feat(slam): add rtabmap_ros

rtabmap/app/android/jni/tango-gl/camera.cpp

@@ -0,0 +1,83 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/camera.h"
+#include "tango-gl/util.h"
+
+namespace tango_gl {
+
+Camera::Camera() {
+  field_of_view_ = 45.0f * DEGREE_2_RADIANS;
+  aspect_ratio_ = 4.0f / 3.0f;
+  width_ = 800.0f;
+  height_ = 600.0f;
+  near_clip_plane_ = 0.5f;
+  far_clip_plane_ = 50.0f;
+  ortho_ = false;
+  orthoScale_ = 2.0f;
+  orthoCropFactor_ = -1.0f;
+}
+
+glm::mat4 Camera::GetViewMatrix() {
+  return glm::inverse(GetTransformationMatrix());
+}
+
+glm::mat4 Camera::GetProjectionMatrix() {
+	if(ortho_)
+	{
+		return glm::ortho(-orthoScale_*aspect_ratio_, orthoScale_*aspect_ratio_, -orthoScale_, orthoScale_, orthoScale_ + orthoCropFactor_, far_clip_plane_);
+	}
+  return glm::perspective(field_of_view_, aspect_ratio_, near_clip_plane_, far_clip_plane_);
+}
+
+void Camera::SetWindowSize(float width, float height) {
+	width_ = width;
+	height_ = height;
+  aspect_ratio_ = width/height;
+}
+
+void Camera::SetFieldOfView(float fov) {
+  field_of_view_ = fov * DEGREE_2_RADIANS;
+}
+
+void Camera::SetNearFarClipPlanes(const float near, const float far)
+{
+	near_clip_plane_ = near;
+	far_clip_plane_ = far;
+}
+
+Camera::~Camera() {
+}
+
+glm::mat4 Camera::ProjectionMatrixForCameraIntrinsics(float width, float height,
+                                                      float fx, float fy,
+                                                      float cx, float cy,
+                                                      float near, float far) {
+  const float xscale = near / fx;
+  const float yscale = near / fy;
+
+  const float xoffset =  (cx - (width  / 2.0)) * xscale;
+  // Color camera's coordinates has y pointing downwards so we negate this term.
+  const float yoffset = -(cy - (height / 2.0)) * yscale;
+
+  return  glm::frustum(xscale * -width  / 2.0f - xoffset,
+                       xscale *  width  / 2.0f - xoffset,
+                       yscale * -height / 2.0f - yoffset,
+                       yscale *  height / 2.0f - yoffset,
+                       near, far);
+}
+
+}  // namespace tango_gl