feat(slam): add rtabmap_ros
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X-lanni
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//
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// PCLWrapper.hpp
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// ThreeDScanner
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//
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// Created by Steven Roach on 2/9/18.
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// Copyright © 2018 Steven Roach. All rights reserved.
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//
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#ifndef NativeWrapper_hpp
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#define NativeWrapper_hpp
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#include <stdbool.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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const void *createNativeApplication();
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void setupCallbacksNative(const void *object, void * classPtr,
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void(*progressCallback)(void*, int, int),
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void(*initCallback)(void *, int, const char*),
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void(*statsUpdatedCallback)(void *,
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int, int, int, int,
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float,
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int, int, int, int, int ,int,
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float,
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int,
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float,
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int,
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float, float, float, float,
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int, int,
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float, float, float, float, float, float),
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void(*cameraInfoEventCallback)(void *, int, const char*, const char*));
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void destroyNativeApplication(const void *object);
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void setScreenRotationNative(const void *object, int displayRotation);
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int openDatabaseNative(const void *object, const char * databasePath, bool databaseInMemory, bool optimize, bool clearDatabase);
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void saveNative(const void *object, const char * databasePath);
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bool recoverNative(const void *object, const char * from, const char * to);
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void cancelProcessingNative(const void * object);
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int postProcessingNative(const void *object, int approach);
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bool exportMeshNative(
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const void *object,
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float cloudVoxelSize,
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bool regenerateCloud,
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bool meshing,
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int textureSize,
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int textureCount,
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int normalK,
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bool optimized,
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float optimizedVoxelSize,
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int optimizedDepth,
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int optimizedMaxPolygons,
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float optimizedColorRadius,
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bool optimizedCleanWhitePolygons,
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int optimizedMinClusterSize,
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float optimizedMaxTextureDistance,
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int optimizedMinTextureClusterSize,
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int textureVertexColorPolicy,
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bool blockRendering);
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bool postExportationNative(const void *object, bool visualize);
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bool writeExportedMeshNative(const void *object, const char * directory, const char * name);
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void initGlContentNative(const void *object);
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void setupGraphicNative(const void *object, int width, int height);
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void onTouchEventNative(const void *object, int touch_count, int event, float x0, float y0, float x1,
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float y1);
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void setPausedMappingNative(const void *object, bool paused);
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int renderNative(const void *object);
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bool startCameraNative(const void *object);
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void stopCameraNative(const void *object);
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void setCameraNative(const void *object, int type);
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void postOdometryEventNative(const void *object,
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float x, float y, float z, float qx, float qy, float qz, float qw,
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float fx, float fy, float cx, float cy,
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double stamp,
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const void * yPlane, const void * uPlane, const void * vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
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const void * depth, int depthLen, int depthWidth, int depthHeight, int depthFormat,
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const void * conf, int confLen, int confWidth, int confHeight, int confFormat,
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const void * points, int pointsLen, int pointsChannels,
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float vx, float vy, float vz, float vqx, float vqy, float vqz, float vqw,
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float p00, float p11, float p02, float p12, float p22, float p32, float p23,
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float t0, float t1, float t2, float t3, float t4, float t5, float t6, float t7);
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void setOnlineBlendingNative(const void *object, bool enabled);
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void setMapCloudShownNative(const void *object, bool shown);
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void setOdomCloudShownNative(const void *object, bool shown);
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void setMeshRenderingNative(const void *object, bool enabled, bool withTexture);
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void setPointSizeNative(const void *object, float value);
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void setFOVNative(const void *object, float angle);
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void setOrthoCropFactorNative(const void *object, float value);
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void setGridRotationNative(const void *object, float value);
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void setLightingNative(const void *object, bool enabled);
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void setBackfaceCullingNative(const void *object, bool enabled);
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void setWireframeNative(const void *object, bool enabled);
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void setTextureColorSeamsHiddenNative(const void *object, bool hidden);
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void setLocalizationModeNative(const void *object, bool enabled);
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void setDataRecorderModeNative(const void *object, bool enabled);
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void setTrajectoryModeNative(const void *object, bool enabled);
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void setGraphOptimizationNative(const void *object, bool enabled);
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void setNodesFilteringNative(const void *object, bool enabled);
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void setGraphVisibleNative(const void *object, bool visible);
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void setGridVisibleNative(const void *object, bool visible);
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void setFullResolutionNative(const void *object, bool enabled);
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void setSmoothingNative(const void *object, bool enabled);
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void setDepthBleedingErrorNative(const void *object, float value);
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void setAppendModeNative(const void *object, bool enabled);
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void setUpstreamRelocalizationAccThrNative(const void *object, float value);
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void setMaxCloudDepthNative(const void *object, float value);
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void setMinCloudDepthNative(const void *object, float value);
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void setCloudDensityLevelNative(const void *object, int value);
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void setMeshAngleToleranceNative(const void *object, float value);
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void setMeshDecimationFactorNative(const void *object, float value);
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void setMeshTriangleSizeNative(const void *object, int value);
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void setClusterRatioNative(const void *object, float value);
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void setMaxGainRadiusNative(const void *object, float value);
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void setRenderingTextureDecimationNative(const void *object, int value);
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void setBackgroundColorNative(const void *object, float gray);
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void setDepthConfidenceNative(const void *object, int value);
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void setExportPointCloudFormatNative(const void *object, const char * format);
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int setMappingParameterNative(const void *object, const char * key, const char * value);
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void removeMeasureNative(const void *object);
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void addMeasureNative(const void *object);
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void teleportNative(const void *object);
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void setMeasuringModeNative(const void *object, int mode);
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void setMetricSystemNative(const void *object, bool enabled);
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void setMeasuringTextSizeNative(const void *object, float size);
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void clearMeasuresNative(const void *object);
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typedef struct ImageNative
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{
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const void * objectPtr;
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void * data;
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int width;
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int height;
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int channels;
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int totalBytes;
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} ImageNative;
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ImageNative getPreviewImageNative(const char * databasePath);
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void releasePreviewImageNative(ImageNative image);
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void setGPSNative(const void *object, double stamp, double longitude, double latitude, double altitude, double accuracy, double bearing);
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void addEnvSensorNative(const void *object, int type, float value);
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#ifdef __cplusplus
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}
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#endif
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#endif /* NativeWrapper_hpp */
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