Merge branch 'main' of https://github.com/ibois-epfl/augmented-carpentry

.gitignore

@@ -31,6 +31,8 @@ scanned_map
 *.so
 *.dylib
 *.dll
+# make an exception for GH_IO.dll
+!GH_IO.dll
 
 # Fortran module files
 *.mod
@@ -263,4 +265,9 @@ scanned_map/*
 
 # do not track the files contained in "temp" folder
 temp/*
-!temp/.gitkeep
+!temp/.gitkeep
+
+# the following files are inside for convinience and for cross-machine compatibility of paths in config.ini
+AC_acims/*
+AC_scanned_map/*
+AC_videorec/*

.gitmodules

@@ -10,3 +10,7 @@
 	branch = main
 	path = deps/TTool
 	url = [email protected]:ibois-epfl/TTool.git
+[submodule "deps/eventpp"]
+	branch = main
+	path = deps/eventpp
+	url = [email protected]:ibois-epfl/eventpp.git

CMakeLists.txt

@@ -8,8 +8,6 @@ set(BUILD_SHARED_LIBS ON)
 
 list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
 include(external_tools)
-#set(CMAKE_CXX_STANDARD 17)
-#TODO: check for Opencv 4.5.4 that cannot be installed or detected
 
 file(GLOB_RECURSE AIAC_SRC "src/*.cpp")
 
@@ -30,18 +28,8 @@ target_precompile_headers(${PROJECT_NAME} PRIVATE src/aiacpch.h)
 #-------------------------------------------------------------------------------
 # Add options
 #-------------------------------------------------------------------------------
-
-# *As a fresh new compile, put everything ON
-# -------------------- COMPILE OPTIONS -----------------------------
-# option(INSTALL_TSLAM "Install TSlam in case it has been updated" OFF)
-# option(INSTALL_TTOOL "Install TTool in case it has been updated" OFF)
-# ------------------------------------------------------------------------------
-# option(INSTALL_GLFW33 "Install glfw3 with dpkg" OFF)
-# option(INSTALL_OPENGL "Install OpenGL with dpkg" OFF)
-# option(INSTALL_OPENCV455 "Install Opencv4.5.4" OFF)
-# option(INSTALL_ASSIMP "Install assimp with dpkg" OFF)
 # -------------------- PREPROCESSOR VAR OPTIONS --------------------
-option(DEPLOY_ON_TOUCH "Build AC for testing on an external touch monitor" OFF)
+option(DEPLOY_ON_TOUCH "Build AC for testing on an external touch monitor" ON)
 option(ENABLE_ASSERT "Enable assertion in code" ON)
 option(SILENT_LOGGING "Do not log messages in the terminal if on." ON)
 # -------------------- TEST OPTIONS --------------------------------
@@ -71,20 +59,9 @@ endif()
 # GLOBAL 3rd libs (NOT compatible with add_subdirectory())
 #------------------------------------------------------------------------------------------------------------
 # OpenGL
-# if(UNIX AND INSTALL_OPENGL)
-#     message(WARNING "OpenGL not found, trying to install it...")
-#     execute_process(COMMAND ./cmake/install_opengl.sh)
-# endif()
 set(OpenGL_GL_PREFERENCE LEGACY)  # <-- temp fix: or GLVIND?
 find_package(OpenGL REQUIRED)
 
-# execute_process(COMMAND glxinfo -B OUTPUT_VARIABLE GLXINFO
-#                 WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})
-# string(REGEX MATCH "OpenGL version string: ([0-9.]+)" GLXINFO ${GLXINFO})
-# message(STATUS "OpenGL version: ${CMAKE_MATCH_1}")
-#message(STATUS "OpenGL icnlude dir: ${OPENGL_INCLUDE_DIR}")
-#message(STATUS "OpenGL libraries: ${OPENGL_LIBRARIES}")
-
 set(BUILD_V4_API ON)
 add_external_package(TSlam)
 add_external_package(TTool IGNORE_SYSTEM)

README.md

@@ -8,126 +8,16 @@
     <img src="https://badges.frapsoft.com/os/v2/open-source.svg?v=103" href="https://github.com/ellerbrock/open-source-badges/">
 </p>
 
-TEST
 
 # Augmented Carpentry
 
-## Roof prototype
-The first structure is a a typical roof parametrized and modified to complexify the fabrication. The optimization of the structure was meant to obtain a structure where each element is unique either by length, angle or shape. The goal was to demonstrate the utility of the technology in a manufacturing a complex structure without the need of 2D drawings or marking on the timber pieces.
-
-test CI
-
-<p align="center">
-    <img src="mockups/proto_x.png" width="500">
-    <img src="mockups/gh_snap.png">
-</p>
-
-```
-Timber bill for AC prototype
-Catalog: https://www.getaz-miauton.ch/fileadmin/CrhOneInternet/user_upload/2022-03-02_Massivholz_SR-FR_2022.pdf
-
-section: 0.2,0.14 m / serial number: 61201420 / Total linear length: 123.83 m
-section: 0.14,0.08 m / serial number: 7925785 / Total linear length: 64.86 m
-section: 0.14,0.14 m / serial number: 61201414 / Total linear length: 24.26 m
-section: 0.08,0.06 m / serial number: 61130607 / Total linear length: 94.89 m
 ```
-
-
-
----
-
-
-## TODOList
-> - [ ] the change of the calibration file brakes the tslam (but not the ttool it seems)
-> - [ ] when we create the output yaml map we should not the calibration file and/or the camera model since this files is calibration-dependent
-> - [ ] create find package for TSlam instead install it locally
-> - [ ] for the reporitories we roked in IBOIS for the gitsubmodules, be sure that nobody can do modifications
-
-> - [ ] Design AC custom 3D file for import of execution 3D models (only points and lines)
-> - [x] Add Mapping subprogram + UI
-> - [x] Implement padding for 3D scene viewer
-> - [x] Test if changing map on the go breaks the slam or not
-
-> - [ ] (*important*) vanilla tslam runs way smoother. We might have bottleneck in the AC software since we bleed frames. We should set a profiler and see where we can optimize.
-
-> - [ ] create find package for TSlam instead install it locally
-> - [ ] for the reporitories we roked in IBOIS for the gitsubmodules, be sure that nobody can do modifications
-
-> - [ ] Design AC custom 3D file for import of execution 3D models (only points and lines)
-
-[//]: # (> - [x] Add Mapping subprogram + UI)
-[//]: # (> - [x] Implement padding for 3D scene viewer)
-[//]: # (> - [x] Test if changing map on the go breaks the slam or not)
-
-[//]: # (> - [x] Write a sub-program to calibrate the camera and export the correct format in xml)
-
-> - [ ] Find a way to sync SLAM maps and data
-
-[//]: # (> - [x] Make the Camera of the viewport bigger)
-
-[//]: # (> - [x] Add pop up program to calibrate camera)
-
-> - [ ] Double check if `Dloader.h` is working somewhere or need refactoring/suppression
-
-> - [ ] Double check if `Dloader.h` is working somewhere or need refactoring/suppression
-
-> - [ ] Add `this->properties` as rule in contributing guide and refactor all the code
-
-[//]: # (> - [x] Make the Camera of the viewport bigger &#40;Defined in `Renderer.cpp:139`&#41;)
-
-[//]: # (> - [x] Edit the readme for render API how to use it)
-[//]: # (> - [x] Refactor the Render part, put everything in one folder and extract/rename render API header.)
-[//]: # (> - [x] Add a function DrawCircle&#40;&#41; to the RenderAPI)
-[//]: # (> - [x] Add a function DrawCylinder&#40;&#41; to the RenderAPI)
-[//]: # (> - [x] Add a function DrawPolyline&#40;&#41; to the RenderAPI)
-[//]: # (> - [x] Add a function DrawTriangle&#40;&#41; to the RenderAPI)
-[//]: # (> - [x] Add a function DrawText&#40;&#41; to the RenderAPI)
-[//]: # (> - [x] Fix the textRender, which is either not shown or overriding the scene)
-> - [ ] Cache objects in RenderAPI for speed up (option)
-
-[//]: # (> - [x] We have to check &#40;or at least catch&#41; the error that may occur due to the incompatible camera parameter and SLAM map after camera calibration.)
-[//]: # (> - [x] Undistort Camera view)
-> - [ ] Bug when selecting path & filename to "save" (can't type)
-> - [ ] Make the viewport size a config (now is fixed in the code)
-
-> - [ ] Load Mesh from UI
-
-> - [ ] VideoRecorder: Implement handling for starting a new video while the previous one is still in the processing phase.
-> - [ ] VideoRecorder: Button color for pressed and unpressed states.
-> - [ ] VideoRecorder: Reduce video file size.
-
-## Set touch monitor
-
-The prototype is tested on a touch screen 7inch HDMI LCD (B) (WaveShare WS170120) and a laptop running Ubuntu 20/22.04 LTS. To config the touch screen on the pc follow [these steps first](https://www.waveshare.com/wiki/7inch_HDMI_LCD). Be sure to switch the display on, plug the mini-USB and finally plug the HDMI cable.
-
-Set the display properties in the `config.ini` properties (to find them run the commands `xinput`  for the name and `xrandr` for the connection type).
-
-The following specs works on the X11 display server. If you are using wayland and wanting to switch to X11 follow [this link](https://helpdesk.psionline.com/hc/en-gb/articles/13470827149332-How-to-perform-the-switch-from-the-Wayland-display-server-to-Xorg-X11-on-Linux-Ubuntu-22-04-LTS)
-./
-```c++
-[MonitorSpecs]
-monitor_name = WaveShare WS170120
-monitor_link_t = HDMI
-monitor_resolution = 800x480
-```
-For wayland display server. WARNING: Wayland display and touchscreen are not compatible yet as the touchscreen register for the main display and not the small display.
-```c++
-[MonitorSpecs]
-LinkMode = XWAYLAND1
-Name = Virtual core pointer
-Resolution = 800x480
+or
+```bash
+git clone https://github.com/ibois-epfl/augmented-carpentry.git
+git submodule sync
+git pull --recurse-submodules
 ```
-**You can build AS with the touch screen or on a non-touch screen.** To do so set ON or OFF the CMake option `DEPLOY_ON_TOUCH` in the `CMakeLists.txt`:
-
-<br />
-
-## STag PDFs
-Stags are prepared in PDFs batches of ~150 stripes. You can find them [here](https://drive.google.com/drive/folders/1jic85gclymiV9014zc3tuUgIBq8lTyZr?usp=sharing).
-They are made to be print as stickers. The code to generate them can be found ![here](https://github.com/ibois-epfl/TSlam/tree/main/stag_util).
-
-
-<br />
-
 
 ## System dependecies
 AC needs some local libraries already installed before compilation with cmake. 
@@ -138,7 +28,8 @@ Next we need glm dependencies and libraries:
 ```bash
 sudo apt-get -y install libmpfr-dev libboost-dev libgoogle-glog-dev \
                         freeglut3-dev libglew-dev libglfw3 libglfw3-dev \
-                        git-lfs libassimp-dev libglm-dev libimgui-dev
+                        git-lfs libassimp-dev libglm-dev libimgui-dev \
+                        libcgal-dev
 ```
 
 For tbb and opencv you will also need these:
@@ -155,25 +46,14 @@ For the video recorder you will need opencv too and ffmpeg
 sudo apt -y install ffmpeg
 ```
 
-```bash
-## Build & run
-Cloning the repo with submodules
-```bash
-git clone --recursive [email protected]:ibois-epfl/augmented-carpentry.git
-```
-or
-```bash
-git clone [email protected]:ibois-epfl/augmented-carpentry.git
-git submodule sync
-git pull --recurse-submodules
-```
-
 Next you need to pull the PyTorch dependency with the Large File System in git, to do this:
 ```bash
 cd deps/TTool
 git lfs pull
 ```
 
+## Build
+
 Time to build.. If you are deploying on a touch monitor set the flag `-DDEPLOY_ON_TOUCH=ON`, you can config:
 
 ```bash
@@ -187,5 +67,36 @@ To run the code:
 ./build/bin/AC
 ```
 
-## How to contribute
-Please have a look at the `contributing.md" file. There you will find all the set of rules and the main softwarer documentation to contribute.
+## Set touch monitor
+
+The prototype is tested on a touch screen 7inch HDMI LCD (B) (WaveShare WS170120) and a laptop running Ubuntu 20/22.04 LTS. To config the touch screen on the pc follow [these steps first](https://www.waveshare.com/wiki/7inch_HDMI_LCD). Be sure to switch the display on, plug the mini-USB and finally plug the HDMI cable.
+
+Set the display properties in the `config.ini` properties (to find them run the commands `xinput`  for the name and `xrandr` for the connection type).
+
+The following specs works on the X11 display server. If you are using wayland and wanting to switch to X11 follow [this link](https://helpdesk.psionline.com/hc/en-gb/articles/13470827149332-How-to-perform-the-switch-from-the-Wayland-display-server-to-Xorg-X11-on-Linux-Ubuntu-22-04-LTS)
+./
+
+```c++
+[MonitorSpecs]
+monitor_name = WaveShare WS170120
+monitor_link_t = HDMI
+monitor_resolution = 800x480
+```
+
+For wayland display server. WARNING: Wayland display and touchscreen are not compatible yet as the touchscreen register for the main display and not the small display.
+
+```c++
+[MonitorSpecs]
+LinkMode = XWAYLAND1
+Name = Virtual core pointer
+Resolution = 800x480
+```
+
+> You can build AC with the touch screen or on a non-touch screen. To do so set ON or OFF the CMake option `DEPLOY_ON_TOUCH` in the `CMakeLists.txt`:
+
+<br />
+
+## STag PDFs
+Stags are prepared in PDFs batches of ~150 stripes. You can find them [here](https://drive.google.com/drive/folders/1jic85gclymiV9014zc3tuUgIBq8lTyZr?usp=sharing).
+They are made to be print as stickers. The code to generate them can be found ![here](https://github.com/ibois-epfl/TSlam/tree/main/stag_util).
+

config.ini

@@ -1,20 +1,20 @@
 [AIAC]
-ACInfoModel = /home/localuser/AC_acims/mybeam.acim
+ACInfoModel = AC_acims/mybeam.acim
 AlignFlip = 0
 AlignOffset = 0
 AlignRotation = 8
 CamID = 0
-CamParamsFile = assets/tslam/calibration_orange_A_1280_720_r.yml
+CamParamsFile = assets/tslam/calibration_orange_B_1280_720_r.yml
 ScaleFactor = 50
-ScannedModel = /home/localuser/AC_scanned_map/test_beam/map-2024-5-6-11-13-44.ply
+ScannedModel = AC_scanned_map/test_beam/map-2024-5-6-11-13-44.ply
 
 [Renderer]
 DigitalModelPath = assets/tslam/example3dModel.ply
 MeshPaths = 
 PointCloudMapPath = assets/tslam/examplePointCloud.ply
 
 [TSlam]
-MapFile = /home/localuser/AC_scanned_map/test_beam/map-2024-5-6-11-13-44.map
+MapFile = AC_scanned_map/test_beam/map-2024-5-6-11-13-44.map
 VocFile = assets/tslam/orb.fbow
 
 [TTool]

src/ACApp.cpp

@@ -1,6 +1,5 @@
 #include "aiacpch.h"
 #include "AIAC.h"
-#include "AIAC/LayerCameraCalib.h"
 
 int main(int argc, char* argv[]) {
 #ifdef __linux__
@@ -30,6 +29,7 @@ int main(int argc, char* argv[]) {
     acApp_ptr->PushLayer<AIAC::LayerFeedback>();
     acApp_ptr->PushLayer<AIAC::LayerUI>();
     acApp_ptr->PushLayer<AIAC::LayerUtils>();
+    acApp_ptr->PushLayer<AIAC::LayerLogRecorder>();
 
     acApp_ptr->GetRenderer()->Init();
 

src/AIAC.h

@@ -23,13 +23,14 @@
 
 #include "AIAC/Layer.h"
 #include "AIAC/LayerCamera.h"
+#include "AIAC/LayerCameraCalib.h"
 #include "AIAC/LayerSlam.h"
 #include "AIAC/LayerUI.h"
-#include "AIAC/LayerCamera.h"
 #include "AIAC/LayerModel.h"
 #include "AIAC/LayerToolhead.h"
 #include "AIAC/LayerFeedback.h"
 #include "AIAC/LayerUtils.h"
+#include "AIAC/LayerLogRecorder.h"
 
 #include "AIAC/Render/Renderer.h"
 #include "AIAC/GOSys/GO.h"

src/AIAC/ACInfoModel.cpp

@@ -524,8 +524,6 @@ namespace AIAC
     }
 
     void ACInfoModel::Transform(glm::mat4x4 transformMat) {
-        auto rotationMat = glm::mat3x3(transformMat);
-
         // bounding box
         auto bbox = m_TimberInfo.m_Bbox;
         for(int i = 0 ; i < bbox.size() ; i++){
@@ -607,7 +605,7 @@ namespace AIAC
             return ACIMState::CURRENT;
         }
         else {
-            AIAC_ERROR("Invalid state string: {0}", state);
+            AIAC_ERROR("Invalid state string: \"{0}\"", state);
             return ACIMState::NOT_DONE;
         }
     }

src/AIAC/ACInfoModel.h

@@ -220,7 +220,7 @@ class TimberInfo{
 
     inline std::string GetID() const { return m_ID; }
     std::vector<std::string> GetAllComponentsIDs() const;
-    inline Component* GetComponent(std::string id) { return m_Components[id]; }
+    inline Component* GetComponent(const std::string& id) { return m_Components[id]; }
     inline Component* GetCurrentComponent() { 
         if(m_Components.find(m_CurrentComponentID) == m_Components.end())
             return nullptr;
@@ -284,6 +284,11 @@ class ACInfoModel
      * @brief Save the current state to the loaded .acim file.
      */
     void Save();
+
+    /**
+     * @brief Get the filepath to the loaded ACInfoModel.
+     */
+    inline const std::string& GetFilePath() const { return m_FilePath; }
 
     /**
      * @brief Get the pugi::xml_document object