Merge pull request #11 from ami-iit/labels

Add the possibility to show labels on the headset
ami-iit · Feb 16, 2022 · d67ca69 · d67ca69
2 parents 0999145 + f44849a
commit d67ca69
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Showing 17 changed files with 851 additions and 31 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -66,6 +66,23 @@ set(CMAKE_CXX_EXTENSIONS OFF)
 
 
 ### Dependencies
+# Fetching GLFont for displaying labels
+option(YARP_OPENXR_USES_SYSTEM_GLFont OFF)
+if(YARP_OPENXR_USES_SYSTEM_GLFont)
+     find_package(GLFont REQUIRED)
+else()
+    include(FetchContent)
+    FetchContent_Declare(glfont
+      GIT_REPOSITORY https://github.com/ami-iit/GLFont
+      GIT_TAG 64a02d6dc382e2bc052e90b15d80cc9792d689c5)
+
+    FetchContent_GetProperties(glfont)
+    if(NOT glfont_POPULATED)
+      message(STATUS "Fetching GLFont...")
+      FetchContent_MakeAvailable(glfont)
+    endif()
+endif()
+
 find_package(YCM REQUIRED)
 find_package(YARP 3.4 COMPONENTS os sig dev math idl_tools REQUIRED)
 find_package(Threads REQUIRED)

diff --git a/src/devices/openxrheadset/CMakeLists.txt b/src/devices/openxrheadset/CMakeLists.txt
@@ -28,13 +28,15 @@ set(yarp_openxrheadset_SRCS
   OpenXrInterface.cpp
   impl/OpenXrQuadLayer.cpp
   impl/OpenXrInterfaceImpl.cpp
+  LabelPortToQuadLayer.cpp
 )
 
 set(yarp_openxrheadset_HDRS
   OpenXrConfig.h
   OpenGLConfig.h
   OpenXrHeadsetLogComponent.h
-  PortToQuadLayer.h
+  ImagePortToQuadLayer.h
+  LabelPortToQuadLayer.h
   OpenXrInterface.h
   OpenXrEigenConversions.h
   impl/OpenXrQuadLayer.h
@@ -79,6 +81,7 @@ target_link_libraries(yarp_openxrheadset
     GLEW::GLEW
     OpenGL::GL
     Eigen3::Eigen
+    GLFont::GLFont
 )
 
 if (NOT WIN32)
@@ -105,6 +108,7 @@ if(BUILD_TESTING)
         GLEW::GLEW
         OpenGL::GL
         Eigen3::Eigen
+        GLFont::GLFont
         )
 
     if (NOT WIN32)
@@ -113,7 +117,7 @@ if(BUILD_TESTING)
 
     target_include_directories(openxrheadset_test PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
-    target_compile_features(yarp_openxrheadset PUBLIC cxx_std_20) #C++20 is used for the designated initialization of structs
+    target_compile_features(openxrheadset_test PUBLIC cxx_std_20) #C++20 is used for the designated initialization of structs
 
     add_test(NAME openxrheadset_test COMMAND openxrheadset_test)
 

diff --git a/src/devices/openxrheadset/EyePort.cpp b/src/devices/openxrheadset/EyePort.cpp
@@ -56,6 +56,7 @@ void EyePort::close()
     m_initialized = false;
     m_eyeAnglesPort.close();
     m_tfPublisher = nullptr;
+    m_layer.close();
 }
 
 void EyePort::setEyePosition(const Eigen::Vector3f &position)

diff --git a/src/devices/openxrheadset/EyePort.h b/src/devices/openxrheadset/EyePort.h
@@ -16,7 +16,7 @@
 #include <yarp/os/Stamp.h>
 #include <yarp/os/BufferedPort.h>
 #include <OpenXrInterface.h>
-#include <PortToQuadLayer.h>
+#include <ImagePortToQuadLayer.h>
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
@@ -33,7 +33,7 @@ class EyePort
     Eigen::Quaternionf m_rotationOffset;
     Eigen::Vector3f m_eyePosition;
     Eigen::Vector3f m_eyeRelativeImagePosition;
-    PortToQuadLayer<yarp::sig::ImageOf<yarp::sig::PixelRgb>> m_layer;
+    ImagePortToQuadLayer<yarp::sig::ImageOf<yarp::sig::PixelRgb>> m_layer;
     yarp::os::BufferedPort<yarp::sig::Vector> m_eyeAnglesPort;
     bool m_initialized{false};
 

diff --git a/src/devices/openxrheadset/PortToQuadLayer.h → ...ices/openxrheadset/ImagePortToQuadLayer.h b/src/devices/openxrheadset/PortToQuadLayer.h → ...ices/openxrheadset/ImagePortToQuadLayer.h
@@ -6,8 +6,8 @@
  * BSD-2-Clause license. See the accompanying LICENSE file for details.
  */
 
-#ifndef YARP_OPENXRHEADSET_PORTTOQUADLAYER_H
-#define YARP_OPENXRHEADSET_PORTTOQUADLAYER_H
+#ifndef YARP_OPENXRHEADSET_IMAGEPORTTOQUADLAYER_H
+#define YARP_OPENXRHEADSET_IMAGEPORTTOQUADLAYER_H
 
 #include <OpenGLConfig.h>
 
@@ -23,10 +23,10 @@
 #include <OpenXrHeadsetLogComponent.h>
 
 template <typename ImageType>
-class PortToQuadLayer
+class ImagePortToQuadLayer
 {
     std::shared_ptr<IOpenXrQuadLayer> m_quadLayer{nullptr};
-    std::shared_ptr<yarp::os::BufferedPort<ImageType>> m_portPtr;
+    std::unique_ptr<yarp::os::BufferedPort<ImageType>> m_portPtr;
     GLuint m_glWriteBufferId = 0;
     GLuint m_glReadBufferId = 0;
     GLuint m_imageTexture;
@@ -38,6 +38,23 @@ class PortToQuadLayer
 
 public:
 
+    void close()
+    {
+        if (m_glWriteBufferId != 0)
+        {
+            glDeleteFramebuffers(1, &m_glWriteBufferId);
+            m_glWriteBufferId = 0;
+        }
+
+        if (m_glReadBufferId != 0)
+        {
+            glDeleteFramebuffers(1, &m_glReadBufferId);
+            m_glReadBufferId = 0;
+        }
+
+        m_portPtr->close();
+    }
+
     bool initialize(std::shared_ptr<IOpenXrQuadLayer> quadLayer, const std::string& portName)
     {
         yCTrace(OPENXRHEADSET);
@@ -96,7 +113,7 @@ class PortToQuadLayer
         m_newImageDesiredPosition = m_quadLayer->layerPosition();
         m_newImageDesiredQuaternion = m_quadLayer->layerQuaternion();
 
-        m_portPtr = std::make_shared<yarp::os::BufferedPort<ImageType>>();
+        m_portPtr = std::make_unique<yarp::os::BufferedPort<ImageType>>();
 
         if (!m_portPtr->open(portName))
         {
@@ -348,4 +365,4 @@ class PortToQuadLayer
 
 };
 
-#endif // YARP_OPENXRHEADSET_PORTTOQUADLAYER_H
+#endif // YARP_OPENXRHEADSET_IMAGEPORTTOQUADLAYER_H