feat(slam): add rtabmap_ros

2025-07-14 11:34:38 +08:00
parent 3b6641c1fb
commit 943ce5b06f
1635 changed files with 603092 additions and 0 deletions
@@ -0,0 +1,194 @@
+/**
+ * Copyright (c) 2017 Razeware LLC
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * Notwithstanding the foregoing, you may not use, copy, modify, merge, publish,
+ * distribute, sublicense, create a derivative work, and/or sell copies of the
+ * Software in any work that is designed, intended, or marketed for pedagogical or
+ * instructional purposes related to programming, coding, application development,
+ * or information technology.  Permission for such use, copying, modification,
+ * merger, publication, distribution, sublicensing, creation of derivative works,
+ * or sale is expressly withheld.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+
+import UIKit
+
+protocol DatabaseViewDelegate: class {
+    func databaseShared(databaseURL: URL)
+    func databaseRenamed(databaseURL: URL)
+    func databaseDeleted(databaseURL: URL)
+}
+
+class DatabaseView: UIView {
+  
+  private var coverImageView: UIImageView!
+  private var indicatorView: UIActivityIndicatorView!
+  private var valueObservation: NSKeyValueObservation!
+  private var textLabel: UILabel!
+  private var databaseURL: URL!
+  public var delegate: DatabaseViewDelegate!
+  
+  required init?(coder aDecoder: NSCoder) {
+    super.init(coder: aDecoder)
+    commonInit(databasePath: "NA")
+  }
+  
+    init(frame: CGRect, databaseURL: URL) {
+        super.init(frame: frame)
+        self.databaseURL = databaseURL
+        commonInit(databasePath: databaseURL.path)
+        if let image = ViewController.previewImages[databaseURL.path]
+        {
+            self.coverImageView.image = image
+        }
+        else
+        {
+            DispatchQueue.global().async {
+                let downloadedImage = getPreviewImage(databasePath: databaseURL.path)
+                DispatchQueue.main.async {
+                    self.coverImageView.image = downloadedImage
+                    ViewController.previewImages[databaseURL.path] = downloadedImage
+                }
+            }
+        }
+    }
+
+  private func commonInit(databasePath: String) {
+    
+    // Setup the background
+    backgroundColor = .black
+    // Create the cover image view
+    coverImageView = UIImageView()
+    coverImageView.translatesAutoresizingMaskIntoConstraints = false
+    
+    valueObservation = coverImageView.observe(\.image, options: [.new]) { [unowned self] observed, change in
+      if change.newValue is UIImage {
+        self.indicatorView.stopAnimating()
+      }
+    }
+    
+    //Text Label
+    textLabel = UILabel()
+    textLabel.numberOfLines = 0 
+    textLabel.text  =
+        URL(fileURLWithPath: databasePath).lastPathComponent + "\n" +
+        URL(fileURLWithPath: databasePath).fileSizeString + "\n" +
+        (try! URL(fileURLWithPath: databasePath).resourceValues(forKeys: [.contentModificationDateKey]).contentModificationDate!.getFormattedDate(format: "yyyy-MM-dd HH:mm:ss"))
+    textLabel.textColor = .white
+    textLabel.textAlignment = .left
+
+    //Stack View
+    let stackView   = UIStackView()
+    stackView.axis  = NSLayoutConstraint.Axis.horizontal
+    stackView.distribution  = UIStackView.Distribution.fill
+    stackView.alignment = UIStackView.Alignment.center
+    stackView.spacing   = 8.0
+
+    stackView.addArrangedSubview(coverImageView)
+    stackView.addArrangedSubview(textLabel)
+    stackView.translatesAutoresizingMaskIntoConstraints = false
+
+    addSubview(stackView)
+
+    // Create the indicator view
+    indicatorView = UIActivityIndicatorView()
+    indicatorView.translatesAutoresizingMaskIntoConstraints = false
+    indicatorView.style = .whiteLarge
+    indicatorView.startAnimating()
+    addSubview(indicatorView)
+    
+    NSLayoutConstraint.activate([
+      stackView.leftAnchor.constraint(equalTo: self.leftAnchor),
+      stackView.rightAnchor.constraint(equalTo: self.rightAnchor),
+      stackView.topAnchor.constraint(equalTo: self.topAnchor),
+      stackView.bottomAnchor.constraint(equalTo: self.bottomAnchor),
+      stackView.leadingAnchor.constraint(equalTo: self.leadingAnchor),
+      coverImageView.widthAnchor.constraint(equalToConstant: 180 - 5),
+      indicatorView.centerXAnchor.constraint(equalTo: coverImageView.centerXAnchor),
+      indicatorView.centerYAnchor.constraint(equalTo: coverImageView.centerYAnchor)
+      ])
+    
+    let interaction = UIContextMenuInteraction(delegate: self)
+    self.addInteraction(interaction)
+  }
+    
+    func highlightDatabase(_ didHighlightView: Bool) {
+      if didHighlightView == true {
+        backgroundColor = .white
+        textLabel.textColor = .black
+      } else {
+        backgroundColor = .black
+        textLabel.textColor = .white
+      }
+    }
+}
+
+extension URL {
+    var attributes: [FileAttributeKey : Any]? {
+        do {
+            return try FileManager.default.attributesOfItem(atPath: path)
+        } catch let error as NSError {
+            print("FileAttribute error: \(error)")
+        }
+        return nil
+    }
+
+    var fileSize: UInt64 {
+        return attributes?[.size] as? UInt64 ?? UInt64(0)
+    }
+
+    var fileSizeString: String {
+        return ByteCountFormatter.string(fromByteCount: Int64(fileSize), countStyle: .file)
+    }
+
+    var creationDate: Date? {
+        return attributes?[.creationDate] as? Date
+    }
+}
+
+extension DatabaseView: UIContextMenuInteractionDelegate {
+               
+      func contextMenuInteraction(_ interaction: UIContextMenuInteraction, configurationForMenuAtLocation location: CGPoint) -> UIContextMenuConfiguration? {
+        return UIContextMenuConfiguration(identifier: nil, previewProvider: nil) { suggestedActions in
+           
+            // Create an action for sharing
+            let share = UIAction(title: "Share", image: UIImage(systemName: "square.and.arrow.up")) { action in
+                // Show system share sheet
+                self.delegate?.databaseShared(databaseURL: self.databaseURL)
+            }
+    
+            // Create an action for renaming
+            let rename = UIAction(title: "Rename", image: UIImage(systemName: "square.and.pencil")) { action in
+                // Perform renaming
+                self.delegate?.databaseRenamed(databaseURL: self.databaseURL)
+            }
+    
+            // Here we specify the "destructive" attribute to show that it’s destructive in nature
+            let delete = UIAction(title: "Delete", image: UIImage(systemName: "trash"), attributes: .destructive) { action in
+                // Perform delete
+                self.delegate?.databaseDeleted(databaseURL: self.databaseURL)
+            }
+    
+            // Create and return a UIMenu with all of the actions as children
+            return UIMenu(title: "", children: [share, rename, delete])
+        }
+    }
+}