fix windows build, add exit from app menu

CMakeLists.txt

@@ -10,6 +10,13 @@ endif()
 
 project(QtKittiVisualizer)
 
+
+
+
+if (MSVC)
+  add_definitions(-D_CRT_SECURE_NO_WARNINGS -DBOOST_ALL_NO_LIB -DBOOST_ALL_DYN_LINK -DBOOST_LOG_DYN_LINK)
+endif()
+
 find_package(VTK REQUIRED)
 include(${VTK_USE_FILE})
 
@@ -29,7 +36,7 @@ set(PROJECT_BINARY_NAME qt-kitti-visualizer)
 
 include_directories(${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_SOURCE_DIR})
 
-find_package(Boost 1.54 COMPONENTS program_options filesystem REQUIRED)
+find_package(Boost 1.54 COMPONENTS program_options filesystem serialization REQUIRED)
 set(Boost_COMPONENTS_INCLUDE_DIRS ${Boost_INCLUDE_DIRS})
 set(Boost_COMPONENTS_LIBRARY_DIRS ${Boost_LIBRARY_DIRS})
 set(Boost_COMPONENTS_LIBRARIES ${Boost_LIBRARIES})
@@ -45,6 +52,7 @@ add_definitions(${PCL_DEFINITIONS})
 set(CPP_FILES
     KittiConfig.cpp
     KittiDataset.cpp
+    KittiImage.cpp
     main.cpp
     QtKittiVisualizer.cpp
 )

KittiConfig.cpp

@@ -25,11 +25,14 @@ limitations under the License.
 #include <boost/filesystem/path.hpp>
 #include <boost/format.hpp>
 
-std::string KittiConfig::data_directory = "../KittiData";
-std::string KittiConfig::raw_data_directory = "raw";
+//std::string KittiConfig::data_directory = "../KittiData";
+std::string KittiConfig::data_directory = "D:\\KITTI\\2011_09_26";
+std::string KittiConfig::raw_data_directory = "";
 std::string KittiConfig::dataset_folder_template = "%|04|_sync";
-std::string KittiConfig::point_cloud_directory = "velodyne_points/data";
+std::string KittiConfig::point_cloud_directory = "velodyne_points\\data";
 std::string KittiConfig::point_cloud_file_template = "%|010|.bin";
+std::string KittiConfig::image_directory = "image_02\\data";
+std::string KittiConfig::image_file_template = "%|010|.png";
 std::string KittiConfig::tracklets_directory = ".";
 std::string KittiConfig::tracklets_file_name = "tracklet_labels.xml";
 
@@ -61,6 +64,24 @@ boost::filesystem::path KittiConfig::getTrackletsPath(int dataset)
             ;
 }
 
+boost::filesystem::path KittiConfig::getImagePath(int dataset)
+{
+
+    return boost::filesystem::path(data_directory)
+        / raw_data_directory
+        / (boost::format(dataset_folder_template) % dataset).str()
+        / image_directory
+        ;
+}
+boost::filesystem::path KittiConfig::getImagePath(int dataset, int frameId)
+{
+
+    return getImagePath(dataset) 
+        / (boost::format(image_file_template) % frameId).str()
+        ;
+}
+
+
 int KittiConfig::getDatasetNumber(int index)
 {
     if (index >= 0 && index < availableDatasets.size())

KittiConfig.h

@@ -52,6 +52,8 @@ class KittiConfig
     static boost::filesystem::path getPointCloudPath(int dataset);
     static boost::filesystem::path getPointCloudPath(int dataset,int frameId);
     static boost::filesystem::path getTrackletsPath(int dataset);
+    static boost::filesystem::path getImagePath(int dataset);
+    static boost::filesystem::path getImagePath(int dataset, int frameId);
 
     /** Contains the numbers of data sets available from your data set folder */
     static const std::vector<int> availableDatasets;
@@ -67,6 +69,8 @@ class KittiConfig
     static std::string dataset_folder_template;
     static std::string point_cloud_directory;
     static std::string point_cloud_file_template;
+    static std::string image_directory;
+    static std::string image_file_template;
     static std::string tracklets_directory;
     static std::string tracklets_file_name;
 

KittiDataset.cpp

@@ -85,6 +85,11 @@ KittiPointCloud::Ptr KittiDataset::getPointCloud(int frameId)
     return cloud;
 }
 
+std::string KittiDataset::getImageFileName(int frameId)
+{
+    return std::string(KittiConfig::getImagePath(_dataset, frameId).string());
+}
+
 KittiPointCloud::Ptr KittiDataset::getTrackletPointCloud(KittiPointCloud::Ptr& pointCloud, const KittiTracklet& tracklet, int frameId)
 {
     int pose_number = frameId - tracklet.first_frame;

KittiDataset.h

@@ -44,6 +44,7 @@ class KittiDataset
     KittiDataset(int dataset);
     int getNumberOfFrames();
     KittiPointCloud::Ptr getPointCloud(int frameId);
+    std::string getImageFileName(int frameId);
     KittiPointCloud::Ptr getTrackletPointCloud(KittiPointCloud::Ptr& pointCloud, const KittiTracklet& tracklet, int frameId);
     Tracklets& getTracklets();
 

QtKittiVisualizer.cpp

@@ -46,7 +46,28 @@ limitations under the License.
 
 typedef pcl::visualization::PointCloudColorHandlerCustom<KittiPoint> KittiPointCloudColorHandlerCustom;
 
-KittiVisualizerQt::KittiVisualizerQt(QWidget *parent, int argc, char** argv) :
+
+// enum for the camera angles
+enum CameraView { front, eye_level, birds_eye, left_pers, right_pers, top };
+static const QString CAMVIEWSTR[] = { "Front", "Eye Level", "Birds Eye", "Left Perspective", "Right Perspective", "Top" };
+
+
+
+void usleep(unsigned int usec)
+{
+    HANDLE timer;
+    LARGE_INTEGER ft;
+
+    ft.QuadPart = -(10 * (__int64)usec);
+
+    timer = CreateWaitableTimer(NULL, TRUE, NULL);
+    SetWaitableTimer(timer, &ft, 0, NULL, NULL, 0);
+    WaitForSingleObject(timer, INFINITE);
+    CloseHandle(timer);
+}
+
+
+KittiVisualizerQt::KittiVisualizerQt(QWidget* parent, int argc, char** argv) :
     QMainWindow(parent),
     ui(new Ui::KittiVisualizerQt),
     dataset_index(0),
@@ -66,10 +87,17 @@ KittiVisualizerQt::KittiVisualizerQt(QWidget *parent, int argc, char** argv) :
 
     // Set up user interface
     ui->setupUi(this);
+    for (int i = CameraView::front; i <= CameraView::top; i++) {
+        ui->viewComboBox->addItem(CAMVIEWSTR[i]);
+    }
+
+    ui->toolBar->addWidget(ui->viewComboBox);
     ui->qvtkWidget_pclViewer->SetRenderWindow(pclVisualizer->getRenderWindow());
+    pclVisualizer->initCameraParameters();
     pclVisualizer->setupInteractor(ui->qvtkWidget_pclViewer->GetInteractor(), ui->qvtkWidget_pclViewer->GetRenderWindow());
     pclVisualizer->setBackgroundColor(0, 0, 0);
     pclVisualizer->addCoordinateSystem(1.0);
+
     pclVisualizer->registerKeyboardCallback(&KittiVisualizerQt::keyboardEventOccurred, *this, 0);
     this->setWindowTitle("Qt KITTI Visualizer");
     ui->qvtkWidget_pclViewer->update();
@@ -79,6 +107,9 @@ KittiVisualizerQt::KittiVisualizerQt(QWidget *parent, int argc, char** argv) :
     loadPointCloud();
     if (pointCloudVisible)
         showPointCloud();
+
+    loadImageFile();
+
     loadAvailableTracklets();
     if (trackletBoundingBoxesVisible)
         showTrackletBoxes();
@@ -110,6 +141,11 @@ KittiVisualizerQt::KittiVisualizerQt(QWidget *parent, int argc, char** argv) :
     connect(ui->checkBox_showTrackletBoundingBoxes, SIGNAL (toggled(bool)), this, SLOT (showTrackletBoundingBoxesToggled(bool)));
     connect(ui->checkBox_showTrackletPointClouds,   SIGNAL (toggled(bool)), this, SLOT (showTrackletPointCloudsToggled(bool)));
     connect(ui->checkBox_showTrackletInCenter,      SIGNAL (toggled(bool)), this, SLOT (showTrackletInCenterToggled(bool)));
+    connect(ui->actionExit,                         SIGNAL (triggered()),   this, SLOT (exitApplication()));
+    connect(ui->viewComboBox,                       SIGNAL (activated(int)),this, SLOT (camViewChanged(int)));
+
+    ui->viewComboBox->setCurrentIndex(CameraView::birds_eye);
+    camViewChanged(CameraView::birds_eye);
 }
 
 KittiVisualizerQt::~KittiVisualizerQt()
@@ -151,11 +187,13 @@ int KittiVisualizerQt::parseCommandLineOptions(int argc, char** argv)
 bool KittiVisualizerQt::loadNextFrame()
 {
     newFrameRequested(frame_index + 1);
+    return true;
 }
 
 bool KittiVisualizerQt::loadPreviousFrame()
 {
     newFrameRequested(frame_index - 1);
+    return true;
 }
 
 void KittiVisualizerQt::getTrackletColor(const KittiTracklet& tracklet, int &r, int& g, int& b)
@@ -208,6 +246,7 @@ void KittiVisualizerQt::newDatasetRequested(int value)
     loadPointCloud();
     if (pointCloudVisible)
         showPointCloud();
+    loadImageFile();
     loadAvailableTracklets();
     if (trackletBoundingBoxesVisible)
         showTrackletBoxes();
@@ -233,6 +272,7 @@ void KittiVisualizerQt::newDatasetRequested(int value)
     updateFrameLabel();
     updateTrackletLabel();
     ui->qvtkWidget_pclViewer->update();
+    ui->imageWidget->update();
 }
 
 void KittiVisualizerQt::newFrameRequested(int value)
@@ -260,6 +300,7 @@ void KittiVisualizerQt::newFrameRequested(int value)
     loadPointCloud();
     if (pointCloudVisible)
         showPointCloud();
+    loadImageFile();
     loadAvailableTracklets();
     if (trackletBoundingBoxesVisible)
         showTrackletBoxes();
@@ -351,6 +392,13 @@ void KittiVisualizerQt::loadPointCloud()
     pointCloud = dataset->getPointCloud(frame_index);
 }
 
+void KittiVisualizerQt::loadImageFile()
+{
+    ui->imageWidget->setPixmapFile(dataset->getImageFileName(frame_index));
+    ui->imageWidget->repaint();
+    std::cout << "loaded:" << dataset->getImageFileName(frame_index) << std::endl;
+}
+
 void KittiVisualizerQt::showPointCloud()
 {
     KittiPointCloudColorHandlerCustom colorHandler(pointCloud, 255, 255, 255);
@@ -428,9 +476,9 @@ void KittiVisualizerQt::updateTrackletLabel()
 
 void KittiVisualizerQt::showTrackletBoxes()
 {
-    double boxHeight = 0.0d;
-    double boxWidth = 0.0d;
-    double boxLength = 0.0d;
+    double boxHeight = 0.0f;
+    double boxWidth = 0.0f;
+    double boxLength = 0.0f;
     int pose_number = 0;
 
     for (int i = 0; i < availableTracklets.size(); ++i)
@@ -569,3 +617,72 @@ void KittiVisualizerQt::keyboardEventOccurred (const pcl::visualization::Keyboar
         }
     }
 }
+
+void KittiVisualizerQt::exitApplication(void)
+{
+    QCoreApplication::exit();
+}
+
+/** \brief Set the camera pose given by position, viewpoint and up vector
+          * \param[in] pos_x the x coordinate of the camera location
+          * \param[in] pos_y the y coordinate of the camera location
+          * \param[in] pos_z the z coordinate of the camera location
+          * \param[in] view_x the x component of the view point of the camera
+          * \param[in] view_y the y component of the view point of the camera
+          * \param[in] view_z the z component of the view point of the camera
+          * \param[in] up_x the x component of the view up direction of the camera
+          * \param[in] up_y the y component of the view up direction of the camera
+          * \param[in] up_z the y component of the view up direction of the camera
+          * \param[in] viewport the viewport to modify camera of (0 modifies all cameras)
+          */
+
+
+
+void KittiVisualizerQt::camViewChanged(int index)
+{
+    std::cout << "Selected View:" << index << std::endl;
+
+    switch (index) {
+    case CameraView::front:
+        pclVisualizer->setCameraPosition(-100, 0, 0,
+                                        -17, 9.5, -9.5,
+                                         0,0,1);
+        break;
+
+    case CameraView::eye_level:
+        pclVisualizer->setCameraPosition(-100, 0, 20, 
+                                        -17, 9.5, -9.5,
+                                         0, 0, 1);
+        break;
+
+    case CameraView::birds_eye:
+        pclVisualizer->setCameraPosition(-100, 10, 30,
+                                        -17, 9.5, -9.5,
+                                         0, 0, 1);
+        break;
+
+
+    case CameraView::left_pers:
+        pclVisualizer->setCameraPosition(22, 150, 57,
+                                        1, -57, 8,
+                                        0, 0, 1);
+        break;
+
+
+
+    case CameraView::right_pers:
+        pclVisualizer->setCameraPosition(-22, -150, 57,
+                                         1, -57, 8,
+                                         0, 0, 1);
+        break;
+
+
+    case CameraView::top: /* facing down on y */
+    default:
+
+            pclVisualizer->setCameraPosition(1, 29, -110,
+                                             21, 6, 147, /* focal point */
+                                             0, -1, 0);
+        break;
+    }
+}

QtKittiVisualizer.h

@@ -68,6 +68,8 @@ public slots:
     void showTrackletBoundingBoxesToggled(bool value);
     void showTrackletPointCloudsToggled(bool value);
     void showTrackletInCenterToggled(bool value);
+    void exitApplication(void);
+    void camViewChanged(int index);
 
 private:
 
@@ -89,7 +91,7 @@ public slots:
     void updateDatasetLabel();
     void updateFrameLabel();
     void updateTrackletLabel();
-
+    void loadImageFile();
     void loadPointCloud();
     void showPointCloud();
     void hidePointCloud();