97 lines
2.6 KiB
C++
97 lines
2.6 KiB
C++
|
// Copyright (c) Microsoft Corporation. All rights reserved.
|
||
|
|
// Licensed under the MIT License.
|
||
|
|
|
||
|
|
// Associated header
|
||
|
|
//
|
||
|
|
#include "k4aimuwindow.h"
|
||
|
|
|
||
|
|
// System headers
|
||
|
|
//
|
||
|
|
#include <cmath>
|
||
|
|
#include <utility>
|
||
|
|
|
||
|
|
// Library headers
|
||
|
|
//
|
||
|
|
#include "k4aimgui_all.h"
|
||
|
|
|
||
|
|
// Project headers
|
||
|
|
//
|
||
|
|
#include "k4aviewererrormanager.h"
|
||
|
|
#include "k4awindowsizehelpers.h"
|
||
|
|
|
||
|
|
using namespace k4aviewer;
|
||
|
|
|
||
|
|
namespace
|
||
|
|
{
|
||
|
|
constexpr float AccelMinRange = 5.0f;
|
||
|
|
constexpr float AccelMaxRange = 100.0f;
|
||
|
|
constexpr float AccelDefaultRange = 20.0f;
|
||
|
|
|
||
|
|
constexpr float GyroMinRange = 5.0f;
|
||
|
|
constexpr float GyroMaxRange = 50.0f;
|
||
|
|
constexpr float GyroDefaultRange = 20.0f;
|
||
|
|
} // namespace
|
||
|
|
|
||
|
|
K4AImuWindow::K4AImuWindow(std::string &&title, std::shared_ptr<K4AImuGraphDataGenerator> graphDataGenerator) :
|
||
|
|
m_graphDataGenerator(std::move(graphDataGenerator)),
|
||
|
|
m_title(std::move(title)),
|
||
|
|
m_accGraph("Accelerometer", "X", "Y", "Z", "m/s/s", AccelMinRange, AccelMaxRange, AccelDefaultRange),
|
||
|
|
m_gyroGraph("Gyroscope", " Roll", "Pitch", " Yaw", "Rad/s", GyroMinRange, GyroMaxRange, GyroDefaultRange)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
void K4AImuWindow::Show(K4AWindowPlacementInfo placementInfo)
|
||
|
|
{
|
||
|
|
if (!m_failed && m_graphDataGenerator->IsFailed())
|
||
|
|
{
|
||
|
|
K4AViewerErrorManager::Instance().SetErrorStatus(m_title + ": data source failed!");
|
||
|
|
m_failed = true;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (m_failed)
|
||
|
|
{
|
||
|
|
ImGui::Text("Data source failed!");
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
K4AImuGraphDataGenerator::GraphReader reader = m_graphDataGenerator->GetGraphData();
|
||
|
|
|
||
|
|
// Sizing math
|
||
|
|
//
|
||
|
|
ImGuiStyle &style = ImGui::GetStyle();
|
||
|
|
ImVec2 graphSize = placementInfo.Size;
|
||
|
|
graphSize.x -= 2 * style.WindowPadding.x;
|
||
|
|
|
||
|
|
graphSize.y -= GetTitleBarHeight(); // Title bar
|
||
|
|
graphSize.y -= 2 * style.WindowPadding.y; // Window internal padding
|
||
|
|
|
||
|
|
graphSize.y -= ImGui::GetTextLineHeightWithSpacing(); // Sensor temp label
|
||
|
|
|
||
|
|
constexpr int numSeparators = 2;
|
||
|
|
constexpr int itemSpacingPerSeparator = 2;
|
||
|
|
graphSize.y -= numSeparators * itemSpacingPerSeparator * style.ItemSpacing.y; // Separators
|
||
|
|
|
||
|
|
constexpr int graphCount = 2;
|
||
|
|
graphSize.y /= graphCount;
|
||
|
|
|
||
|
|
// Actually draw the widgets
|
||
|
|
//
|
||
|
|
m_accGraph.Show(graphSize, reader.Data->AccData, reader.Data->StartOffset, reader.Data->AccTimestamp);
|
||
|
|
|
||
|
|
ImGui::Separator();
|
||
|
|
|
||
|
|
m_gyroGraph.Show(graphSize, reader.Data->GyroData, reader.Data->StartOffset, reader.Data->GyroTimestamp);
|
||
|
|
|
||
|
|
ImGui::Separator();
|
||
|
|
|
||
|
|
if (!std::isnan(reader.Data->LastTemperature))
|
||
|
|
{
|
||
|
|
ImGui::Text("Sensor temperature: %.2f C", static_cast<double>(reader.Data->LastTemperature));
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
const char *K4AImuWindow::GetTitle() const
|
||
|
|
{
|
||
|
|
return m_title.c_str();
|
||
|
|
}
|