WAIApp Class Reference

Implements app functionality (e.g. scene description, which camera, how to start and use WAISlam) More...

#include <WAIAppTest.h>

Inheritance diagram for WAIApp:

Public Types
using	CloseAppCallback = std::function< void()>

Public Member Functions
	WAIApp ()
void	init (int screenWidth, int screenHeight, int screenDpi, AppDirectories directories)
void	initCloseAppCallback (CloseAppCallback cb)
void	initCamera (SENSCamera *camera)
bool	update ()
void	close ()
void	goBack ()
Public Member Functions inherited from SLInputEventInterface
	SLInputEventInterface (SLInputManager &inputManager)
void	resize (int sceneViewIndex, int width, int height)
void	updateScr2fb (int sceneViewIndex)
void	mouseDown (int sceneViewIndex, SLMouseButton button, int x, int y, SLKey modifier)
void	mouseMove (int sceneViewIndex, int x, int y)
void	mouseUp (int sceneViewIndex, SLMouseButton button, int x, int y, SLKey modifier)
void	doubleClick (int sceneViewIndex, SLMouseButton button, int x, int y, SLKey modifier)
void	touch2Down (int sceneViewIndex, int x1, int y1, int x2, int y2)
void	touch2Move (int sceneViewIndex, int x1, int y1, int x2, int y2)
void	touch2Up (int sceneViewIndex, int x1, int y1, int x2, int y2)
void	mouseWheel (int sceneViewIndex, int pos, SLKey modifier)
void	keyPress (int sceneViewIndex, SLKey key, SLKey modifier)
void	keyRelease (int sceneViewIndex, SLKey key, SLKey modifier)
void	charInput (int sceneViewIndex, unsigned int character)
void	longTouch (int sceneViewIndex, int x, int y)
void	scrCaptureRequest (int sceneViewIndex, std::string outputPath)

Private Member Functions
void	initSceneCamera ()
void	initDirectories (AppDirectories directories)
void	initSceneGraph (int scrWidth, int scrHeight, int dpi)
void	initIntroScene ()
void	deleteSceneGraph ()

Private Attributes
SENSCamera *	_camera = nullptr
SLSceneView *	_sv = nullptr
SLCamera *	_sceneCamera = nullptr
SLGLTexture *	_videoImage = nullptr
AppDirectories	_dirs
CloseAppCallback	_closeAppCallback
bool	_goBackRequested = false
bool	_initSceneGraphDone = false
bool	_initIntroSceneDone = false

Detailed Description

Implements app functionality (e.g. scene description, which camera, how to start and use WAISlam)

Definition at line 23 of file WAIAppTest.h.

Member Typedef Documentation

CloseAppCallback

using WAIApp::CloseAppCallback = std::function<void()>

Definition at line 26 of file WAIAppTest.h.

Constructor & Destructor Documentation

WAIApp()

WAIApp::WAIApp

(

)

Definition at line 30 of file WAIAppTest.cpp.

  : SLInputEventInterface(AppCommon::inputManager)
{
}

Member Function Documentation

close()

void WAIApp::close

(

)

Definition at line 196 of file WAIAppTest.cpp.

{
    deleteSceneGraph();
    _initSceneGraphDone = false;
    _initIntroSceneDone = false;
}

deleteSceneGraph()

void WAIApp::deleteSceneGraph ( )

private

Definition at line 210 of file WAIAppTest.cpp.

{
    // Deletes all remaining sceneviews the current scene instance
    if (AppCommon::scene)
    {
        delete AppCommon::scene;
        AppCommon::scene = nullptr;
    }
}

goBack()

void WAIApp::goBack

(

)

Definition at line 203 of file WAIAppTest.cpp.

{
    WAIAPP_DEBUG("goBack");
    // todo: enqueue event
    _goBackRequested = true;
}

init()

void WAIApp::init	(	int	screenWidth,
		int	screenHeight,
		int	screenDpi,
		AppDirectories	directories
	)

Definition at line 35 of file WAIAppTest.cpp.

{
    WAIAPPSTATE_DEBUG("init");
    // Utils::initFileLog(directories.logFileDir, true);
 
    if (!_initSceneGraphDone)
    {
        initDirectories(directories);
        initSceneGraph(screenWidth, screenHeight, screenDpi);
        _initSceneGraphDone = true;
    }
    if (!_initIntroSceneDone)
    {
        initIntroScene();
        _initIntroSceneDone = true;
    }
}

initCamera()

void WAIApp::initCamera

(

SENSCamera *

camera

)

Definition at line 58 of file WAIAppTest.cpp.

{
    _camera = camera;
 
    /*
    if (_sv)
        _sv->setViewportFromRatio(SLVec2i(_camera->getFrameSize().width, _camera->getFrameSize().height), SLViewportAlign::VA_center, true);
 
    if (_sceneCamera)
    {
        //make sure scene camera is initialized
        initSceneCamera();
    }
 
    if (!_videoImage)
    {
        _videoImage = new SLGLTexture("LiveVideoError.png", GL_LINEAR, GL_LINEAR);
        _sceneCamera->background().texture(_videoImage);
    }
     */
}

initCloseAppCallback()

void WAIApp::initCloseAppCallback

(

CloseAppCallback

cb

)

Definition at line 53 of file WAIAppTest.cpp.

{
    _closeAppCallback = cb;
}

initDirectories()

void WAIApp::initDirectories ( AppDirectories  directories )

private

Definition at line 80 of file WAIAppTest.cpp.

{
    WAIAPP_DEBUG("initDirectories");
    _dirs = directories;
    // Default paths for all loaded resources
    SLGLProgram::defaultPath      = _dirs.slDataRoot + "/shaders/";
    SLGLTexture::defaultPath      = _dirs.slDataRoot + "/images/textures/";
    SLGLTexture::defaultPathFonts = _dirs.slDataRoot + "/images/fonts/";
    CVImage::defaultPath          = _dirs.slDataRoot + "/images/textures/";
    SLAssimpImporter::defaultPath = _dirs.slDataRoot + "/models/";
    AppCommon::configPath           = _dirs.writableDir;
}

initIntroScene()

void WAIApp::initIntroScene ( )

private

Definition at line 236 of file WAIAppTest.cpp.

{
    WAIAPP_DEBUG("initIntroScene");
    SLScene* s = AppCommon::scene;
    // clear old scene content
    s->init();
 
    s->name("Loading scene");
    s->info("Scene shown while starting application");
 
    SLMaterial* m1 = new SLMaterial("m1", SLCol4f::RED);
 
    initSceneCamera(); //_sceneCamera is valid now
 
    SLLightSpot* light1 = new SLLightSpot(10, 10, 10, 0.3f);
    light1->ambient(SLCol4f(0.2f, 0.2f, 0.2f));
    light1->diffuse(SLCol4f(0.8f, 0.8f, 0.8f));
    light1->specular(SLCol4f(1, 1, 1));
    light1->attenuation(1, 0, 0);
 
    // Because all text objects get their sizes in pixels we have to scale them down
    SLfloat  scale = 0.01f;
    SLstring txt   = "This is text in 3D with font07";
    SLVec2f  size  = SLTexFont::font07->calcTextSize(txt);
    SLNode*  t07   = new SLText(txt, SLTexFont::font07);
    t07->translate(-size.x * 0.5f * scale, 1.0f, 0);
    t07->scale(scale);
 
    txt         = "This is text in 3D with font22";
    size        = SLTexFont::font22->calcTextSize(txt);
    SLNode* t22 = new SLText(txt, SLTexFont::font22);
    t22->translate(-size.x * 0.5f * scale, -1.2f, 0);
    t22->scale(scale);
 
    // Assemble 3D scene as usual with camera and light
    SLNode* scene3D = new SLNode("root3D");
    scene3D->addChild(_sceneCamera);
    scene3D->addChild(light1);
    scene3D->addChild(new SLNode(new SLSphere(0.5f, 32, 32, "Sphere", m1)));
    scene3D->addChild(t07);
    scene3D->addChild(t22);
 
    _sv->camera(_sceneCamera);
    _sv->doWaitOnIdle(false);
 
    s->root3D(scene3D);
 
    for (auto sceneView : s->sceneViews())
        if (sceneView != nullptr)
            sceneView->onInitialize();
 
    /*
    WAIAPP_DEBUG("initIntroScene");
    SLScene* s = AppCommon::scene;
    //clear old scene content
    s->init();
 
    s->name("Loading scene");
    s->info("Scene shown while starting application");
 
    SLMaterial* m1 = new SLMaterial("m1", SLCol4f::RED);
 
    SLCamera* cam1 = new SLCamera("Camera 1");
    cam1->clipNear(0.1f);
    cam1->clipFar(100);
    cam1->translation(0, 0, 5);
    cam1->lookAt(0, 0, 0);
    cam1->focalDist(5);
    cam1->background().colors(SLCol4f(0.1f, 0.1f, 0.1f));
    cam1->setInitialState();
 
    SLLightSpot* light1 = new SLLightSpot(10, 10, 10, 0.3f);
    light1->ambient(SLCol4f(0.2f, 0.2f, 0.2f));
    light1->diffuse(SLCol4f(0.8f, 0.8f, 0.8f));
    light1->specular(SLCol4f(1, 1, 1));
    light1->attenuation(1, 0, 0);
 
    // Because all text objects get their sizes in pixels we have to scale them down
    SLfloat  scale = 0.01f;
    SLstring txt   = "This is text in 3D with font07";
    SLVec2f  size  = SLTexFont::font07->calcTextSize(txt);
    SLNode*  t07   = new SLText(txt, SLTexFont::font07);
    t07->translate(-size.x * 0.5f * scale, 1.0f, 0);
    t07->scale(scale);
 
    txt         = "This is text in 3D with font09";
    size        = SLTexFont::font09->calcTextSize(txt);
    SLNode* t09 = new SLText(txt, SLTexFont::font09);
    t09->translate(-size.x * 0.5f * scale, 0.8f, 0);
    t09->scale(scale);
 
    txt         = "This is text in 3D with font12";
    size        = SLTexFont::font12->calcTextSize(txt);
    SLNode* t12 = new SLText(txt, SLTexFont::font12);
    t12->translate(-size.x * 0.5f * scale, 0.6f, 0);
    t12->scale(scale);
 
    txt         = "This is text in 3D with font20";
    size        = SLTexFont::font20->calcTextSize(txt);
    SLNode* t20 = new SLText(txt, SLTexFont::font20);
    t20->translate(-size.x * 0.5f * scale, -0.8f, 0);
    t20->scale(scale);
 
    txt         = "This is text in 3D with font22";
    size        = SLTexFont::font22->calcTextSize(txt);
    SLNode* t22 = new SLText(txt, SLTexFont::font22);
    t22->translate(-size.x * 0.5f * scale, -1.2f, 0);
    t22->scale(scale);
 
    // Now create 2D text but don't scale it (all sizes in pixels)
    txt           = "This is text in 2D with font16";
    size          = SLTexFont::font16->calcTextSize(txt);
    SLNode* t2D16 = new SLText(txt, SLTexFont::font16);
    t2D16->translate(-size.x * 0.5f, 0, 0);
 
    // Assemble 3D scene as usual with camera and light
    SLNode* scene3D = new SLNode("root3D");
    scene3D->addChild(cam1);
    scene3D->addChild(light1);
    scene3D->addChild(new SLNode(new SLSphere(0.5f, 32, 32, "Sphere", m1)));
    scene3D->addChild(t07);
    scene3D->addChild(t09);
    scene3D->addChild(t12);
    scene3D->addChild(t20);
    scene3D->addChild(t22);
 
    // Assemble 2D scene
    SLNode* scene2D = new SLNode("root2D");
    scene2D->addChild(t2D16);
 
    _sv->camera(cam1);
    _sv->doWaitOnIdle(true);
 
    s->root3D(scene3D);
    s->root2D(scene2D);
    */
}

initSceneCamera()

void WAIApp::initSceneCamera ( )

private

Definition at line 220 of file WAIAppTest.cpp.

{
    if (!_sceneCamera)
    {
        _sceneCamera = new SLCamera("Camera 1");
        _sceneCamera->clipNear(0.1f);
        _sceneCamera->clipFar(100);
        _sceneCamera->translation(0, 0, 5);
        _sceneCamera->lookAt(0, 0, 0);
        _sceneCamera->focalDist(5);
        _sceneCamera->background().colors(SLCol4f(0.7f, 0.7f, 0.7f),
                                          SLCol4f(0.2f, 0.2f, 0.2f));
        _sceneCamera->setInitialState();
    }
}

initSceneGraph()

void WAIApp::initSceneGraph ( int  scrWidth, int  scrHeight, int  dpi  )

private

Definition at line 93 of file WAIAppTest.cpp.

{
    WAIAPP_DEBUG("initSceneGraph");
    if (!AppCommon::scene)
    {
        AppCommon::name  = "WAI Demo App";
        AppCommon::scene = new SLScene("WAI Demo App", nullptr);
 
        int screenWidth  = scrWidth;
        int screenHeight = scrHeight;
 
        // setupGUI(AppCommon::name, AppCommon::configPath, dpi);
        //  Set default font sizes depending on the dpi no matter if ImGui is used
        // todo: is this still needed?
        if (!AppCommon::dpi)
            AppCommon::dpi = dpi;
 
        _sv = new SLSceneView();
        _sv->init("SceneView",
                  screenWidth,
                  screenHeight,
                  nullptr,
                  nullptr,
                  nullptr);
    }
    else
    {
        WAIAPP_WARN("initSceneGraph: SLScene already loaded!");
    }
}

update()

bool WAIApp::update

(

)

Definition at line 124 of file WAIAppTest.cpp.

{
    if (_goBackRequested && _closeAppCallback)
    {
        _closeAppCallback();
        _goBackRequested = false;
    }
 
    if (!_initSceneGraphDone)
        return false;
 
    // WAIAPP_DEBUG("render");
    if (_initIntroSceneDone)
    {
        if (_camera)
        {
            // if (_camera->started())
            //{
 
            //}
 
            // copy video image to background
            SENSFramePtr frame = _camera->getLatestFrame();
            if (frame)
            {
                if (!_videoImage)
                {
                    if (!_sceneCamera)
                    {
                        // make sure scene camera is initialized
                        initSceneCamera();
                    }
 
                    if (_sv)
                        _sv->setViewportFromRatio(SLVec2i(_camera->getFrameSize().width,
                                                          _camera->getFrameSize().height),
                                                  SLViewportAlign::VA_center,
                                                  true);
 
                    _videoImage = new SLGLTexture("LiveVideoError.png", GL_LINEAR, GL_LINEAR);
                    _sceneCamera->background().texture(_videoImage);
                }
 
                WAIAPP_DEBUG("valid frame");
                cv::Mat& img = frame->imgRGB;
                _videoImage->copyVideoImage(img.cols,
                                            img.rows,
                                            CVImage::cv2glPixelFormat(img.type()),
                                            img.data,
                                            img.isContinuous(),
                                            true);
            }
        }
 
        // update scene
        AppCommon::scene->onUpdate();
 
        // update sceneviews
        bool needUpdate = false;
        for (auto sv : AppCommon::scene->sceneViews())
            if (sv->onPaint() && !needUpdate)
                needUpdate = true;
 
        return needUpdate;
    }
    else
    {
        WAIAPP_WARN("render: SLScene not initialized!");
        return false;
    }
}

Member Data Documentation

_camera

SENSCamera* WAIApp::_camera = nullptr

private

Definition at line 52 of file WAIAppTest.h.

_closeAppCallback

CloseAppCallback WAIApp::_closeAppCallback

private

Definition at line 61 of file WAIAppTest.h.

_dirs

AppDirectories WAIApp::_dirs

private

Definition at line 58 of file WAIAppTest.h.

_goBackRequested

bool WAIApp::_goBackRequested = false

private

Definition at line 63 of file WAIAppTest.h.

_initIntroSceneDone

bool WAIApp::_initIntroSceneDone = false

private

Definition at line 65 of file WAIAppTest.h.

_initSceneGraphDone

bool WAIApp::_initSceneGraphDone = false

private

Definition at line 64 of file WAIAppTest.h.

_sceneCamera

SLCamera* WAIApp::_sceneCamera = nullptr

private

Definition at line 55 of file WAIAppTest.h.

_sv

SLSceneView* WAIApp::_sv = nullptr

private

Definition at line 54 of file WAIAppTest.h.

_videoImage

SLGLTexture* WAIApp::_videoImage = nullptr

private

Definition at line 56 of file WAIAppTest.h.

---

The documentation for this class was generated from the following files:

• WAIAppTest.h
• WAIAppTest.cpp