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Refactor: Clean legacy code #115

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Aug 19, 2024
Merged

Refactor: Clean legacy code #115

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2 changes: 0 additions & 2 deletions src/AIAC/EventSys/SLAMEvent.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -68,7 +68,6 @@ namespace AIAC

// start mapping
AIAC_APP.GetLayer<AIAC::LayerSlam>()->StartMapping();
AIAC_APP.GetRenderer()->StartMapping();
}

void SLAMStopMappingEvent::OnSLAMStopMapping()
Expand All @@ -82,7 +81,6 @@ namespace AIAC

AIAC_INFO("Stop mapping");
AIAC_APP.GetLayer<AIAC::LayerSlam>()->StopMapping();
AIAC_APP.GetRenderer()->StopMapping();

// Optimize Map
if(m_ToOptimize && m_ToSave) {
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4 changes: 4 additions & 0 deletions src/AIAC/GOSys/GOPrimitive.cpp
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@@ -1,7 +1,11 @@
#include "aiacpch.h"

#include "assimp/Importer.hpp" // C++ importer interface
#include "assimp/scene.h" // Output data structure
#include "assimp/postprocess.h" // Post processing flags

#include "glm/gtx/string_cast.hpp"

#include "AIAC/Log.h"
#include "AIAC/GOSys/GOPrimitive.h"
#include "AIAC/Application.h"
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6 changes: 2 additions & 4 deletions src/AIAC/LayerUI.cpp
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Expand Up @@ -332,7 +332,6 @@ namespace AIAC
ImGui::BeginChild("camera_function_child", ImVec2(0, 50), true, ImGuiWindowFlags_HorizontalScrollbar);
ImGui::PushStyleColor(ImGuiCol_Button, AIAC_UI_LIGHT_GREY);
if(ImGui::Button("Start Calibration")){
AIAC_APP.GetRenderer()->StartCamCalib();
AIAC_APP.GetLayer<LayerCameraCalib>()->StartCalibration();
}
ImGui::SameLine();
Expand Down Expand Up @@ -462,7 +461,7 @@ namespace AIAC
ImGui::Text("ACIM File Manager:");
ImGui::BeginChild("ACIM File Manager", ImVec2(0, 60), true, ImGuiWindowFlags_HorizontalScrollbar);
std::string currentACIMFileEntry = "Current ACIM: " + AIAC_APP.GetLayer<LayerModel>()->GetACInfoModelName();
ImGui::Text(currentACIMFileEntry.c_str());
ImGui::Text("%s", currentACIMFileEntry.c_str());
if(ImGui::Button("Load ACIM")){
OpenFileSelectDialog("Open ACIM file", ".acim", m_TmpPathBuf, [&]{
AIAC_APP.GetLayer<AIAC::LayerModel>()->LoadACInfoModel(m_TmpPathBuf);
Expand Down Expand Up @@ -492,7 +491,7 @@ namespace AIAC
if (sliderVal != 0.f) AIAC_APP.GetLayer<AIAC::LayerModel>()->AddAlignOffset(sliderVal);
sliderVal = 0.f;
ImGui::SameLine();
ImGui::Text(std::to_string(AIAC_APP.GetLayer<AIAC::LayerModel>()->GetAlignOffset()).c_str());
ImGui::Text("%s", std::to_string(AIAC_APP.GetLayer<AIAC::LayerModel>()->GetAlignOffset()).c_str());

ImGui::PushStyleColor(ImGuiCol_Button, AIAC_UI_ROYAL_PURPLE);
if(ImGui::Button("Align Center")){
Expand Down Expand Up @@ -1200,7 +1199,6 @@ namespace AIAC
ImGui::SameLine();
if(ImGui::Button("Exit")){
AIAC_APP.GetLayer<AIAC::LayerCameraCalib>()->StopCalibration();
AIAC_APP.GetRenderer()->StopCamCalib();
}
} ImGui::EndChild();
} ImGui::EndChild();
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117 changes: 0 additions & 117 deletions src/AIAC/Mesh.cpp
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52 changes: 0 additions & 52 deletions src/AIAC/Mesh.h
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7 changes: 4 additions & 3 deletions src/AIAC/Render/RenderAPI.cpp
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Original file line number Diff line number Diff line change
@@ -1,9 +1,10 @@
#include <ft2build.h>
#include FT_FREETYPE_H

#include "GlUtils.h"
#include "RenderAPI.h"
#include "TextRenderer.h"
#include "AIAC/Log.h"

#include <ft2build.h>
#include FT_FREETYPE_H
#include "AIAC/Application.h"

namespace AIAC
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6 changes: 5 additions & 1 deletion src/AIAC/Render/RenderAPI.h
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@@ -1,7 +1,11 @@
#pragma once

#include <memory>
#include <vector>

#include "map.h" // TSLAM map

#include "TextRenderer.h"
#include "GlUtils.h"
#include "AIAC/GOSys/GOPrimitive.h"

namespace AIAC
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71 changes: 0 additions & 71 deletions src/AIAC/Render/Renderer.cpp
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Expand Up @@ -45,45 +45,6 @@ namespace AIAC
InitCamCalibView();

m_MappingView.SetSize(600, 442);

// auto pt = GOPoint::Add(0, 0, 0, 5.0f);
// pt->SetColor(glm::vec4(1.0f, 0.0f, 0.0f, 1.0f));

// GOLine::Add(glm::vec3(0,0,0), glm::vec3(0,0,10), 10.0f);

// cout << "--------------------" << endl;
// auto myCylinder = GOCylinder::Add(glm::vec3(50,10,0), glm::vec3(50,0,10), 32.0f);
// myCylinder->SetColor(glm::vec4(0.5f, 0.5f, 0.0f, 0.2f));
// cout << "--------------------" << endl;

// vector<glm::vec3> pts;
// pts.push_back(glm::vec3(4,0,0));
// pts.push_back(glm::vec3(99,5,10));
// pts.push_back(glm::vec3(9,10,10));
// auto myPolyline = GOPolyline::Add(pts);
// myPolyline->SetColor(glm::vec4(0.5f, 0.2f, 0.0f, 1.0f));

// auto circle = GOCircle::Add(glm::vec3(0, 5, 0), 10.0f);
// circle->SetColor(glm::vec4(1.0f, 0.0f, 0.0f, 1.0f));

// std::vector<glm::vec3> vertices = {
// glm::vec3(0.0f, 0.0f, 10.0f),
// glm::vec3(0.0f, 0.0f, 0.0f),
// glm::vec3(0.0f, 10.0f, 0.0f),
// glm::vec3(10.0f, 0.0f, 0.0f),
// };
// std::vector<glm::vec4> colors = {
// glm::vec4(1.0f, 0.0f, 0.0f, 1.0f),
// glm::vec4(0.0f, 1.0f, 1.0f, 1.0f),
// glm::vec4(0.0f, 1.0f, 0.0f, 1.0f),
// glm::vec4(0.0f, 0.0f, 1.0f, 1.0f),
// };

// m_TestGLObject = std::make_shared<GLPointObject>(vertices, colors, 3.0f);
// glBindVertexArray(m_VAO);
// m_TestGLObject = glCreatePoints(vertices, colors, 3);
// cout << "m_TestGLObject: " << m_TestGLObject.vertexBuf << endl;

}

void Renderer::InitProjMatrix(){
Expand Down Expand Up @@ -254,23 +215,6 @@ namespace AIAC
glm::mat4 finalPoseMatrix = m_GlobalProjMatrix * m_GlobalCamMatrix;
glUniformMatrix4fv(m_MatrixId, 1, GL_FALSE, &finalPoseMatrix[0][0]);

// if(ShowPointCloudMap){
// PointCloudMap.DrawVertices(m_PointCloudMapColor, 1);
// }
// if(ShowDigitalModel){
// DigitalModel.DrawBoundingBoxEdges(m_DigitalModelBoundingBoxColor);
// DigitalModel.DrawFaces(m_DigitalModelFaceColor);
// }

// DrawSlamMap(AIAC_APP.GetLayer<LayerSlam>()->Slam.getMap(), glm::vec4(1, 0, 0, 1));

// visualize camera
// auto camPoseInv = AIAC_APP.GetLayer<LayerSlam>()->GetInvCamPoseGlm(); // camera pose in world space
// glm::mat4 cameraSpaceMVP = m_GlobalProjMatrix * m_GlobalCamMatrix * camPoseInv;
// glUniformMatrix4fv(m_MatrixId, 1, GL_FALSE, &cameraSpaceMVP[0][0]);
// // glDrawLines3d(m_CamVisualizationEdges, glm::vec4(0, 0, 1, 1));
// glUniformMatrix4fv(m_MatrixId, 1, GL_FALSE, &finalPoseMatrix[0][0]);

// Draw All objects
DrawAllGOs(finalPoseMatrix, 0.05f);

Expand Down Expand Up @@ -326,21 +270,6 @@ namespace AIAC
// Draw the essential objects: map, point cloud map and digital model !
// glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
glm::vec4 edgeColor;
// if(AIAC_APP.GetLayer<LayerSlam>()->IsTracked()) {
// // if(ShowPointCloudMap){
// // PointCloudMap.DrawVertices(m_PointCloudMapColor, 1);
// // }
// // if(ShowDigitalModel){
// // DigitalModel.DrawBoundingBoxEdges(m_DigitalModelBoundingBoxColor);
// // DigitalModel.DrawFaces(m_DigitalModelFaceColor);
// // }
// // for (auto& mesh : Meshes) {
// // mesh.DrawEdges(m_DefaultEdgeColor);
// // }
// // Draw All objects
// // DrawSlamMap(AIAC_APP.GetLayer<LayerSlam>()->Slam.getMap(), glm::vec4(1, 0, 0, 1));
// DrawAllGOs(finalPoseMatrix);
// }
if (AIAC_APP.GetLayer<LayerSlam>()->GetNumLostFrame() <= 3){
DrawAllGOs(finalPoseMatrix);
}
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13 changes: 0 additions & 13 deletions src/AIAC/Render/Renderer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,6 @@

#include "glm/glm.hpp"

#include "AIAC/Mesh.h"
#include "AIAC/GlHeader.h"
#include "AIAC/Layer.h"

Expand Down Expand Up @@ -44,14 +43,10 @@ namespace AIAC
void UpdateGlobalViewCameraScale(double diff);

// Mapping View
void StartMapping() { ShowDigitalModel = false; ShowPointCloudMap = false; }
void StopMapping() { ShowDigitalModel = true; ShowPointCloudMap = true; }
GLuint GetMappingView() const { return m_MappingView.GetTexture(); };
void SetMappingViewSize(float w, float h);

// CamCalib view
void StartCamCalib() { Meshes.clear(); ShowDigitalModel = false; ShowPointCloudMap = false; }
void StopCamCalib() { ShowDigitalModel = true; ShowPointCloudMap = true; }
GLuint GetCamCalibView() const { return m_CamCalibView.GetTexture(); };
void SetCamCalibViewSize(float w, float h);

Expand All @@ -63,14 +58,6 @@ namespace AIAC
SLAM_PROCESSED
};

public:
AIAC::Mesh PointCloudMap;
AIAC::Mesh DigitalModel;
std::vector<AIAC::Mesh> Meshes;

bool ShowPointCloudMap = true;
bool ShowDigitalModel = true;

private:
void RenderMainView();

Expand Down
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