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 +1,138 @@
+/*
+ * 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 VerticalViewDataSource: class {
+    // Ask the data source how many views it wants to present inside the horizontal scroller
+    func numberOfViews(in verticalScrollerView: VerticalScrollerView) -> Int
+    // Ask the data source to return the view that should appear at <index>
+    func getScrollerViewItem(_ verticalScrollerView: VerticalScrollerView, viewAt index: Int) -> UIView
+}
+
+protocol VerticalScrollerViewDelegate: class {
+    // inform the delegate that the view at <index> has been selected
+    func verticalScrollerView(_ verticalScrollerView: VerticalScrollerView, didSelectViewAt index: Int)
+}
+
+class VerticalScrollerView: UIView {
+    weak var dataSource: VerticalViewDataSource?
+    weak var delegate: VerticalScrollerViewDelegate?
+    
+    // 1
+    private enum ViewConstants {
+        static let Padding: CGFloat = 5
+        static let Dimensions: CGFloat = 185
+        static let Offset: CGFloat = 10
+    }
+    
+    // 2
+    private let scroller = UIScrollView()
+    
+    // 3
+    private var contentViews = [UIView]()
+    
+    override init(frame: CGRect) {
+        super.init(frame: frame)
+        initializeScrollView()
+    }
+    
+    required init?(coder aDecoder: NSCoder) {
+        super.init(coder: aDecoder)
+        initializeScrollView()
+    }
+    
+    func initializeScrollView() {
+        
+        addSubview(scroller)
+        
+        scroller.translatesAutoresizingMaskIntoConstraints = false
+        
+        NSLayoutConstraint.activate([
+            scroller.leadingAnchor.constraint(equalTo: self.leadingAnchor),
+            scroller.trailingAnchor.constraint(equalTo: self.trailingAnchor),
+            scroller.topAnchor.constraint(equalTo: self.topAnchor),
+            scroller.bottomAnchor.constraint(equalTo: self.bottomAnchor)
+        ])
+        
+        let tapRecognizer = UITapGestureRecognizer(target: self, action: #selector(scrollerTapped(gesture:)))
+        scroller.addGestureRecognizer(tapRecognizer)
+    }
+    
+    func scrollToView(at index: Int, animated: Bool = true) {
+      let centralView = contentViews[index]
+      let targetCenter = centralView.center
+      let targetOffsetY = targetCenter.y - (scroller.bounds.height / 2)
+      scroller.setContentOffset(CGPoint(x: 0, y: targetOffsetY), animated: animated)
+    }
+    
+    @objc func scrollerTapped(gesture: UITapGestureRecognizer) {
+        let location = gesture.location(in: scroller)
+        guard
+            let index = contentViews.index(where: { $0.frame.contains(location)})
+        else { return }
+        
+        delegate?.verticalScrollerView(self, didSelectViewAt: index)
+        scrollToView(at: index)
+    }
+    
+    func view(at index :Int) -> UIView {
+        return contentViews[index]
+    }
+    
+    func reload() {
+        // 1 - Check if there is a data source, if not there is nothing to load.
+        guard let dataSource = dataSource else {
+            return
+        }
+        
+        //2 - Remove the old content views
+        contentViews.forEach { $0.removeFromSuperview() }
+
+        // 3 - yValue is the starting point of each view inside the scroller
+        var yValue = ViewConstants.Offset
+        // 4 - Fetch and add the new views
+        contentViews = (0..<dataSource.numberOfViews(in: self)).map {
+            index in
+            // 5 - add a view at the right position
+            yValue += ViewConstants.Padding
+            let view = dataSource.getScrollerViewItem(self, viewAt: index)
+            view.frame = CGRect(x: ViewConstants.Padding, y: CGFloat(yValue), width: ViewConstants.Dimensions*2, height: ViewConstants.Dimensions)
+            scroller.addSubview(view)
+            yValue += ViewConstants.Dimensions + ViewConstants.Padding
+            // 6 - Store the view so we can reference it later
+            return view
+        }
+
+        // 7
+        scroller.contentSize = CGSize(width: frame.size.width, height: CGFloat(yValue + ViewConstants.Offset))
+    }
+}
+