes;

src/glim/util/trajectory_manager.cpp

@@ -35,7 +35,7 @@ void TrajectoryManager::update_anchor(double stamp, const Eigen::Isometry3d& T_w
     const double t0 = odom_stamps[idx - 1];
     const double t1 = odom_stamps[idx];
     if (t0 > stamp || t1 < stamp) {
-      T_world_odom = T_world_sensor * T_odom_sensor[idx].inverse();
+      // T_world_odom = T_world_sensor * T_odom_sensor[idx].inverse();
       return;
     }
 

src/glim/viewer/interactive_viewer.cpp

@@ -57,6 +57,13 @@ InteractiveViewer::InteractiveViewer() : logger(create_module_logger("viewer"))
   enable_partial_rendering = config.param("interactive_viewer", "enable_partial_rendering", false);
   partial_rendering_budget = config.param("interactive_viewer", "partial_rendering_budget", 1024);
 
+  points_alpha = config.param("interactive_viewer", "points_alpha", 1.0);
+  factors_alpha = config.param("interactive_viewer", "factors_alpha", 1.0);
+
+  point_size = config.param("interactive_viewer", "point_size", 1.0);
+  point_size_metric = config.param("interactive_viewer", "point_size_metric", false);
+  point_shape_circle = config.param("interactive_viewer", "point_shape_circle", true);
+
   z_range = config.param("interactive_viewer", "default_z_range", Eigen::Vector2d(-2.0, 4.0)).cast<float>();
 
   trajectory.reset(new TrajectoryManager);
@@ -90,6 +97,16 @@ void InteractiveViewer::viewer_loop() {
   viewer->enable_vsync();
   viewer->shader_setting().add("z_range", z_range);
 
+  viewer->shader_setting().set_point_size(point_size);
+
+  if (point_size_metric) {
+    viewer->shader_setting().set_point_scale_metric();
+  }
+
+  if (point_shape_circle) {
+    viewer->shader_setting().set_point_shape_circle();
+  }
+
   if (enable_partial_rendering) {
     viewer->enable_partial_rendering(0.1);
     viewer->shader_setting().add("dynamic_object", 1);
@@ -289,7 +306,7 @@ void InteractiveViewer::update_viewer() {
     } else {
       const Eigen::Vector4i info(static_cast<int>(PickType::POINTS), 0, 0, submap->id);
       auto cloud_buffer = std::make_shared<glk::PointCloudBuffer>(submap->frame->points, submap->frame->size());
-      auto shader_setting = guik::Rainbow(submap_pose).add("info_values", info);
+      auto shader_setting = guik::Rainbow(submap_pose).add("info_values", info).set_alpha(points_alpha);
 
       if (enable_partial_rendering) {
         cloud_buffer->enable_partial_rendering(partial_rendering_budget);
@@ -348,21 +365,21 @@ void InteractiveViewer::update_viewer() {
     Eigen::Vector4f color;
     switch (type) {
       case FactorType::MATCHING_COST:
-        color = Eigen::Vector4f(0.0f, 1.0f, 0.0f, 1.0f);
+        color = Eigen::Vector4f(0.0f, 1.0f, 0.0f, factors_alpha);
         break;
       case FactorType::BETWEEN:
-        color = Eigen::Vector4f(0.0f, 0.0f, 1.0f, 1.0f);
+        color = Eigen::Vector4f(0.0f, 0.0f, 1.0f, factors_alpha);
         break;
       case FactorType::IMU:
-        color = Eigen::Vector4f(1.0f, 0.0f, 0.0f, 1.0f);
+        color = Eigen::Vector4f(1.0f, 0.0f, 0.0f, factors_alpha);
         break;
     }
 
     factor_colors.push_back(color);
     factor_colors.push_back(color);
   }
 
-  viewer->update_drawable("factors", std::make_shared<glk::ThinLines>(factor_lines, factor_colors), guik::VertexColor());
+  viewer->update_drawable("factors", std::make_shared<glk::ThinLines>(factor_lines, factor_colors), guik::VertexColor().set_alpha(factors_alpha));
 
   std::vector<Eigen::Vector3f> traj;
   for (const auto& submap : submaps) {

src/glim/viewer/standard_viewer.cpp

@@ -58,6 +58,13 @@ StandardViewer::StandardViewer() : logger(create_module_logger("viewer")) {
   z_range = config.param("standard_viewer", "default_z_range", Eigen::Vector2d(-2.0, 4.0)).cast<float>();
   auto_z_range << 0.0f, 0.0f;
 
+  points_alpha = config.param("standard_viewer", "points_alpha", 1.0);
+  factors_alpha = config.param("standard_viewer", "factors_alpha", 1.0);
+
+  point_size = config.param("standard_viewer", "point_size", 1.0);
+  point_size_metric = config.param("standard_viewer", "point_size_metric", false);
+  point_shape_circle = config.param("standard_viewer", "point_shape_circle", true);
+
   trajectory.reset(new TrajectoryManager);
 
   enable_partial_rendering = config.param("standard_viewer", "enable_partial_rendering", false);
@@ -265,7 +272,11 @@ void StandardViewer::set_callbacks() {
             }
 
             const Eigen::Vector3d pt1 = static_cast<const gtsam_points::IntegratedMatchingCostFactor*>(factor)->get_fixed_target_pose().translation();
-            return std::make_tuple(found0->second.translation(), pt1.cast<float>(), Eigen::Vector4f(0.0f, 1.0f, 0.0f, 0.5f), Eigen::Vector4f(1.0f, 0.0f, 0.0f, 0.5f));
+            return std::make_tuple(
+              found0->second.translation(),
+              pt1.cast<float>(),
+              Eigen::Vector4f(0.0f, 1.0f, 0.0f, factors_alpha),
+              Eigen::Vector4f(1.0f, 0.0f, 0.0f, factors_alpha));
           };
 
           new_factor_lines.emplace_back(factor, l);
@@ -282,7 +293,7 @@ void StandardViewer::set_callbacks() {
             }
 
             const Eigen::Vector3f pt1 = static_cast<const gtsam_points::IntegratedVGICPFactorGPU*>(factor)->get_fixed_target_pose().translation();
-            return std::make_tuple(found0->second.translation(), pt1, Eigen::Vector4f(0.0f, 1.0f, 0.0f, 0.5f), Eigen::Vector4f(1.0f, 0.0f, 0.0f, 0.5f));
+            return std::make_tuple(found0->second.translation(), pt1, Eigen::Vector4f(0.0f, 1.0f, 0.0f, factors_alpha), Eigen::Vector4f(1.0f, 0.0f, 0.0f, factors_alpha));
           };
 
           new_factor_lines.emplace_back(factor, l);
@@ -306,7 +317,11 @@ void StandardViewer::set_callbacks() {
             return std::nullopt;
           }
 
-          return std::make_tuple(found0->second.translation(), found1->second.translation(), Eigen::Vector4f(0.0f, 1.0f, 0.0f, 1.0f), Eigen::Vector4f(0.0f, 1.0f, 0.0f, 1.0f));
+          return std::make_tuple(
+            found0->second.translation(),
+            found1->second.translation(),
+            Eigen::Vector4f(0.0f, 1.0f, 0.0f, factors_alpha),
+            Eigen::Vector4f(0.0f, 1.0f, 0.0f, factors_alpha));
         };
 
         new_factor_lines.emplace_back(factor, l);
@@ -342,7 +357,7 @@ void StandardViewer::set_callbacks() {
       }
 
       auto viewer = guik::viewer();
-      viewer->update_drawable("odometry_factors", std::make_shared<glk::ThinLines>(line_vertices, line_colors), guik::VertexColor().make_transparent());
+      viewer->update_drawable("odometry_factors", std::make_shared<glk::ThinLines>(line_vertices, line_colors), guik::VertexColor().set_alpha(factors_alpha));
     });
   });
 
@@ -461,7 +476,7 @@ void StandardViewer::set_callbacks() {
         lines.push_back(submap_keyframes[factor.second].translation());
       }
 
-      sub_viewer->update_drawable("factors", std::make_shared<glk::ThinLines>(lines), guik::FlatGreen());
+      sub_viewer->update_drawable("factors", std::make_shared<glk::ThinLines>(lines), guik::FlatGreen().set_alpha(factors_alpha));
     });
   });
 
@@ -486,7 +501,7 @@ void StandardViewer::set_callbacks() {
       auto viewer = guik::LightViewer::instance();
       auto cloud_buffer = std::make_shared<glk::PointCloudBuffer>(submap->frame->points, submap->frame->size());
       auto shader_setting = guik::Rainbow(T_world_origin->matrix().cast<float>());
-      shader_setting.add("point_scale", 0.1f);
+      shader_setting.set_alpha(points_alpha);
 
       if (enable_partial_rendering) {
         cloud_buffer->enable_partial_rendering(partial_rendering_budget);
@@ -535,7 +550,7 @@ void StandardViewer::set_callbacks() {
         }
       }
 
-      viewer->update_drawable("factors", std::make_shared<glk::ThinLines>(submap_positions, indices), guik::FlatGreen());
+      viewer->update_drawable("factors", std::make_shared<glk::ThinLines>(submap_positions, indices), guik::FlatGreen().set_alpha(factors_alpha));
       viewer->shader_setting().add<Eigen::Vector2f>("z_range", auto_z_range + z_range);
     });
   });
@@ -573,6 +588,15 @@ void StandardViewer::viewer_loop() {
   auto viewer = guik::LightViewer::instance(Eigen::Vector2i(config.param("standard_viewer", "viewer_width", 2560), config.param("standard_viewer", "viewer_height", 1440)));
   viewer->enable_vsync();
   viewer->shader_setting().add("z_range", z_range);
+  viewer->shader_setting().set_point_size(point_size);
+
+  if (point_size_metric) {
+    viewer->shader_setting().set_point_scale_metric();
+  }
+
+  if (point_shape_circle) {
+    viewer->shader_setting().set_point_shape_circle();
+  }
 
   if (enable_partial_rendering) {
     viewer->enable_partial_rendering(1e-1);