Compare commits
6 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 X-lanni
|
79fa72a8b0 | ||
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X-lanni
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b19a0817dc | ||
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X-lanni
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a29b104b9d | ||
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X-lanni
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e4c9f9b489 | ||
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X-lanni
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6e8320c438 | ||
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X-lanni
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943ce5b06f |
@@ -2,7 +2,8 @@
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#define AGV_PRO_DRIVER_H
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#include <algorithm>
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#include "serial_driver/serial_driver.hpp"
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#include <iostream>
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#include <boost/asio.hpp>
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#include "rclcpp/rclcpp.hpp"
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@@ -13,7 +14,9 @@
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#include <tf2/LinearMath/Quaternion.h>
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#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
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#define RECEIVE_DATA_SIZE 14 //The length of the data sent by the esp32
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#define SEND_DATA_SIZE 14 // Total bytes in a command frame to ESP32(version>=V1.0.8)
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#define RECEIVE_FRAME_SIZE 31 // Total bytes in a frame from ESP32(version>=V1.0.8)
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#define RECEIVE_PAYLOAD_SIZE (RECEIVE_FRAME_SIZE - 3) // Payload length (excluding header)
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extern std::array<double, 36> odom_pose_covariance;
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extern std::array<double, 36> odom_twist_covariance;
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@@ -21,20 +24,136 @@ extern std::array<double, 36> odom_twist_covariance;
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class AGV_PRO : public rclcpp::Node
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{
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public:
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/**
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* @brief Constructor
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*/
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AGV_PRO(std::string node_name);
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/**
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* @brief Destructor
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*/
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~AGV_PRO();
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private:
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/**
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* @brief Main control loop for the AGV.
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*/
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void Control();
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void print_hex(const std::string& label, const std::vector<uint8_t>& data, std::optional<size_t> override_size = std::nullopt);
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/**
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* @brief Print a vector of bytes in hexadecimal format to the ROS logger.
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*
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* @param[in] label A label to prepend to the printed data.
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* @param[in] data The byte vector to print.
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* @param[in] override_size Optional size to display instead of the full data length.
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*/
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void print_hex(const std::string& label,
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const std::vector<uint8_t>& data,
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std::optional<size_t> override_size = std::nullopt);
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/**
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* @brief Send a serial frame to the AGV and optionally print it in hex.
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*
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* @param[in] frame The byte vector representing the serial frame to send.
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* @param[in] debug If true, prints the transmitted frame using print_hex().
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*/
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void send_serial_frame(const std::vector<uint8_t>& frame, bool debug);
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void is_power_on();
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void set_auto_report();
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/**
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* @brief Query and print the current power status of the AGV.
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* @return true if AGV is successfully power on; false otherwise.
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*/
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bool is_power_on();
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/**
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* @brief Enable or disable AGV auto-reporting
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* @param[in] enable 0 = disable, 1 = enable
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*/
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void set_auto_report(bool enable);
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/**
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* @brief Clear the serial port input and output buffers
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* @param[in] fd File descriptor of the serial port
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*/
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void clearSerialBuffer(int fd);
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/**
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* @brief Disable the DTR (Data Terminal Ready) and RTS (Request To Send) lines of the serial port
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* @param[in] fd File descriptor of the serial port
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*/
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void disableDTR_RTS(int fd);
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/**
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* @brief Read sensor and motor data from the AGV via serial port.
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* @return true if data is successfully read and verified; false otherwise.
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*/
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bool readData();
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/**
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* @brief Odometry publisher
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* @param[in] dt Time difference (in seconds) since the last odometry update.
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*/
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void publisherOdom(double dt);
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/**
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* @brief Voltage publisher
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*/
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void publisherVoltage();
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/**
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* @brief ImuSensor publisher
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*/
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void publisherImuSensor();
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/**
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* @brief Callback for velocity command updates
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* @param[in] msg The Twist message containing desired linear and angular velocities
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*/
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void cmdCallback(const geometry_msgs::msg::Twist::SharedPtr msg);
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/**
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* @brief Build a standard AGV serial frame with header, payload, and CRC.
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*
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* The frame has a fixed size of RECEIVE_DATA_SIZE, starts with 0xFE 0xFE 0x0B,
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* includes a command ID and up to 8 payload bytes, and ends with a 16-bit CRC.
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*
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* @param[in] cmd_id The command ID for the serial frame.
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* @param[in] payload The payload bytes to include (up to 8 bytes).
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* @return A vector containing the complete serial frame ready to transmit.
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*/
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std::vector<uint8_t> build_serial_frame(uint8_t cmd_id, const std::vector<uint8_t>& payload);
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std::vector<uint8_t> read_serial_response(const std::vector<uint8_t>& expected_header, size_t payload_size, double timeout_sec);
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/**
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* @brief Read a serial response from the AGV device, waiting for a specific header.
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*
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* This function reads bytes from the serial port until the expected header
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* sequence is detected or the timeout expires. After detecting the header,
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* it reads the remaining payload bytes along with a 2-byte CRC.
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*
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* @param[in] expected_header The byte sequence to identify the start of a valid frame.
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* @param[in] payload_size The expected number of payload bytes following the header.
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* @param[in] timeout_sec Maximum time (in seconds) to wait for the header.
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* @return A vector containing the complete frame (header + payload + CRC).
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* Returns an empty vector if a timeout occurs or the full payload is not received.
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*/
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std::vector<uint8_t> read_serial_response(
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const std::vector<uint8_t>& expected_header,
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size_t payload_size,
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double timeout_sec);
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/**
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* @brief Compute the CRC-16-IBM checksum for a byte array.
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*
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* This function calculates the CRC using the standard IBM polynomial 0xA001.
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*
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* @param[in] data Pointer to the byte array.
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* @param[in] length Number of bytes to include in the CRC calculation.
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* @return The computed 16-bit CRC value.
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*/
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uint16_t crc16_ibm(const uint8_t* data, size_t length);
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boost::asio::io_service io_;
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std::unique_ptr<boost::asio::serial_port> serial_port_;
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std::string frame_id_of_odometry_;
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std::string child_frame_id_of_odometry_;
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@@ -54,6 +173,18 @@ private:
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double linearY = 0.0;
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double angularZ = 0.0;
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double ax= 0.0;
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double ay= 0.0;
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double az= 0.0;
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double wx= 0.0;
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double wy= 0.0;
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double wz= 0.0;
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double roll = 0.0;
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double pitch = 0.0;
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double yaw = 0.0;
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int is_poweron_status = 0;
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int poweron_status = 0;
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@@ -63,6 +194,22 @@ private:
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float battery_voltage = 0.0f;
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std::array<double, 36> odom_pose_covariance = {
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{1e-9, 0, 0, 0, 0, 0,
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0, 1e-3, 1e-9, 0, 0, 0,
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0, 0, 1e6, 0, 0, 0,
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0, 0, 0, 1e6, 0, 0,
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0, 0, 0, 0, 1e6, 0,
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0, 0, 0, 0, 0, 1e-9} };
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std::array<double, 36> odom_twist_covariance = {
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{1e-9, 0, 0, 0, 0, 0,
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0, 1e-3, 1e-9, 0, 0, 0,
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0, 0, 1e6, 0, 0, 0,
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0, 0, 0, 1e6, 0, 0,
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0, 0, 0, 0, 1e6, 0,
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0, 0, 0, 0, 0, 1e-9} };
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rclcpp::Time currentTime, lastTime;
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rclcpp::TimerBase::SharedPtr control_timer_;
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rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr pub_odom;
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@@ -70,10 +217,8 @@ private:
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rclcpp::Publisher<std_msgs::msg::Float32>::SharedPtr pub_voltage;
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rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr cmd_sub;
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sensor_msgs::msg::Imu imu_data;
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std::unique_ptr<tf2_ros::TransformBroadcaster> odomBroadcaster;
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std::shared_ptr<drivers::serial_driver::SerialDriver> serial_driver_;
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std::shared_ptr<drivers::common::IoContext> io_context_;
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};
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#endif
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+189
-117
@@ -1,22 +1,6 @@
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#include "agv_pro_base/agv_pro_driver.h"
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std::array<double, 36> odom_pose_covariance = {
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{1e-9, 0, 0, 0, 0, 0,
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0, 1e-3, 1e-9, 0, 0, 0,
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0, 0, 1e6, 0, 0, 0,
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0, 0, 0, 1e6, 0, 0,
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0, 0, 0, 0, 1e6, 0,
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0, 0, 0, 0, 0, 1e-9} };
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std::array<double, 36> odom_twist_covariance = {
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{1e-9, 0, 0, 0, 0, 0,
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0, 1e-3, 1e-9, 0, 0, 0,
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0, 0, 1e6, 0, 0, 0,
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0, 0, 0, 1e6, 0, 0,
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0, 0, 0, 0, 1e6, 0,
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0, 0, 0, 0, 0, 1e-9} };
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uint16_t crc16_ibm(const uint8_t* data, size_t length) {
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uint16_t AGV_PRO::crc16_ibm(const uint8_t* data, size_t length) {
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uint16_t crc = 0xFFFF;
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for (size_t i = 0; i < length; ++i) {
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crc ^= static_cast<uint16_t>(data[i]);
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@@ -32,7 +16,7 @@ uint16_t crc16_ibm(const uint8_t* data, size_t length) {
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std::vector<uint8_t> AGV_PRO::build_serial_frame(uint8_t cmd_id, const std::vector<uint8_t>& payload)
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{
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std::vector<uint8_t> frame(RECEIVE_DATA_SIZE, 0x00);
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std::vector<uint8_t> frame(SEND_DATA_SIZE, 0x00);
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frame[0] = 0xFE;
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frame[1] = 0xFE;
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frame[2] = 0x0B;
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@@ -62,8 +46,7 @@ void AGV_PRO::print_hex(const std::string& label, const std::vector<uint8_t>& da
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void AGV_PRO::send_serial_frame(const std::vector<uint8_t>& frame, bool debug)
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{
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try {
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auto port = serial_driver_->port();
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size_t bytes_transmit_size = port->send(frame);
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size_t bytes_transmit_size = boost::asio::write(*serial_port_, boost::asio::buffer(frame));
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if (debug) {
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print_hex("Sent", frame, bytes_transmit_size);
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}
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@@ -72,9 +55,11 @@ void AGV_PRO::send_serial_frame(const std::vector<uint8_t>& frame, bool debug)
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}
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}
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std::vector<uint8_t> AGV_PRO::read_serial_response(const std::vector<uint8_t>& expected_header, size_t payload_size, double timeout_sec)
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std::vector<uint8_t> AGV_PRO::read_serial_response(
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const std::vector<uint8_t>& expected_header,
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size_t payload_size,
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double timeout_sec)
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{
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auto port = serial_driver_->port();
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std::vector<uint8_t> sliding_buf;
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uint8_t byte = 0;
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@@ -82,21 +67,24 @@ std::vector<uint8_t> AGV_PRO::read_serial_response(const std::vector<uint8_t>& e
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rclcpp::Duration timeout = rclcpp::Duration::from_seconds(timeout_sec);
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while ((this->now() - start_time) < timeout) {
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std::vector<uint8_t> temp_buf(1);
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if (port->receive(temp_buf) == 1) {
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byte = temp_buf[0];
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boost::asio::mutable_buffers_1 buf(&byte, 1);
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boost::system::error_code ec;
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size_t n = serial_port_->read_some(buf, ec);
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if (ec) {
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RCLCPP_WARN(this->get_logger(), "Serial read error: %s", ec.message().c_str());
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return {};
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}
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if (n == 1) {
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sliding_buf.push_back(byte);
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if (sliding_buf.size() > expected_header.size()) {
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sliding_buf.erase(sliding_buf.begin());
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sliding_buf.erase(sliding_buf.begin());
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}
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if (sliding_buf == expected_header) {
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break;
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break;
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}
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}
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}
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if (sliding_buf != expected_header) {
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RCLCPP_WARN(this->get_logger(), "Timeout waiting for header");
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return {};
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@@ -104,7 +92,20 @@ std::vector<uint8_t> AGV_PRO::read_serial_response(const std::vector<uint8_t>& e
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size_t remain_len = payload_size + 2;
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std::vector<uint8_t> remain_buf(remain_len);
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if (port->receive(remain_buf) != remain_len) {
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size_t total_read = 0;
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while (total_read < remain_len && (this->now() - start_time) < timeout) {
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boost::asio::mutable_buffers_1 buf(&remain_buf[total_read], remain_len - total_read);
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boost::system::error_code ec;
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size_t n = serial_port_->read_some(buf, ec);
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if (ec) {
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RCLCPP_WARN(this->get_logger(), "Serial read error: %s", ec.message().c_str());
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return {};
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}
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total_read += n;
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}
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if (total_read != remain_len) {
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RCLCPP_WARN(this->get_logger(), "Timeout or incomplete data payload");
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return {};
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}
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@@ -115,22 +116,22 @@ std::vector<uint8_t> AGV_PRO::read_serial_response(const std::vector<uint8_t>& e
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return full_buf;
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}
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void AGV_PRO::is_power_on(){
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bool AGV_PRO::is_power_on(){
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auto power_query_frame = build_serial_frame(0x12, {});
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send_serial_frame(power_query_frame,true);
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const std::vector<uint8_t> expected_header = {0xFE, 0xFE, 0x0B, 0x12};
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auto power_query_response = read_serial_response(expected_header, 8, 1.0);
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auto power_query_response = read_serial_response(expected_header, 8, 12.0);
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print_hex("recv_buf", power_query_response);
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if (power_query_response.size() != 14) return;
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if (power_query_response.size() != 14) return false;
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uint16_t received_crc = (power_query_response[12] << 8) | power_query_response[13];
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uint16_t computed_crc = crc16_ibm(power_query_response.data(), 12);
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if (received_crc != computed_crc) {
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RCLCPP_WARN(this->get_logger(), "CRC mismatch: received=0x%04X, expected=0x%04X", received_crc, computed_crc);
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return;
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return false;
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}
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int is_poweron_status = static_cast<int8_t>(power_query_response[4]);
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@@ -146,13 +147,13 @@ void AGV_PRO::is_power_on(){
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auto status_query_response = read_serial_response(expected_header, 8, 5.0);// Read the serial response with the specified expected header, payload size, and timeout of 5 seconds
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print_hex("recv_buf", status_query_response);
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if (status_query_response.size() != 14) return;
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if (status_query_response.size() != 14) return false;
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uint16_t received_crc = (status_query_response[12] << 8) | status_query_response[13];
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uint16_t computed_crc = crc16_ibm(status_query_response.data(), 12);
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if (received_crc != computed_crc) {
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RCLCPP_WARN(this->get_logger(), "CRC mismatch: received=0x%04X, expected=0x%04X", received_crc, computed_crc);
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return;
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return false;
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}
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int poweron_status = static_cast<int8_t>(status_query_response[4]);
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@@ -162,37 +163,61 @@ void AGV_PRO::is_power_on(){
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case 1:
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status_msg = "Motor is operating normally.";
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RCLCPP_INFO(this->get_logger(), "power_status: %d, %s", poweron_status, status_msg.c_str());
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break;
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return true;
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case 2:
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status_msg = "Emergency stop button is not released.";
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RCLCPP_ERROR(this->get_logger(), "power_status: %d, %s", poweron_status, status_msg.c_str());
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break;
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return false;
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case 3:
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status_msg = "Battery voltage is below 19.5V.";
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RCLCPP_ERROR(this->get_logger(), "power_status: %d, %s", poweron_status, status_msg.c_str());
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break;
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return false;
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case 4:
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status_msg = "CAN initialization error.";
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RCLCPP_ERROR(this->get_logger(), "power_status: %d, %s", poweron_status, status_msg.c_str());
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break;
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return false;
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case 5:
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status_msg = "Motor initialization error.";
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RCLCPP_ERROR(this->get_logger(), "power_status: %d, %s", poweron_status, status_msg.c_str());
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break;
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return false;
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default:
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RCLCPP_WARN(this->get_logger(), "power_status: %d, Unknown power status code", poweron_status);
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break;
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return false;
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}
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}
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else
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else{
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RCLCPP_INFO(this->get_logger(), "Motor is operating normally.");
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return true;
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}
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}
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void AGV_PRO::set_auto_report(){
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auto frame = build_serial_frame(0x23, {0x01});
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void AGV_PRO::set_auto_report(bool enable){
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auto frame = build_serial_frame(0x23, {static_cast<uint8_t>(enable)});
|
||||
send_serial_frame(frame,true);
|
||||
}
|
||||
|
||||
void AGV_PRO::clearSerialBuffer(int fd) {
|
||||
if (tcflush(fd, TCIOFLUSH) < 0) {
|
||||
RCLCPP_WARN(this->get_logger(), "Failed to flush serial buffer: %s", std::strerror(errno));
|
||||
} else {
|
||||
RCLCPP_INFO(this->get_logger(), "Serial buffer flushed.");
|
||||
}
|
||||
}
|
||||
|
||||
void AGV_PRO::disableDTR_RTS(int fd) {
|
||||
int status;
|
||||
if (::ioctl(fd, TIOCMGET, &status) == 0) {
|
||||
status &= ~(TIOCM_DTR | TIOCM_RTS);
|
||||
if (::ioctl(fd, TIOCMSET, &status) != 0) {
|
||||
RCLCPP_WARN(this->get_logger(), "Failed to clear DTR and RTS: %s", std::strerror(errno));
|
||||
} else {
|
||||
RCLCPP_INFO(this->get_logger(), "DTR and RTS lines disabled successfully.");
|
||||
}
|
||||
} else {
|
||||
RCLCPP_WARN(this->get_logger(), "Failed to read modem status: %s", std::strerror(errno));
|
||||
}
|
||||
}
|
||||
|
||||
void AGV_PRO::cmdCallback(const geometry_msgs::msg::Twist::SharedPtr msg)
|
||||
{
|
||||
linearX = std::clamp(msg->linear.x, -1.5, 1.5);
|
||||
@@ -220,11 +245,9 @@ void AGV_PRO::cmdCallback(const geometry_msgs::msg::Twist::SharedPtr msg)
|
||||
|
||||
std::vector<uint8_t> data_vec(buf, buf + sizeof(buf));
|
||||
|
||||
auto port = serial_driver_->port();
|
||||
|
||||
try
|
||||
{
|
||||
port->send(data_vec);
|
||||
boost::asio::write(*serial_port_,boost::asio::buffer(data_vec));
|
||||
// print_hex("Sent", data_vec);//debug
|
||||
}
|
||||
catch(const std::exception &ex)
|
||||
@@ -235,34 +258,46 @@ void AGV_PRO::cmdCallback(const geometry_msgs::msg::Twist::SharedPtr msg)
|
||||
|
||||
bool AGV_PRO::readData()
|
||||
{
|
||||
std::vector<uint8_t> buf_header(1);
|
||||
std::vector<uint8_t> buf_length(1);
|
||||
std::vector<uint8_t> data_buf(RECEIVE_DATA_SIZE-3);
|
||||
std::vector<uint8_t> data_buf(RECEIVE_PAYLOAD_SIZE);
|
||||
|
||||
auto port = serial_driver_->port();
|
||||
uint8_t byte = 0;
|
||||
boost::system::error_code ec;
|
||||
|
||||
while (true)
|
||||
{
|
||||
size_t ret = port->receive(buf_header);
|
||||
if (ret != 1 || buf_header[0] != 0xfe) {
|
||||
size_t ret = boost::asio::read(*serial_port_, boost::asio::buffer(&byte, 1), ec);
|
||||
if (ec) {
|
||||
RCLCPP_ERROR(this->get_logger(), "Serial read error: %s", ec.message().c_str());
|
||||
return false;
|
||||
}
|
||||
if (ret != 1 || byte != 0xfe) {
|
||||
continue;
|
||||
}
|
||||
|
||||
ret = port->receive(buf_header);
|
||||
if (ret == 1 && buf_header[0] == 0xfe) {
|
||||
ret = boost::asio::read(*serial_port_, boost::asio::buffer(&byte, 1), ec);
|
||||
if (ec) {
|
||||
RCLCPP_ERROR(this->get_logger(), "Serial read error: %s", ec.message().c_str());
|
||||
return false;
|
||||
}
|
||||
if (ret == 1 && byte == 0xfe) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
size_t ret = port->receive(buf_length);
|
||||
size_t ret = boost::asio::read(*serial_port_, boost::asio::buffer(buf_length), ec);
|
||||
if (ec) {
|
||||
RCLCPP_ERROR(this->get_logger(), "Serial read error: %s", ec.message().c_str());
|
||||
return false;
|
||||
}
|
||||
|
||||
if (buf_length[0] != 0x0b) {
|
||||
RCLCPP_ERROR(this->get_logger(), "The received length is incorrect:%u", buf_length[0]);
|
||||
if (buf_length[0] != RECEIVE_PAYLOAD_SIZE) {
|
||||
//RCLCPP_ERROR(this->get_logger(), "The received length is incorrect:%u", buf_length[0]);
|
||||
return false;
|
||||
}
|
||||
|
||||
ret = port->receive(data_buf);
|
||||
if (ret != data_buf.size())
|
||||
ret = boost::asio::read(*serial_port_, boost::asio::buffer(data_buf), ec);
|
||||
if (ec || ret != data_buf.size())
|
||||
{
|
||||
RCLCPP_ERROR(this->get_logger(), "Failed to receive full payload");
|
||||
return false;
|
||||
@@ -271,18 +306,18 @@ bool AGV_PRO::readData()
|
||||
std::vector<uint8_t> recv_buf;
|
||||
recv_buf.push_back(0xFE);
|
||||
recv_buf.push_back(0xFE);
|
||||
recv_buf.push_back(0x0B);
|
||||
recv_buf.push_back(0x1C);
|
||||
recv_buf.insert(recv_buf.end(), data_buf.begin(), data_buf.end());
|
||||
|
||||
// print_hex("recv_buf", recv_buf); //debug
|
||||
//print_hex("recv_buf", recv_buf); //debug
|
||||
|
||||
if (recv_buf[3] != 0x25) {
|
||||
// RCLCPP_WARN(this->get_logger(), "Command error:0x%02X", recv_buf[2]);
|
||||
//RCLCPP_WARN(this->get_logger(), "Command error:0x%02X", recv_buf[2]); //debug
|
||||
return false;
|
||||
}
|
||||
|
||||
uint16_t received_crc = recv_buf[13] | (recv_buf[12] << 8);
|
||||
uint16_t computed_crc = crc16_ibm(recv_buf.data(), 12);
|
||||
uint16_t received_crc = recv_buf[RECEIVE_FRAME_SIZE-1] | (recv_buf[RECEIVE_FRAME_SIZE-2] << 8);
|
||||
uint16_t computed_crc = crc16_ibm(recv_buf.data(), RECEIVE_FRAME_SIZE-2);
|
||||
|
||||
if (received_crc != computed_crc) {
|
||||
RCLCPP_WARN(this->get_logger(), "CRC error: received 0x%04X, calculated 0x%04X", received_crc, computed_crc);
|
||||
@@ -298,6 +333,18 @@ bool AGV_PRO::readData()
|
||||
battery_voltage = static_cast<float>(recv_buf[9]) / 10.0f;
|
||||
enable_status = recv_buf[10];
|
||||
|
||||
imu_data.linear_acceleration.x = static_cast<double>((static_cast<int16_t>(recv_buf[11]) << 8) | recv_buf[12]) * 0.01;
|
||||
imu_data.linear_acceleration.y = static_cast<double>((static_cast<int16_t>(recv_buf[13]) << 8) | recv_buf[14]) * 0.01;
|
||||
imu_data.linear_acceleration.z = static_cast<double>((static_cast<int16_t>(recv_buf[15]) << 8) | recv_buf[16]) * 0.01;
|
||||
|
||||
imu_data.angular_velocity.x = static_cast<double>((static_cast<int16_t>(recv_buf[17]) << 8) | recv_buf[18]) * 0.01;
|
||||
imu_data.angular_velocity.y = static_cast<double>((static_cast<int16_t>(recv_buf[19]) << 8) | recv_buf[20]) * 0.01;
|
||||
imu_data.angular_velocity.z = static_cast<double>((static_cast<int16_t>(recv_buf[21]) << 8) | recv_buf[22]) * 0.01;
|
||||
|
||||
roll = static_cast<double>((static_cast<int16_t>(recv_buf[23]) << 8) | recv_buf[24]) * 0.01;
|
||||
pitch = static_cast<double>((static_cast<int16_t>(recv_buf[25]) << 8) | recv_buf[26]) * 0.01;
|
||||
yaw = static_cast<double>((static_cast<int16_t>(recv_buf[27]) << 8) | recv_buf[28]) * 0.01;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
@@ -308,6 +355,40 @@ void AGV_PRO::publisherVoltage()
|
||||
pub_voltage->publish(voltage_msg);
|
||||
}
|
||||
|
||||
void AGV_PRO::publisherImuSensor()
|
||||
{
|
||||
sensor_msgs::msg::Imu ImuSensor;
|
||||
|
||||
ImuSensor.header.stamp = this->get_clock()->now();
|
||||
ImuSensor.header.frame_id = "imu_link";
|
||||
|
||||
tf2::Quaternion qua;
|
||||
qua.setRPY(0, 0, yaw * M_PI / 180.0);
|
||||
|
||||
ImuSensor.orientation.x = qua[0];
|
||||
ImuSensor.orientation.y = qua[1];
|
||||
ImuSensor.orientation.z = qua[2];
|
||||
ImuSensor.orientation.w = qua[3];
|
||||
|
||||
ImuSensor.angular_velocity.x = imu_data.angular_velocity.x;
|
||||
ImuSensor.angular_velocity.y = imu_data.angular_velocity.y;
|
||||
ImuSensor.angular_velocity.z = imu_data.angular_velocity.z;
|
||||
|
||||
ImuSensor.linear_acceleration.x = imu_data.linear_acceleration.x;
|
||||
ImuSensor.linear_acceleration.y = imu_data.linear_acceleration.y;
|
||||
ImuSensor.linear_acceleration.z = imu_data.linear_acceleration.z;
|
||||
|
||||
ImuSensor.orientation_covariance[0] = 1e6;
|
||||
ImuSensor.orientation_covariance[4] = 1e6;
|
||||
ImuSensor.orientation_covariance[8] = 1e-6;
|
||||
|
||||
ImuSensor.angular_velocity_covariance[0] = 1e6;
|
||||
ImuSensor.angular_velocity_covariance[4] = 1e6;
|
||||
ImuSensor.angular_velocity_covariance[8] = 1e-6;
|
||||
|
||||
pub_imu->publish(ImuSensor);
|
||||
}
|
||||
|
||||
void AGV_PRO::publisherOdom(double dt)
|
||||
{
|
||||
currentTime = this->get_clock()->now();
|
||||
@@ -345,12 +426,12 @@ void AGV_PRO::publisherOdom(double dt)
|
||||
odom.pose.pose.position.y = y;
|
||||
odom.pose.pose.position.z = 0.0;
|
||||
odom.pose.pose.orientation = odom_quat;
|
||||
odom.pose.covariance = odom_pose_covariance;
|
||||
odom.pose.covariance = this->odom_pose_covariance;
|
||||
|
||||
odom.twist.twist.linear.x = vx;
|
||||
odom.twist.twist.linear.y = vy;
|
||||
odom.twist.twist.angular.z = vtheta;
|
||||
odom.twist.covariance = odom_twist_covariance;
|
||||
odom.twist.covariance = this->odom_twist_covariance;
|
||||
|
||||
pub_odom->publish(odom);
|
||||
}
|
||||
@@ -369,6 +450,7 @@ void AGV_PRO::Control()
|
||||
publisherOdom(dt);
|
||||
// RCLCPP_INFO(this->get_logger(), "dt:%f", dt);
|
||||
publisherVoltage();
|
||||
publisherImuSensor();
|
||||
}
|
||||
}
|
||||
|
||||
@@ -401,64 +483,54 @@ AGV_PRO::AGV_PRO(std::string node_name):rclcpp::Node(node_name)
|
||||
|
||||
lastTime = this->get_clock()->now();
|
||||
|
||||
drivers::serial_driver::SerialPortConfig config(
|
||||
1000000,
|
||||
drivers::serial_driver::FlowControl::NONE,
|
||||
drivers::serial_driver::Parity::NONE,
|
||||
drivers::serial_driver::StopBits::ONE
|
||||
);
|
||||
|
||||
try{
|
||||
io_context_ = std::make_shared<drivers::common::IoContext>(1);
|
||||
serial_driver_ = std::make_shared<drivers::serial_driver::SerialDriver>(*io_context_);
|
||||
serial_driver_->init_port(device_name_, config);
|
||||
serial_driver_->port()->open();
|
||||
|
||||
RCLCPP_INFO(this->get_logger(), "Serial port initialized successfully");
|
||||
RCLCPP_INFO(this->get_logger(), "Using device: %s", serial_driver_->port().get()->device_name().c_str());
|
||||
RCLCPP_INFO(this->get_logger(), "Baud_rate: %d", config.get_baud_rate());
|
||||
serial_port_ = std::make_unique<boost::asio::serial_port>(io_);
|
||||
|
||||
AGV_PRO::is_power_on();
|
||||
AGV_PRO::set_auto_report();
|
||||
serial_port_->open(device_name_);
|
||||
serial_port_->set_option(boost::asio::serial_port_base::baud_rate(1000000));
|
||||
serial_port_->set_option(boost::asio::serial_port_base::character_size(8));
|
||||
serial_port_->set_option(boost::asio::serial_port_base::parity(boost::asio::serial_port_base::parity::none));
|
||||
serial_port_->set_option(boost::asio::serial_port_base::stop_bits(boost::asio::serial_port_base::stop_bits::one));
|
||||
serial_port_->set_option(boost::asio::serial_port_base::flow_control(boost::asio::serial_port_base::flow_control::none));
|
||||
|
||||
int fd = serial_port_->native_handle();
|
||||
this->clearSerialBuffer(fd);
|
||||
this->disableDTR_RTS(fd);
|
||||
|
||||
rclcpp::sleep_for(std::chrono::milliseconds(3000));//esp32 Restart time
|
||||
|
||||
RCLCPP_INFO(this->get_logger(), "Serial port initialized successfully");
|
||||
RCLCPP_INFO(this->get_logger(), "Using device: %s", device_name_.c_str());
|
||||
|
||||
boost::asio::serial_port_base::baud_rate baud_option;
|
||||
serial_port_->get_option(baud_option);
|
||||
unsigned int current_baud = baud_option.value();
|
||||
RCLCPP_INFO(this->get_logger(), "Baud_rate: %u", current_baud);
|
||||
}
|
||||
catch (const std::exception &ex){
|
||||
RCLCPP_ERROR(this->get_logger(), "Failed to initialize serial port: %s", ex.what());
|
||||
return;
|
||||
}
|
||||
|
||||
control_timer_ = this->create_wall_timer(
|
||||
std::chrono::milliseconds(20),
|
||||
std::bind(&AGV_PRO::Control, this)
|
||||
);
|
||||
RCLCPP_INFO(this->get_logger(), "Control timer started");
|
||||
|
||||
if (this->is_power_on()) {
|
||||
this->set_auto_report(1);
|
||||
|
||||
control_timer_ = this->create_wall_timer(
|
||||
std::chrono::milliseconds(20),
|
||||
std::bind(&AGV_PRO::Control, this)
|
||||
);
|
||||
RCLCPP_INFO(this->get_logger(), "Control timer started");
|
||||
}
|
||||
else {
|
||||
RCLCPP_WARN(this->get_logger(), "Control timer not started.");
|
||||
}
|
||||
}
|
||||
|
||||
AGV_PRO::~AGV_PRO()
|
||||
{
|
||||
std::array<uint8_t, 14> buf = {
|
||||
0xFE, 0xFE, 0x0b, 0x22,
|
||||
0x01, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00
|
||||
};
|
||||
|
||||
uint16_t crc = crc16_ibm(buf.data(), 12);
|
||||
buf[12] = (crc >> 8) & 0xff;
|
||||
buf[13] = crc & 0xff;
|
||||
|
||||
std::vector<uint8_t> data_vec(buf.begin(), buf.end());
|
||||
|
||||
auto port = serial_driver_->port();
|
||||
|
||||
try
|
||||
{
|
||||
port->send(data_vec);
|
||||
}
|
||||
catch(const std::exception &ex)
|
||||
{
|
||||
RCLCPP_ERROR(this->get_logger(), "Error Transmiting from serial port:%s",ex.what());
|
||||
}
|
||||
|
||||
serial_driver_->port()->close();
|
||||
RCLCPP_INFO(this->get_logger(),"Shutting down");
|
||||
{
|
||||
if (serial_port_ && serial_port_->is_open()) {
|
||||
this->set_auto_report(0);
|
||||
serial_port_->cancel();
|
||||
serial_port_->close();
|
||||
}
|
||||
}
|
||||
@@ -212,4 +212,21 @@
|
||||
<parent link="${namespace}base_link" />
|
||||
<child link="${namespace}laser_link" />
|
||||
</joint>
|
||||
|
||||
<link name="${namespace}camera_link"/>
|
||||
|
||||
<joint name="${namespace}camera_joint" type="fixed">
|
||||
<origin xyz="0.23191 0 0.14928" rpy="0 0 0" />
|
||||
<parent link="${namespace}base_link" />
|
||||
<child link="${namespace}camera_link" />
|
||||
</joint>
|
||||
|
||||
<link name="${namespace}imu_link"/>
|
||||
|
||||
<joint name="${namespace}imu_joint" type="fixed">
|
||||
<origin xyz="-0.17181 -0.0270532 0.14928" rpy="0 0 1.5707" />
|
||||
<parent link="${namespace}base_link" />
|
||||
<child link="${namespace}imu_link" />
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
@@ -24,7 +24,7 @@ if(BUILD_TESTING)
|
||||
endif()
|
||||
|
||||
install(
|
||||
DIRECTORY launch map param rviz
|
||||
DIRECTORY launch map param rviz scripts
|
||||
DESTINATION share/${PROJECT_NAME}
|
||||
)
|
||||
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||
<package format="3">
|
||||
<name>agv_pro_navigation2</name>
|
||||
<version>1.0.0</version>
|
||||
<version>1.0.1</version>
|
||||
<description>ROS2 launch scripts for navigation2</description>
|
||||
<maintainer email="weijun.xie@elephantrobotics.com">lanni</maintainer>
|
||||
<license>BSD-3-Clause license</license>
|
||||
|
||||
@@ -0,0 +1,101 @@
|
||||
#! /usr/bin/env python3
|
||||
|
||||
from geometry_msgs.msg import PoseStamped
|
||||
from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult
|
||||
import rclpy
|
||||
from rclpy.duration import Duration
|
||||
|
||||
|
||||
"""
|
||||
Basic navigation demo to go to poses.
|
||||
"""
|
||||
|
||||
def set_initial_pose(navigator: BasicNavigator, x: float, y: float, oz: float, ow: float):
|
||||
"""
|
||||
Set the initial pose of the robot for AMCL localization.
|
||||
|
||||
Args:
|
||||
navigator (BasicNavigator): The navigator instance controlling the robot.
|
||||
x (float): Initial X position in the map frame.
|
||||
y (float): Initial Y position in the map frame.
|
||||
oz (float): Orientation Z component (quaternion).
|
||||
ow (float): Orientation W component (quaternion).
|
||||
"""
|
||||
initial_pose = PoseStamped()
|
||||
initial_pose.header.frame_id = 'map'
|
||||
initial_pose.header.stamp = navigator.get_clock().now().to_msg()
|
||||
initial_pose.pose.position.x = x
|
||||
initial_pose.pose.position.y = y
|
||||
initial_pose.pose.orientation.z = oz
|
||||
initial_pose.pose.orientation.w = ow
|
||||
navigator.setInitialPose(initial_pose)
|
||||
|
||||
def create_pose(navigator: BasicNavigator, x, y, z, w):
|
||||
pose = PoseStamped()
|
||||
pose.header.frame_id = 'map'
|
||||
pose.header.stamp = navigator.get_clock().now().to_msg()
|
||||
pose.pose.position.x = x
|
||||
pose.pose.position.y = y
|
||||
pose.pose.orientation.z = z
|
||||
pose.pose.orientation.w = w
|
||||
return pose
|
||||
|
||||
def nav_through_pose(navigator: BasicNavigator, goal_poses, verbose: bool = False) -> bool:
|
||||
|
||||
nav_start = navigator.get_clock().now()
|
||||
navigator.goThroughPoses(goal_poses)
|
||||
|
||||
while not navigator.isTaskComplete():
|
||||
feedback = navigator.getFeedback()
|
||||
if feedback and verbose:
|
||||
remaining = Duration.from_msg(feedback.estimated_time_remaining).nanoseconds / 1e9
|
||||
print(f"Estimated time of arrival: {remaining:.0f} seconds")
|
||||
|
||||
# Do something depending on the return code
|
||||
result = navigator.getResult()
|
||||
if result == TaskResult.SUCCEEDED:
|
||||
print('Goal succeeded!')
|
||||
return True
|
||||
elif result == TaskResult.CANCELED:
|
||||
print('Goal was canceled!')
|
||||
elif result == TaskResult.FAILED:
|
||||
print('Goal failed!')
|
||||
else:
|
||||
print('Goal has an invalid return status!')
|
||||
return False
|
||||
|
||||
if __name__ == '__main__':
|
||||
rclpy.init()
|
||||
|
||||
navigator = BasicNavigator()
|
||||
|
||||
# Set robot initial pose
|
||||
# set_initial_pose(navigator, x=-1.9248794317245483, y=-0.5366987586021423, oz=-1.8463129131030735e-06, ow=0.9999999999982956)\
|
||||
|
||||
# Wait for navigation to fully activate, since autostarting nav2
|
||||
# navigator.waitUntilNav2Active()
|
||||
|
||||
way1_goals = [
|
||||
[0.5062479972839355, -0.5562516450881958, -0.011363976322727884, 0.9999354279362925],
|
||||
[1.7874977588653564, -0.6250066757202148, 0.7002746726771927, 0.7138735061667792],
|
||||
[1.3625057935714722, 1.5999948978424072, 0.9999809382375775, 0.006174395637980891],
|
||||
[-1.4687445163726807, 1.487505555152893, -0.9025521753719631, 0.43058050435584877]
|
||||
]
|
||||
way2_goals = [
|
||||
[0.5062479972839355, -0.5562516450881958, -0.011363976322727884, 0.9999354279362925],
|
||||
[1.7874977588653564, -0.6250066757202148, 0.7002746726771927, 0.7138735061667792],
|
||||
[1.3625057935714722, 1.5999948978424072, 0.9999809382375775, 0.006174395637980891],
|
||||
[-1.4687445163726807, 1.487505555152893, -0.9025521753719631, 0.43058050435584877]
|
||||
]
|
||||
|
||||
goal_poses_1 = [create_pose(navigator, *g) for g in way1_goals]
|
||||
goal_poses_2 = [create_pose(navigator, *g) for g in way2_goals]
|
||||
|
||||
result1 = nav_through_pose(navigator, goal_poses_1, verbose=True)
|
||||
print(f"First segment navigation result: {result1}")
|
||||
|
||||
if result1 ==True:
|
||||
result2 = nav_through_pose(navigator, goal_poses_2, verbose=True)
|
||||
print(f"Second segment navigation result: {result2}")
|
||||
|
||||
rclpy.shutdown()
|
||||
@@ -0,0 +1,97 @@
|
||||
#! /usr/bin/env python3
|
||||
|
||||
from geometry_msgs.msg import PoseStamped
|
||||
from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult
|
||||
import rclpy
|
||||
from rclpy.duration import Duration
|
||||
|
||||
"""
|
||||
Basic navigation demo to go to pose.
|
||||
"""
|
||||
|
||||
def set_initial_pose(navigator: BasicNavigator, x: float, y: float, oz: float, ow: float):
|
||||
"""
|
||||
Set the initial pose of the robot for AMCL localization.
|
||||
|
||||
Args:
|
||||
navigator (BasicNavigator): The navigator instance controlling the robot.
|
||||
x (float): Initial X position in the map frame.
|
||||
y (float): Initial Y position in the map frame.
|
||||
oz (float): Orientation Z component (quaternion).
|
||||
ow (float): Orientation W component (quaternion).
|
||||
"""
|
||||
initial_pose = PoseStamped()
|
||||
initial_pose.header.frame_id = 'map'
|
||||
initial_pose.header.stamp = navigator.get_clock().now().to_msg()
|
||||
initial_pose.pose.position.x = x
|
||||
initial_pose.pose.position.y = y
|
||||
initial_pose.pose.orientation.z = oz
|
||||
initial_pose.pose.orientation.w = ow
|
||||
navigator.setInitialPose(initial_pose)
|
||||
|
||||
|
||||
def navigate_to_goal(navigator: BasicNavigator, x: float, y: float, oz: float, ow: float, verbose: bool = False) -> bool:
|
||||
"""
|
||||
Navigate the robot to a target goal pose.
|
||||
|
||||
Args:
|
||||
navigator (BasicNavigator): The navigator instance controlling the robot.
|
||||
x (float): Goal X position in the map frame.
|
||||
y (float): Goal Y position in the map frame.
|
||||
oz (float): Orientation Z component (quaternion).
|
||||
ow (float): Orientation W component (quaternion).
|
||||
verbose (bool, optional): If True, prints navigation feedback such as estimated arrival time. Default is False.
|
||||
|
||||
Returns:
|
||||
bool: True if navigation succeeded, False otherwise.
|
||||
"""
|
||||
goal_pose = PoseStamped()
|
||||
goal_pose.header.frame_id = 'map'
|
||||
goal_pose.header.stamp = navigator.get_clock().now().to_msg()
|
||||
goal_pose.pose.position.x = x
|
||||
goal_pose.pose.position.y = y
|
||||
goal_pose.pose.orientation.z = oz
|
||||
goal_pose.pose.orientation.w = ow
|
||||
|
||||
navigator.goToPose(goal_pose)
|
||||
|
||||
while not navigator.isTaskComplete():
|
||||
feedback = navigator.getFeedback()
|
||||
if feedback and verbose:
|
||||
remaining = Duration.from_msg(feedback.estimated_time_remaining).nanoseconds / 1e9
|
||||
print(f"Estimated time of arrival: {remaining:.0f} seconds")
|
||||
|
||||
result = navigator.getResult()
|
||||
if result == TaskResult.SUCCEEDED:
|
||||
print('Goal succeeded!')
|
||||
return True
|
||||
elif result == TaskResult.CANCELED:
|
||||
print('Goal was canceled!')
|
||||
elif result == TaskResult.FAILED:
|
||||
print('Goal failed!')
|
||||
else:
|
||||
print('Goal has an invalid return status!')
|
||||
return False
|
||||
|
||||
if __name__ == '__main__':
|
||||
rclpy.init()
|
||||
navigator = BasicNavigator()
|
||||
|
||||
# Set robot initial pose
|
||||
# set_initial_pose(navigator, x=-1.9248794317245483, y=-0.5366987586021423, oz=-1.8463129131030735e-06, ow=0.9999999999982956)
|
||||
|
||||
# Wait for navigation to fully activate, since autostarting nav2
|
||||
# navigator.waitUntilNav2Active()
|
||||
|
||||
goal_A = [1.6766083240509033,0.37930558800697327,-0.03491306994337919, 0.9993903529387947]
|
||||
goal_B = [-0.5062443017959595,1.559376835823059,0.6869307039904945,0.7267229237578264]
|
||||
|
||||
x_goal, y_goal, orientation_z, orientation_w = goal_A
|
||||
success = navigate_to_goal(navigator, x_goal, y_goal, orientation_z, orientation_w)
|
||||
print("Navigation result:", success)
|
||||
|
||||
x_goal, y_goal, orientation_z, orientation_w = goal_B
|
||||
success = navigate_to_goal(navigator, x_goal, y_goal, orientation_z, orientation_w)
|
||||
print("Navigation result:", success)
|
||||
|
||||
rclpy.shutdown()
|
||||
@@ -0,0 +1,108 @@
|
||||
#! /usr/bin/env python3
|
||||
|
||||
from geometry_msgs.msg import PoseStamped
|
||||
from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult
|
||||
import rclpy
|
||||
from rclpy.duration import Duration
|
||||
|
||||
"""
|
||||
Basic navigation demo to go to poses.
|
||||
"""
|
||||
|
||||
def set_initial_pose(navigator: BasicNavigator, x: float, y: float, oz: float, ow: float):
|
||||
"""
|
||||
Set the initial pose of the robot for AMCL localization.
|
||||
|
||||
Args:
|
||||
navigator (BasicNavigator): The navigator instance controlling the robot.
|
||||
x (float): Initial X position in the map frame.
|
||||
y (float): Initial Y position in the map frame.
|
||||
oz (float): Orientation Z component (quaternion).
|
||||
ow (float): Orientation W component (quaternion).
|
||||
"""
|
||||
initial_pose = PoseStamped()
|
||||
initial_pose.header.frame_id = 'map'
|
||||
initial_pose.header.stamp = navigator.get_clock().now().to_msg()
|
||||
initial_pose.pose.position.x = x
|
||||
initial_pose.pose.position.y = y
|
||||
initial_pose.pose.orientation.z = oz
|
||||
initial_pose.pose.orientation.w = ow
|
||||
navigator.setInitialPose(initial_pose)
|
||||
|
||||
def create_pose(navigator: BasicNavigator, x, y, z, w):
|
||||
pose = PoseStamped()
|
||||
pose.header.frame_id = 'map'
|
||||
pose.header.stamp = navigator.get_clock().now().to_msg()
|
||||
pose.pose.position.x = x
|
||||
pose.pose.position.y = y
|
||||
pose.pose.orientation.z = z
|
||||
pose.pose.orientation.w = w
|
||||
return pose
|
||||
|
||||
def nav_waypoint_follower(navigator: BasicNavigator, goal_poses, verbose: bool = False) -> bool:
|
||||
|
||||
nav_start = navigator.get_clock().now()
|
||||
navigator.followWaypoints(goal_poses)
|
||||
|
||||
i = 0
|
||||
while not navigator.isTaskComplete():
|
||||
# Do something with the feedback
|
||||
i = i + 1
|
||||
feedback = navigator.getFeedback()
|
||||
if (feedback and i % 5) and verbose == 0:
|
||||
print('Executing current waypoint: ' +
|
||||
str(feedback.current_waypoint + 1) + '/' + str(len(goal_poses)))
|
||||
now = navigator.get_clock().now()
|
||||
|
||||
# Some navigation timeout to demo cancellation
|
||||
if now - nav_start > Duration(seconds=600.0):
|
||||
navigator.cancelTask()
|
||||
|
||||
# Do something depending on the return code
|
||||
result = navigator.getResult()
|
||||
if result == TaskResult.SUCCEEDED:
|
||||
print('Goal succeeded!')
|
||||
return True
|
||||
elif result == TaskResult.CANCELED:
|
||||
print('Goal was canceled!')
|
||||
elif result == TaskResult.FAILED:
|
||||
print('Goal failed!')
|
||||
else:
|
||||
print('Goal has an invalid return status!')
|
||||
return False
|
||||
|
||||
if __name__ == '__main__':
|
||||
rclpy.init()
|
||||
|
||||
navigator = BasicNavigator()
|
||||
|
||||
# Set robot initial pose
|
||||
# set_initial_pose(navigator, x=-1.9248794317245483, y=-0.5366987586021423, oz=-1.8463129131030735e-06, ow=0.9999999999982956)\
|
||||
|
||||
# Wait for navigation to fully activate, since autostarting nav2
|
||||
# navigator.waitUntilNav2Active()
|
||||
|
||||
way1_goals = [
|
||||
[0.5062479972839355, -0.5562516450881958, -0.011363976322727884, 0.9999354279362925],
|
||||
[1.7874977588653564, -0.6250066757202148, 0.7002746726771927, 0.7138735061667792],
|
||||
[1.3625057935714722, 1.5999948978424072, 0.9999809382375775, 0.006174395637980891],
|
||||
[-1.4687445163726807, 1.487505555152893, -0.9025521753719631, 0.43058050435584877]
|
||||
]
|
||||
way2_goals = [
|
||||
[0.5062479972839355, -0.5562516450881958, -0.011363976322727884, 0.9999354279362925],
|
||||
[1.7874977588653564, -0.6250066757202148, 0.7002746726771927, 0.7138735061667792],
|
||||
[1.3625057935714722, 1.5999948978424072, 0.9999809382375775, 0.006174395637980891],
|
||||
[-1.4687445163726807, 1.487505555152893, -0.9025521753719631, 0.43058050435584877]
|
||||
]
|
||||
|
||||
goal_poses_1 = [create_pose(navigator, *g) for g in way1_goals]
|
||||
goal_poses_2 = [create_pose(navigator, *g) for g in way2_goals]
|
||||
|
||||
result1 = nav_waypoint_follower(navigator, goal_poses_1, verbose=False)
|
||||
print(f"First segment navigation result: {result1}")
|
||||
|
||||
if result1 ==True:
|
||||
result2 = nav_waypoint_follower(navigator, goal_poses_2, verbose=False)
|
||||
print(f"Second segment navigation result: {result2}")
|
||||
|
||||
rclpy.shutdown()
|
||||
@@ -0,0 +1,152 @@
|
||||
|
||||
branches:
|
||||
only:
|
||||
- master
|
||||
- devel
|
||||
|
||||
os: Visual Studio 2015
|
||||
|
||||
clone_folder: c:\projects\rtabmap
|
||||
|
||||
platform: x64
|
||||
configuration: Release
|
||||
|
||||
init:
|
||||
- cmake --version
|
||||
- call "C:\Program Files\Microsoft SDKs\Windows\v7.1\Bin\SetEnv.cmd" /x64
|
||||
- call "C:\Program Files (x86)\Microsoft Visual Studio 14.0\VC\vcvarsall.bat" x86_amd64
|
||||
|
||||
install:
|
||||
# To download from google drive
|
||||
- set PATH=C:\Python38-x64;C:\Python38-x64\Scripts;%PATH%
|
||||
- ps: py -m pip --disable-pip-version-check install gdown>=5.1.0
|
||||
# Qt
|
||||
- set QTDIR=C:\Qt\5.10.1\msvc2015_64
|
||||
# make sure Qt bin path is before cmake bin path to avoid copying qt5 dlls from cmake before qt installation
|
||||
- set PATH=%QTDIR%\bin;%PATH%
|
||||
# Boost
|
||||
- set PATH=%PATH%;C:\Libraries\boost_1_62_0\lib64-msvc-14.0
|
||||
# Openni2
|
||||
- ps: wget 'https://dl.dropboxusercontent.com/s/d98jv79l6oy9fxz/OpenNI2.exe?dl=0' -outfile OpenNI2.exe
|
||||
- cmd: OpenNI2.exe -o"C:\Program Files" -y
|
||||
- ECHO "Installed OpenNI2:"
|
||||
- ps: "ls \"C:/Program Files/OpenNI2\""
|
||||
- set PATH=%PATH%;C:\Program Files\OpenNI2\Redist
|
||||
- set OPENNI2_INCLUDE64=C:\Program Files\OpenNI2\Include
|
||||
- set OPENNI2_LIB64=C:\Program Files\OpenNI2\Lib
|
||||
- set OPENNI2_REDIST64=C:\Program Files\OpenNI2\Redist
|
||||
# OpenCV
|
||||
#- appveyor-retry appveyor DownloadFile http://downloads.sourceforge.net/project/opencvlibrary/4.5.2/opencv-4.5.2-vc14_vc15.exe
|
||||
#- cmd: opencv-4.5.2-vc14_vc15.exe -o"C:\Program Files" -y
|
||||
#- ECHO "Installed OpenCV:"
|
||||
#- ps: "ls \"C:/Program Files/opencv/build\""
|
||||
#- set PATH=%PATH%;C:\Program Files\opencv\build\x64\vc14\bin
|
||||
- ps: wget 'https://dl.dropboxusercontent.com/s/o6ofn491bc0jso1/opencv450_vc14.exe?dl=0' -outfile opencv.exe
|
||||
- cmd: opencv.exe -o"C:\Program Files" -y
|
||||
- ECHO "Installed OpenCV:"
|
||||
- ps: "ls \"C:/Program Files/opencv\""
|
||||
- set PATH=%PATH%;C:\Program Files\opencv\x64\vc14\bin
|
||||
# VTK (including QVTK)
|
||||
- ps: wget 'https://dl.dropboxusercontent.com/s/1l33b5l3f3y52gf/VTK-6_3-msvc140.exe?dl=0' -outfile VTK-6_3.exe
|
||||
- cmd: VTK-6_3.exe -o"C:\Program Files" -y
|
||||
- ECHO "Installed VTK:"
|
||||
- ps: "ls \"C:/Program Files/VTK\""
|
||||
- set PATH=%PATH%;C:\Program Files\VTK\bin
|
||||
# QHull
|
||||
- ps: wget 'https://dl.dropboxusercontent.com/s/9widnk9msdsh2b8/Qhull-msvc140.exe?dl=0' -outfile Qhull.exe
|
||||
- cmd: Qhull.exe -o"C:\Program Files" -y
|
||||
- ECHO "Installed QHull:"
|
||||
- ps: "ls \"C:/Program Files/Qhull\""
|
||||
- set PATH=%PATH%;C:\Program Files\Qhull\bin
|
||||
# FLANN
|
||||
- ps: wget 'https://dl.dropboxusercontent.com/s/7k58jbmqa51sxmh/FLANN-msvc140.exe?dl=0' -outfile FLANN.exe
|
||||
- cmd: FLANN.exe -o"C:\Program Files" -y
|
||||
- ECHO "Installed FLANN:"
|
||||
- ps: "ls \"C:/Program Files/FLANN\""
|
||||
- set PATH=%PATH%;C:\Program Files\FLANN\bin
|
||||
# Eigen
|
||||
- ps: wget 'https://dl.dropboxusercontent.com/s/3v6i9i8dxj4o8ji/Eigen.exe?dl=0' -outfile Eigen.exe
|
||||
- cmd: Eigen.exe -o"C:\Program Files" -y
|
||||
- ECHO "Installed Eigen:"
|
||||
- ps: "ls \"C:/Program Files/Eigen\""
|
||||
# PCL
|
||||
- ps: wget 'https://dl.dropboxusercontent.com/s/2iayr4lyqa50i9j/PCL_181_August2018_x64_vc14.exe?dl=0' -outfile PCL_1.8.1.exe
|
||||
- cmd: PCL_1.8.1.exe -o"C:\Program Files" -y
|
||||
- ECHO "Installed PCL:"
|
||||
- ps: "ls \"C:/Program Files/PCL\""
|
||||
- set PATH=%PATH%;C:\Program Files\PCL\bin
|
||||
# zlib
|
||||
- ps: gdown -q 0B46akLGdg-uaYm9MTTI4MUtUcmc
|
||||
- ps: Expand-Archive zlib-1.2.8-vc2010-x64.zip -DestinationPath 'C:\Program Files'
|
||||
- ECHO "Installed zlib:"
|
||||
- ps: "ls \"C:/Program Files/zlib\""
|
||||
- set PATH=%PATH%;C:\Program Files\zlib\bin
|
||||
# g2o
|
||||
- ps: wget 'https://dl.dropboxusercontent.com/s/ht74s5pa21wokzw/g2o.exe?dl=0' -outfile g2o.exe
|
||||
- cmd: g2o.exe -o"C:\Program Files" -y
|
||||
- ECHO "Installed g2o:"
|
||||
- ps: "ls \"C:/Program Files/g2o\""
|
||||
- set PATH=%PATH%;C:\Program Files\g2o\bin
|
||||
# GTSAM
|
||||
- ps: wget 'https://dl.dropboxusercontent.com/s/0fpr6r4cgsqmvhf/GTSAM-4_0_0_alpha2-msvc140.exe?dl=0' -outfile GTSAM.exe
|
||||
- cmd: GTSAM.exe -o"C:\Program Files" -y
|
||||
- ECHO "Installed GTSAM:"
|
||||
- ps: "ls \"C:/Program Files/GTSAM\""
|
||||
- set PATH=%PATH%;C:\Program Files\GTSAM\bin
|
||||
# OctoMap
|
||||
- ps: wget 'https://dl.dropboxusercontent.com/s/6jpxu0nm8ne6e54/octomap_x64_vc14.exe?dl=0' -outfile octomap.exe
|
||||
- cmd: octomap.exe -o"C:\Program Files" -y
|
||||
- ECHO "Installed OctoMap:"
|
||||
- ps: "ls \"C:/Program Files/octomap-distribution\""
|
||||
- set PATH=%PATH%;C:\Program Files\octomap-distribution\bin
|
||||
# CPU-TSDF
|
||||
- ps: wget 'https://dl.dropboxusercontent.com/s/mgges9va1uzxr0q/cpu_tsdf_sept2015_x64_vc14.exe?dl=0' -outfile cpu_tsdf.exe
|
||||
- cmd: cpu_tsdf.exe -o"C:\Program Files" -y
|
||||
- ECHO "Installed CPU-TSDF:"
|
||||
- ps: "ls \"C:/Program Files/cpu_tsdf\""
|
||||
- set PATH=%PATH%;C:\Program Files\cpu_tsdf\bin
|
||||
# Open Chisel
|
||||
- ps: wget 'https://dl.dropboxusercontent.com/s/0aaphcde4acrinm/open_chisel_x64_vc14.exe?dl=0' -outfile open_chisel.exe
|
||||
- cmd: open_chisel.exe -o"C:\Program Files" -y
|
||||
- ECHO "Installed Open Chisel:"
|
||||
- ps: "ls \"C:/Program Files/open_chisel\""
|
||||
- set PATH=%PATH%;C:\Program Files\open_chisel\bin
|
||||
# yaml-cpp
|
||||
- ps: wget 'https://dl.dropboxusercontent.com/s/22qfvftwj6zq8tj/yaml-cpp_x64_vc14.exe?dl=0' -outfile yaml-cpp.exe
|
||||
- cmd: yaml-cpp.exe -o"C:\Program Files" -y
|
||||
- ECHO "Installed yaml-cpp:"
|
||||
- ps: "ls \"C:/Program Files/yaml-cpp\""
|
||||
# RealSense2
|
||||
- ps: wget 'https://github.com/IntelRealSense/librealsense/releases/download/v2.40.0/Intel.RealSense.SDK-WIN10-2.40.0.2482.exe' -outfile realsense2.exe
|
||||
- cmd: realsense2.exe /VERYSILENT
|
||||
- ECHO "Installed RealSense2:"
|
||||
- ps: "ls \"C:/Program Files (x86)/Intel RealSense SDK 2.0\""
|
||||
- set PATH=%PATH%;C:\Program Files (x86)\Intel RealSense SDK 2.0\bin\x64
|
||||
- set RealSense2_ROOT_DIR=C:\Program Files (x86)\Intel RealSense SDK 2.0
|
||||
# Kinect 4 Azure
|
||||
- ps: wget 'https://download.microsoft.com/download/3/d/6/3d6d9e99-a251-4cf3-8c6a-8e108e960b4b/Azure%20Kinect%20SDK%201.4.1.exe' -outfile azure.exe
|
||||
- cmd: azure.exe /quiet
|
||||
- ECHO "Installed Kinect For Azure:"
|
||||
- ps: "ls \"C:/Program Files/Azure Kinect SDK v1.4.1\""
|
||||
- set PATH=%PATH%;C:\Program Files\Azure Kinect SDK v1.4.1\tools
|
||||
- set K4A_ROOT_DIR=C:\Program Files\Azure Kinect SDK v1.4.1
|
||||
|
||||
before_build:
|
||||
- cd c:\projects\rtabmap\build
|
||||
- ECHO %PROGRAMFILES%
|
||||
- ECHO %PATH%
|
||||
- cmake -G "Visual Studio 14 2015 Win64" -DOpenCV_DIR="C:\Program Files\opencv\build" -DPCL_DIR="C:\Program Files\PCL\cmake" -DCPUTSDF_DIR="C:\Program Files\cpu_tsdf\share\cpu_tsdf" -Dyaml-cpp_DIR="C:\Program Files\yaml-cpp\CMake" -DBUILD_AS_BUNDLE=ON ..
|
||||
|
||||
after_build :
|
||||
- cmake --build . --config Release --target package
|
||||
|
||||
artifacts:
|
||||
- path: build\RTABMap-*
|
||||
|
||||
notifications:
|
||||
- provider: Email
|
||||
to:
|
||||
- matlabbe@gmail.com
|
||||
on_build_success: false
|
||||
on_build_failure: false
|
||||
on_build_status_changed: true
|
||||
@@ -0,0 +1,610 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<?fileVersion 4.0.0?>
|
||||
|
||||
<cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
|
||||
<storageModule moduleId="org.eclipse.cdt.core.settings">
|
||||
<cconfiguration id="0.1790260204">
|
||||
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="0.1790260204" moduleId="org.eclipse.cdt.core.settings" name="Unix">
|
||||
<externalSettings/>
|
||||
<extensions>
|
||||
<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
|
||||
<extension id="org.eclipse.cdt.core.PE" point="org.eclipse.cdt.core.BinaryParser"/>
|
||||
<extension id="org.eclipse.cdt.core.SOM" point="org.eclipse.cdt.core.BinaryParser"/>
|
||||
<extension id="org.eclipse.cdt.core.MachO" point="org.eclipse.cdt.core.BinaryParser"/>
|
||||
<extension id="org.eclipse.cdt.core.MachO64" point="org.eclipse.cdt.core.BinaryParser"/>
|
||||
<extension id="org.eclipse.cdt.core.VCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
</extensions>
|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<configuration artifactName="RTAB-Map" buildProperties="" description="Ubuntu/Mac OS X" id="0.1790260204" name="Unix" parent="org.eclipse.cdt.build.core.prefbase.cfg">
|
||||
<folderInfo id="0.1790260204." name="/" resourcePath="">
|
||||
<toolChain id="org.eclipse.cdt.build.core.prefbase.toolchain.379189688" name="No ToolChain" resourceTypeBasedDiscovery="false" superClass="org.eclipse.cdt.build.core.prefbase.toolchain">
|
||||
<targetPlatform binaryParser="org.eclipse.cdt.core.ELF;org.eclipse.cdt.core.MachO;org.eclipse.cdt.core.SOM;org.eclipse.cdt.core.PE;org.eclipse.cdt.core.MachO64" id="org.eclipse.cdt.build.core.prefbase.toolchain.379189688.899900990" name=""/>
|
||||
<builder arguments="-j4 -C ${ProjDirPath}/build VERBOSE=true" buildPath="${workspace_loc:/RTAB-Map}" command="make" id="org.eclipse.cdt.build.core.settings.default.builder.1868197384" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" superClass="org.eclipse.cdt.build.core.settings.default.builder"/>
|
||||
<tool id="org.eclipse.cdt.build.core.settings.holder.libs.45793018" name="holder for library settings" superClass="org.eclipse.cdt.build.core.settings.holder.libs"/>
|
||||
<tool id="org.eclipse.cdt.build.core.settings.holder.894008781" name="Assembly" superClass="org.eclipse.cdt.build.core.settings.holder">
|
||||
<option id="org.eclipse.cdt.build.core.settings.holder.undef.incpaths.584706788" name="Undefined Include Paths" superClass="org.eclipse.cdt.build.core.settings.holder.undef.incpaths" valueType="undefIncludePath">
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/ts/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/flann/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/core/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/features2d/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/imgproc/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/imgproc/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/highgui/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/ml/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/photo/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/legacy/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/include/opencv"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/include/opencv"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/calib3d/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/build"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/contrib/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/build"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/objdetect/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/gpu/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/stitching/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/core/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/calib3d/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/video/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/highgui/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/features2d/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/ml/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/nonfree/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/flann/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/gpu/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/videostab/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/video/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/legacy/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/contrib/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/objdetect/include"/>
|
||||
</option>
|
||||
<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.1694566822" languageId="org.eclipse.cdt.core.assembly" languageName="Assembly" sourceContentType="org.eclipse.cdt.core.asmSource" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
|
||||
</tool>
|
||||
<tool id="org.eclipse.cdt.build.core.settings.holder.1789919121" name="GNU C++" superClass="org.eclipse.cdt.build.core.settings.holder">
|
||||
<option id="org.eclipse.cdt.build.core.settings.holder.undef.incpaths.449413398" name="Undefined Include Paths" superClass="org.eclipse.cdt.build.core.settings.holder.undef.incpaths" valueType="undefIncludePath">
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/ts/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/flann/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/core/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/features2d/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/imgproc/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/imgproc/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/highgui/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/ml/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/photo/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/legacy/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/include/opencv"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/include/opencv"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/calib3d/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/build"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/contrib/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/build"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/objdetect/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/gpu/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/stitching/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/core/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/calib3d/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/video/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/highgui/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/features2d/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/ml/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/nonfree/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/flann/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/gpu/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/videostab/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/video/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/legacy/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/contrib/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/objdetect/include"/>
|
||||
</option>
|
||||
<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.1666253491" languageId="org.eclipse.cdt.core.g++" languageName="GNU C++" sourceContentType="org.eclipse.cdt.core.cxxSource,org.eclipse.cdt.core.cxxHeader" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
|
||||
</tool>
|
||||
<tool id="org.eclipse.cdt.build.core.settings.holder.1172725717" name="GNU C" superClass="org.eclipse.cdt.build.core.settings.holder">
|
||||
<option id="org.eclipse.cdt.build.core.settings.holder.undef.incpaths.508497091" name="Undefined Include Paths" superClass="org.eclipse.cdt.build.core.settings.holder.undef.incpaths" valueType="undefIncludePath">
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/ts/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/flann/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/core/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/features2d/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/imgproc/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/imgproc/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/highgui/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/ml/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/photo/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/legacy/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/include/opencv"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/include/opencv"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/calib3d/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/build"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/contrib/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/build"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/objdetect/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/gpu/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/stitching/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/core/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/calib3d/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/video/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/highgui/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/features2d/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/ml/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/nonfree/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/flann/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/gpu/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/videostab/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/video/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/legacy/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.4.0-beta2/modules/contrib/include"/>
|
||||
<listOptionValue builtIn="false" value="/Users/MatLab/workspace/OpenCV-2.3.1/modules/objdetect/include"/>
|
||||
</option>
|
||||
<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.230409752" languageId="org.eclipse.cdt.core.gcc" languageName="GNU C" sourceContentType="org.eclipse.cdt.core.cSource,org.eclipse.cdt.core.cHeader" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
|
||||
</tool>
|
||||
</toolChain>
|
||||
</folderInfo>
|
||||
<sourceEntries>
|
||||
<entry excluding="build" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
|
||||
</sourceEntries>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.language.mapping"/>
|
||||
<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/>
|
||||
</cconfiguration>
|
||||
<cconfiguration id="0.1790260204.1906025362">
|
||||
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="0.1790260204.1906025362" moduleId="org.eclipse.cdt.core.settings" name="MinGW">
|
||||
<externalSettings/>
|
||||
<extensions>
|
||||
<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
|
||||
<extension id="org.eclipse.cdt.core.PE" point="org.eclipse.cdt.core.BinaryParser"/>
|
||||
<extension id="org.eclipse.cdt.core.SOM" point="org.eclipse.cdt.core.BinaryParser"/>
|
||||
<extension id="org.eclipse.cdt.core.MachO" point="org.eclipse.cdt.core.BinaryParser"/>
|
||||
<extension id="org.eclipse.cdt.core.MachO64" point="org.eclipse.cdt.core.BinaryParser"/>
|
||||
<extension id="org.eclipse.cdt.core.VCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
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<useDefaultCommand>false</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="CMake-MinGW-Release" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>cmake</buildCommand>
|
||||
<buildArguments>-E chdir build/ cmake -G "MinGW Makefiles" -D CMAKE_BUILD_TYPE=Release -D BUILD_TESTS=ON ../</buildArguments>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="CMake-Unix-Debug" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>cmake</buildCommand>
|
||||
<buildArguments>-E chdir build/ cmake -G "Unix Makefiles" -D CMAKE_BUILD_TYPE=Debug -D BUILD_TESTS=OFF ../</buildArguments>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="CMake-Unix-Release" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>cmake</buildCommand>
|
||||
<buildArguments>-E chdir build/ cmake -G "Unix Makefiles" -D CMAKE_BUILD_TYPE=Release -D BUILD_TESTS=OFF ../</buildArguments>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="CMake-NMake-Debug" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>cmake</buildCommand>
|
||||
<buildArguments>-E chdir build/ cmake -G "NMake Makefiles" -D CMAKE_BUILD_TYPE=Debug -D BUILD_TESTS=ON ../</buildArguments>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="CMake-NMake-Release" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>cmake</buildCommand>
|
||||
<buildArguments>-G "NMake Makefiles" -D CMAKE_BUILD_TYPE=Release ../</buildArguments>
|
||||
<buildTarget/>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
</buildTargets>
|
||||
</storageModule>
|
||||
<storageModule moduleId="scannerConfiguration">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerFileProfile">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="makefileGenerator">
|
||||
<runAction arguments="-f ${project_name}_scd.mk" command="make" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfile">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<scannerConfigBuildInfo instanceId="0.1790260204.1906025362.1064002412.862027363">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="0.1790260204">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile"/>
|
||||
<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerFileProfile">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="makefileGenerator">
|
||||
<runAction arguments="-f ${project_name}_scd.mk" command="make" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfile">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="0.1790260204.1906025362.1064002412">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="0.1790260204.1906025362">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile"/>
|
||||
<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerFileProfile">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="makefileGenerator">
|
||||
<runAction arguments="-f ${project_name}_scd.mk" command="make" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfile">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfile">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileCPP">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileC">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
</scannerConfigBuildInfo>
|
||||
</storageModule>
|
||||
</cproject>
|
||||
@@ -0,0 +1,24 @@
|
||||
FROM introlab3it/rtabmap:android-noble-deps
|
||||
|
||||
# remove ubuntu user
|
||||
RUN touch /var/mail/ubuntu && chown ubuntu /var/mail/ubuntu && userdel -r ubuntu
|
||||
|
||||
RUN apt-get update && apt-get install -y sudo && \
|
||||
apt-get clean && rm -rf /var/lib/apt/lists/
|
||||
|
||||
ARG USERNAME=vscode
|
||||
ARG USER_UID=1000
|
||||
ARG USER_GID=1000
|
||||
|
||||
RUN set -ex && \
|
||||
groupadd --gid ${USER_GID} ${USERNAME} && \
|
||||
useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \
|
||||
usermod -a -G sudo ${USERNAME} && \
|
||||
echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} && \
|
||||
chmod 0440 /etc/sudoers.d/${USERNAME}
|
||||
|
||||
RUN chmod +x /opt/android-sdk/tools/android
|
||||
|
||||
RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc
|
||||
|
||||
|
||||
@@ -0,0 +1,21 @@
|
||||
{
|
||||
"build": {
|
||||
"dockerfile": "Dockerfile"
|
||||
},
|
||||
"customizations": {
|
||||
"vscode": {
|
||||
"extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools", "vscjava.vscode-java-pack"]
|
||||
}
|
||||
},
|
||||
"workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/rtabmap,type=bind",
|
||||
"workspaceFolder": "/home/vscode/rtabmap",
|
||||
"postStartCommand": "./.devcontainer/android/init.sh",
|
||||
"settings": {
|
||||
"terminal.integrated.defaultProfile.linux": "bash"
|
||||
},
|
||||
"remoteUser": "vscode",
|
||||
"runArgs": ["--privileged", "--network=host"]
|
||||
}
|
||||
|
||||
|
||||
|
||||
Executable
+17
@@ -0,0 +1,17 @@
|
||||
#!/bin/bash
|
||||
set -e
|
||||
|
||||
echo "Running post-start initialization..."
|
||||
|
||||
# copy required jars
|
||||
cp /opt/android/lib/*.jar app/android/libs/.
|
||||
|
||||
mkdir -p build_android/arm64-v8a
|
||||
|
||||
# resource tool
|
||||
cd build_android
|
||||
cmake -DANDROID_PREBUILD=ON ..
|
||||
make
|
||||
|
||||
echo -e "\nTo build the APK, do (adjust API number):"
|
||||
echo -e '\nexport ANDROID_API=30 && cd build_android/arm64-v8a && cmake -DCMAKE_TOOLCHAIN_FILE=$ANDROID_NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DANDROID_NDK=$ANDROID_NDK -DANDROID_NATIVE_API_LEVEL=$ANDROID_API -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/arm64-v8a -DCMAKE_FIND_ROOT_PATH="/opt/android/arm64-v8a/bin;/opt/android/arm64-v8a;/opt/android/arm64-v8a/share" -DBUILD_EXAMPLES=OFF -DBUILD_TOOLS=OFF -DOpenCV_DIR=/opt/android/arm64-v8a/sdk/native/jni ../..\nmake -j6\n'
|
||||
@@ -0,0 +1,8 @@
|
||||
{
|
||||
"image": "introlab3it/rtabmap:18.04",
|
||||
"customizations": {
|
||||
"vscode": {
|
||||
"extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools"]
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,8 @@
|
||||
{
|
||||
"image": "introlab3it/rtabmap:20.04",
|
||||
"customizations": {
|
||||
"vscode": {
|
||||
"extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools"]
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,8 @@
|
||||
{
|
||||
"image": "introlab3it/rtabmap:22.04",
|
||||
"customizations": {
|
||||
"vscode": {
|
||||
"extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools"]
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,8 @@
|
||||
{
|
||||
"image": "introlab3it/rtabmap:24.04",
|
||||
"customizations": {
|
||||
"vscode": {
|
||||
"extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools"]
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,77 @@
|
||||
|
||||
FROM ubuntu:24.04
|
||||
|
||||
ENV DEBIAN_FRONTEND=noninteractive
|
||||
|
||||
# Install ROS2
|
||||
RUN apt update && \
|
||||
apt install software-properties-common -y && \
|
||||
add-apt-repository universe && \
|
||||
apt update && \
|
||||
apt install curl -y && \
|
||||
curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
|
||||
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
|
||||
apt-get clean && rm -rf /var/lib/apt/lists/
|
||||
|
||||
# Install build dependencies
|
||||
RUN apt-get update && \
|
||||
apt upgrade -y && \
|
||||
apt-get install -y \
|
||||
git \
|
||||
wget \
|
||||
libtbb-dev \
|
||||
libproj-dev \
|
||||
libpcl-dev \
|
||||
liboctomap-dev \
|
||||
libfreenect-dev \
|
||||
ros-rolling-ros-base \
|
||||
ros-dev-tools \
|
||||
ros-rolling-cv-bridge \
|
||||
ros-rolling-image-geometry \
|
||||
ros-rolling-laser-geometry \
|
||||
ros-rolling-pcl-conversions \
|
||||
ros-rolling-rviz-common \
|
||||
ros-rolling-rviz-rendering \
|
||||
ros-rolling-rviz-default-plugins \
|
||||
ros-rolling-pcl-ros \
|
||||
ros-rolling-imu-filter-madgwick \
|
||||
ros-rolling-image-transport \
|
||||
ros-rolling-octomap-msgs \
|
||||
ros-rolling-libg2o \
|
||||
ros-rolling-gtsam \
|
||||
ros-rolling-libpointmatcher \
|
||||
ros-rolling-qt-gui-cpp \
|
||||
ros-rolling-diagnostic-updater && \
|
||||
apt-get clean && rm -rf /var/lib/apt/lists/
|
||||
|
||||
WORKDIR /root/
|
||||
|
||||
RUN rm /bin/sh && ln -s /bin/bash /bin/sh
|
||||
|
||||
RUN echo -e '#!/bin/bash\nset -e\n\n# setup ros2 environment\nsource "/opt/ros/rolling/setup.bash" --\nexec "$@"' > /ros_entrypoint.sh
|
||||
RUN chmod +x /ros_entrypoint.sh
|
||||
ENTRYPOINT [ "/ros_entrypoint.sh" ]
|
||||
|
||||
# ros2 seems not sourcing by default its multi-arch folders
|
||||
ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/rolling/lib/x86_64-linux-gnu
|
||||
|
||||
# For devcontainer
|
||||
# remove ubuntu user
|
||||
RUN touch /var/mail/ubuntu && chown ubuntu /var/mail/ubuntu && userdel -r ubuntu
|
||||
|
||||
RUN apt-get update && apt-get install -y sudo && \
|
||||
apt-get clean && rm -rf /var/lib/apt/lists/
|
||||
|
||||
ARG USERNAME=vscode
|
||||
ARG USER_UID=1000
|
||||
ARG USER_GID=1000
|
||||
|
||||
RUN set -ex && \
|
||||
groupadd --gid ${USER_GID} ${USERNAME} && \
|
||||
useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \
|
||||
usermod -a -G sudo ${USERNAME} && \
|
||||
echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} && \
|
||||
chmod 0440 /etc/sudoers.d/${USERNAME}
|
||||
|
||||
RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc
|
||||
|
||||
@@ -0,0 +1,17 @@
|
||||
{
|
||||
"build": {
|
||||
"dockerfile": "Dockerfile"
|
||||
},
|
||||
"customizations": {
|
||||
"vscode": {
|
||||
"extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools"]
|
||||
}
|
||||
},
|
||||
"workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/rtabmap,type=bind",
|
||||
"workspaceFolder": "/home/vscode/rtabmap",
|
||||
"settings": {
|
||||
"terminal.integrated.defaultProfile.linux": "bash"
|
||||
},
|
||||
"remoteUser": "vscode",
|
||||
"runArgs": ["--privileged", "--network=host"]
|
||||
}
|
||||
@@ -0,0 +1,2 @@
|
||||
build/*
|
||||
build_*
|
||||
+74
@@ -0,0 +1,74 @@
|
||||
name: CMake-ROS
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- master
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
|
||||
env:
|
||||
# Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
|
||||
BUILD_TYPE: Release
|
||||
|
||||
jobs:
|
||||
build:
|
||||
# The CMake configure and build commands are platform agnostic and should work equally
|
||||
# well on Windows or Mac. You can convert this to a matrix build if you need
|
||||
# cross-platform coverage.
|
||||
# See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
|
||||
name: Build on ros ${{ matrix.ros_distribution }} and ${{ matrix.os }}
|
||||
runs-on: ${{ matrix.os }}
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
ros_distribution: [ humble, jazzy, kilted, rolling ]
|
||||
include:
|
||||
- ros_distribution: 'humble'
|
||||
os: ubuntu-22.04
|
||||
- ros_distribution: 'jazzy'
|
||||
os: ubuntu-24.04
|
||||
- ros_distribution: 'kilted'
|
||||
os: ubuntu-24.04
|
||||
- ros_distribution: 'rolling'
|
||||
os: ubuntu-24.04
|
||||
|
||||
steps:
|
||||
- name: Setup ROS2
|
||||
# https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html
|
||||
run: |
|
||||
sudo apt install software-properties-common
|
||||
sudo add-apt-repository universe
|
||||
sudo apt update && sudo apt install curl -y
|
||||
export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}')
|
||||
curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb"
|
||||
sudo apt install /tmp/ros2-apt-source.deb
|
||||
sudo apt update
|
||||
|
||||
- uses: ros-tooling/setup-ros@v0.7
|
||||
with:
|
||||
required-ros-distributions: ${{ matrix.ros_distribution }}
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
|
||||
- name: Install dependencies
|
||||
run: |
|
||||
source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
|
||||
rosdep update
|
||||
rosdep install --from-paths ${{github.workspace}} -y
|
||||
|
||||
- name: Configure CMake
|
||||
run: |
|
||||
source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
|
||||
cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
|
||||
|
||||
- name: Build
|
||||
run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
|
||||
|
||||
- name: Info
|
||||
working-directory: ${{github.workspace}}/build/bin
|
||||
run: |
|
||||
source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
|
||||
./rtabmap-console --version
|
||||
|
||||
Vendored
+56
@@ -0,0 +1,56 @@
|
||||
name: CMake
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- master
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
|
||||
env:
|
||||
BUILD_TYPE: Release
|
||||
|
||||
jobs:
|
||||
build:
|
||||
name: ${{ matrix.os }}
|
||||
runs-on: ${{ matrix.os }}
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
os: [ubuntu-24.04, ubuntu-22.04]
|
||||
include:
|
||||
- os: ubuntu-22.04
|
||||
extra_deps: "libunwind-dev libceres-dev"
|
||||
extra_cmake_def: ""
|
||||
- os: ubuntu-24.04
|
||||
extra_deps: "libg2o-dev libceres-dev"
|
||||
extra_cmake_def: "-DWITH_CERES=ON"
|
||||
|
||||
steps:
|
||||
- name: Install dependencies
|
||||
run: |
|
||||
DEBIAN_FRONTEND=noninteractive
|
||||
sudo apt-get update
|
||||
sudo apt-get -y install libopencv-dev libpcl-dev git cmake software-properties-common libyaml-cpp-dev ${{ matrix.extra_deps }}
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
|
||||
- name: Configure CMake
|
||||
run: |
|
||||
cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{ matrix.extra_cmake_def }}
|
||||
|
||||
- name: Build
|
||||
run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
|
||||
|
||||
- name: Info
|
||||
working-directory: ${{github.workspace}}/build/bin
|
||||
run: |
|
||||
./rtabmap-console --version
|
||||
|
||||
# - name: Test
|
||||
# working-directory: ${{github.workspace}}/build
|
||||
# # Execute tests defined by the CMake configuration.
|
||||
# # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
|
||||
# run: ctest -C ${{env.BUILD_TYPE}}
|
||||
|
||||
Vendored
+210
@@ -0,0 +1,210 @@
|
||||
name: docker
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'master'
|
||||
|
||||
jobs:
|
||||
docker_deps:
|
||||
|
||||
# Disabling ###-deps step from CI because it is too flaky (seg faults, arm64 build timeout...)
|
||||
# Only way I was able to build all images is to do it from a ubuntu 20.04 computer with:
|
||||
# $ sudo add-apt-repository ppa:canonical-server/server-backports
|
||||
# $ sudo apt-get update
|
||||
# $ sudo apt-get upgrade qemu-user-static
|
||||
# $ docker run --rm --privileged multiarch/qemu-user-static --reset -p yes -c yes
|
||||
# More info: https://github.com/introlab/rtabmap/issues/1454
|
||||
# if: false
|
||||
|
||||
runs-on: ubuntu-latest
|
||||
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
docker_tag: [focal-deps, jammy-deps, noble-deps, noble-kilted-deps]
|
||||
include:
|
||||
- docker_tag: focal-deps
|
||||
docker_tags: |
|
||||
introlab3it/rtabmap:focal-deps
|
||||
docker_platforms: |
|
||||
linux/amd64
|
||||
linux/arm64
|
||||
docker_path: 'focal/deps'
|
||||
- docker_tag: jammy-deps
|
||||
docker_tags: |
|
||||
introlab3it/rtabmap:jammy-deps
|
||||
docker_platforms: |
|
||||
linux/amd64
|
||||
linux/arm64
|
||||
docker_path: 'jammy/deps'
|
||||
- docker_tag: noble-deps
|
||||
docker_tags: |
|
||||
introlab3it/rtabmap:noble-deps
|
||||
docker_platforms: |
|
||||
linux/amd64
|
||||
linux/arm64
|
||||
docker_path: 'noble/deps'
|
||||
- docker_tag: noble-kilted-deps
|
||||
docker_tags: |
|
||||
introlab3it/rtabmap:noble-kilted-deps
|
||||
docker_platforms: |
|
||||
linux/amd64
|
||||
linux/arm64
|
||||
docker_path: 'noble-kilted/deps'
|
||||
|
||||
steps:
|
||||
-
|
||||
name: Checkout
|
||||
uses: actions/checkout@v2
|
||||
-
|
||||
name: Set up QEMU
|
||||
uses: docker/setup-qemu-action@v3
|
||||
with:
|
||||
platforms: all
|
||||
-
|
||||
name: Set up Docker Buildx
|
||||
uses: docker/setup-buildx-action@v3
|
||||
-
|
||||
name: Login to DockerHub
|
||||
uses: docker/login-action@v3
|
||||
with:
|
||||
username: ${{ secrets.DOCKERHUB_USERNAME }}
|
||||
password: ${{ secrets.DOCKERHUB_TOKEN }}
|
||||
-
|
||||
name: Build and push
|
||||
uses: docker/build-push-action@v6
|
||||
with:
|
||||
context: .
|
||||
push: true
|
||||
platforms: ${{ matrix.docker_platforms }}
|
||||
file: ./docker/${{ matrix.docker_path }}/Dockerfile
|
||||
tags: ${{ matrix.docker_tags }}
|
||||
cache-from: type=registry,ref=introlab3it/rtabmap:${{ matrix.docker_tag }}
|
||||
cache-to: type=inline
|
||||
|
||||
docker:
|
||||
needs: docker_deps
|
||||
runs-on: ubuntu-latest
|
||||
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
docker_tag: [bionic, focal, jammy, noble, noble-kilted, android23, android24, android26, android30]
|
||||
include:
|
||||
- docker_tag: bionic
|
||||
docker_tags: |
|
||||
introlab3it/rtabmap:bionic
|
||||
introlab3it/rtabmap:18.04
|
||||
docker_args: |
|
||||
NOT_USED=0
|
||||
docker_platforms: |
|
||||
linux/amd64
|
||||
linux/arm64
|
||||
docker_path: 'bionic'
|
||||
- docker_tag: focal
|
||||
docker_tags: |
|
||||
introlab3it/rtabmap:focal
|
||||
introlab3it/rtabmap:20.04
|
||||
introlab3it/rtabmap:latest
|
||||
docker_args: |
|
||||
NOT_USED=0
|
||||
docker_platforms: |
|
||||
linux/amd64
|
||||
linux/arm64
|
||||
docker_path: 'focal'
|
||||
- docker_tag: jammy
|
||||
docker_tags: |
|
||||
introlab3it/rtabmap:jammy
|
||||
introlab3it/rtabmap:22.04
|
||||
docker_args: |
|
||||
NOT_USED=0
|
||||
docker_platforms: |
|
||||
linux/amd64
|
||||
linux/arm64
|
||||
docker_path: 'jammy'
|
||||
- docker_tag: noble
|
||||
docker_tags: |
|
||||
introlab3it/rtabmap:noble
|
||||
introlab3it/rtabmap:24.04
|
||||
docker_args: |
|
||||
NOT_USED=0
|
||||
docker_platforms: |
|
||||
linux/amd64
|
||||
linux/arm64
|
||||
docker_path: 'noble'
|
||||
- docker_tag: noble-kilted
|
||||
docker_tags: |
|
||||
introlab3it/rtabmap:noble-kilted
|
||||
docker_args: |
|
||||
NOT_USED=0
|
||||
docker_platforms: |
|
||||
linux/amd64
|
||||
linux/arm64
|
||||
docker_path: 'noble-kilted'
|
||||
- docker_tag: android23
|
||||
docker_tags: |
|
||||
introlab3it/rtabmap:android23
|
||||
introlab3it/rtabmap:tango
|
||||
docker_args: |
|
||||
API_VERSION=23
|
||||
docker_platforms: |
|
||||
linux/amd64
|
||||
docker_path: 'noble/android/rtabmap_apiXX'
|
||||
- docker_tag: android24
|
||||
docker_tags: |
|
||||
introlab3it/rtabmap:android24
|
||||
docker_args: |
|
||||
API_VERSION=24
|
||||
docker_platforms: |
|
||||
linux/amd64
|
||||
docker_path: 'noble/android/rtabmap_apiXX'
|
||||
- docker_tag: android26
|
||||
docker_tags: |
|
||||
introlab3it/rtabmap:android26
|
||||
docker_args: |
|
||||
API_VERSION=26
|
||||
docker_platforms: |
|
||||
linux/amd64
|
||||
docker_path: 'noble/android/rtabmap_apiXX'
|
||||
- docker_tag: android30
|
||||
docker_tags: |
|
||||
introlab3it/rtabmap:android30
|
||||
docker_args: |
|
||||
API_VERSION=30
|
||||
docker_platforms: |
|
||||
linux/amd64
|
||||
docker_path: 'noble/android/rtabmap_apiXX'
|
||||
|
||||
steps:
|
||||
-
|
||||
name: Checkout
|
||||
uses: actions/checkout@v2
|
||||
-
|
||||
name: Set up QEMU
|
||||
uses: docker/setup-qemu-action@v3
|
||||
with:
|
||||
platforms: all
|
||||
-
|
||||
name: Set up Docker Buildx
|
||||
uses: docker/setup-buildx-action@v3
|
||||
-
|
||||
name: Login to DockerHub
|
||||
uses: docker/login-action@v3
|
||||
with:
|
||||
username: ${{ secrets.DOCKERHUB_USERNAME }}
|
||||
password: ${{ secrets.DOCKERHUB_TOKEN }}
|
||||
-
|
||||
name: Build and push
|
||||
uses: docker/build-push-action@v6
|
||||
with:
|
||||
context: .
|
||||
push: true
|
||||
platforms: ${{ matrix.docker_platforms }}
|
||||
file: ./docker/${{ matrix.docker_path }}/Dockerfile
|
||||
build-args: |
|
||||
${{ matrix.docker_args }}
|
||||
tags: ${{ matrix.docker_tags }}
|
||||
cache-from: type=registry,ref=introlab3it/rtabmap:${{ matrix.docker_tag }}
|
||||
cache-to: type=inline
|
||||
|
||||
+16
@@ -0,0 +1,16 @@
|
||||
name: RTAB-Map Scheduled Stats Extraction From GitHub
|
||||
|
||||
on:
|
||||
workflow_dispatch:
|
||||
schedule:
|
||||
- cron: '0 5 * * *'
|
||||
jobs:
|
||||
get_stats:
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- name: Update Stats
|
||||
uses: introlab/github-stats-action@v1
|
||||
with:
|
||||
github-stats-token: ${{ secrets.STATS_TOKEN }}
|
||||
google-application-credentials: ${{ secrets.GOOGLE_APPLICATION_CREDENTIALS }}
|
||||
spreadsheet-id: ${{ secrets.SPREADSHEET_ID }}
|
||||
@@ -0,0 +1,14 @@
|
||||
/lib
|
||||
.DS_Store
|
||||
.settings/language.settings.xml
|
||||
.idea/
|
||||
.vscode
|
||||
cmake-build-debug/
|
||||
app/android/.classpath
|
||||
app/android/.project
|
||||
app/android/AndroidManifest.xml
|
||||
app/android/res/raw/
|
||||
compile_flags.txt
|
||||
tags
|
||||
build_*
|
||||
*.bak
|
||||
@@ -0,0 +1,82 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<projectDescription>
|
||||
<name>rtabmap</name>
|
||||
<comment></comment>
|
||||
<projects>
|
||||
</projects>
|
||||
<buildSpec>
|
||||
<buildCommand>
|
||||
<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
|
||||
<triggers>clean,full,incremental,</triggers>
|
||||
<arguments>
|
||||
<dictionary>
|
||||
<key>?name?</key>
|
||||
<value></value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.append_environment</key>
|
||||
<value>true</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.autoBuildTarget</key>
|
||||
<value>all</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.buildArguments</key>
|
||||
<value>-j4 -C ${ProjDirPath}/build VERBOSE=true</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.buildCommand</key>
|
||||
<value>make</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.buildLocation</key>
|
||||
<value>${workspace_loc:/RTAB-Map}</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.cleanBuildTarget</key>
|
||||
<value>clean</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.contents</key>
|
||||
<value>org.eclipse.cdt.make.core.activeConfigSettings</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.enableAutoBuild</key>
|
||||
<value>false</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.enableCleanBuild</key>
|
||||
<value>true</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.enableFullBuild</key>
|
||||
<value>true</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.fullBuildTarget</key>
|
||||
<value>all</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.stopOnError</key>
|
||||
<value>true</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.useDefaultBuildCmd</key>
|
||||
<value>false</value>
|
||||
</dictionary>
|
||||
</arguments>
|
||||
</buildCommand>
|
||||
<buildCommand>
|
||||
<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
|
||||
<arguments>
|
||||
</arguments>
|
||||
</buildCommand>
|
||||
</buildSpec>
|
||||
<natures>
|
||||
<nature>org.eclipse.cdt.core.cnature</nature>
|
||||
<nature>org.eclipse.cdt.core.ccnature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
|
||||
</natures>
|
||||
</projectDescription>
|
||||
@@ -0,0 +1,67 @@
|
||||
eclipse.preferences.version=1
|
||||
org.eclipse.cdt.codan.checkers.errnoreturn=Warning
|
||||
org.eclipse.cdt.codan.checkers.errnoreturn.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},implicit\=>false}
|
||||
org.eclipse.cdt.codan.checkers.errreturnvalue=Error
|
||||
org.eclipse.cdt.codan.checkers.errreturnvalue.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true}}
|
||||
org.eclipse.cdt.codan.checkers.noreturn=Error
|
||||
org.eclipse.cdt.codan.checkers.noreturn.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},implicit\=>false}
|
||||
org.eclipse.cdt.codan.internal.checkers.AbstractClassCreation=Error
|
||||
org.eclipse.cdt.codan.internal.checkers.AbstractClassCreation.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true}}
|
||||
org.eclipse.cdt.codan.internal.checkers.AmbiguousProblem=Error
|
||||
org.eclipse.cdt.codan.internal.checkers.AmbiguousProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true}}
|
||||
org.eclipse.cdt.codan.internal.checkers.AssignmentInConditionProblem=Warning
|
||||
org.eclipse.cdt.codan.internal.checkers.AssignmentInConditionProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true}}
|
||||
org.eclipse.cdt.codan.internal.checkers.AssignmentToItselfProblem=Error
|
||||
org.eclipse.cdt.codan.internal.checkers.AssignmentToItselfProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true}}
|
||||
org.eclipse.cdt.codan.internal.checkers.CaseBreakProblem=Warning
|
||||
org.eclipse.cdt.codan.internal.checkers.CaseBreakProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},no_break_comment\=>"no break",last_case_param\=>true,empty_case_param\=>false}
|
||||
org.eclipse.cdt.codan.internal.checkers.CatchByReference=Warning
|
||||
org.eclipse.cdt.codan.internal.checkers.CatchByReference.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},unknown\=>false,exceptions\=>()}
|
||||
org.eclipse.cdt.codan.internal.checkers.CircularReferenceProblem=Error
|
||||
org.eclipse.cdt.codan.internal.checkers.CircularReferenceProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true}}
|
||||
org.eclipse.cdt.codan.internal.checkers.ClassMembersInitialization=Warning
|
||||
org.eclipse.cdt.codan.internal.checkers.ClassMembersInitialization.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},skip\=>true}
|
||||
org.eclipse.cdt.codan.internal.checkers.FieldResolutionProblem=Error
|
||||
org.eclipse.cdt.codan.internal.checkers.FieldResolutionProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true}}
|
||||
org.eclipse.cdt.codan.internal.checkers.FunctionResolutionProblem=Error
|
||||
org.eclipse.cdt.codan.internal.checkers.FunctionResolutionProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true}}
|
||||
org.eclipse.cdt.codan.internal.checkers.InvalidArguments=Error
|
||||
org.eclipse.cdt.codan.internal.checkers.InvalidArguments.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true}}
|
||||
org.eclipse.cdt.codan.internal.checkers.InvalidTemplateArgumentsProblem=Error
|
||||
org.eclipse.cdt.codan.internal.checkers.InvalidTemplateArgumentsProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true}}
|
||||
org.eclipse.cdt.codan.internal.checkers.LabelStatementNotFoundProblem=Error
|
||||
org.eclipse.cdt.codan.internal.checkers.LabelStatementNotFoundProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true}}
|
||||
org.eclipse.cdt.codan.internal.checkers.MemberDeclarationNotFoundProblem=Error
|
||||
org.eclipse.cdt.codan.internal.checkers.MemberDeclarationNotFoundProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true}}
|
||||
org.eclipse.cdt.codan.internal.checkers.MethodResolutionProblem=Error
|
||||
org.eclipse.cdt.codan.internal.checkers.MethodResolutionProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true}}
|
||||
org.eclipse.cdt.codan.internal.checkers.NamingConventionFunctionChecker=-Info
|
||||
org.eclipse.cdt.codan.internal.checkers.NamingConventionFunctionChecker.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},pattern\=>"^[a-z]",macro\=>true,exceptions\=>()}
|
||||
org.eclipse.cdt.codan.internal.checkers.NonVirtualDestructorProblem=Warning
|
||||
org.eclipse.cdt.codan.internal.checkers.NonVirtualDestructorProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true}}
|
||||
org.eclipse.cdt.codan.internal.checkers.OverloadProblem=Error
|
||||
org.eclipse.cdt.codan.internal.checkers.OverloadProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true}}
|
||||
org.eclipse.cdt.codan.internal.checkers.RedeclarationProblem=Error
|
||||
org.eclipse.cdt.codan.internal.checkers.RedeclarationProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true}}
|
||||
org.eclipse.cdt.codan.internal.checkers.RedefinitionProblem=Error
|
||||
org.eclipse.cdt.codan.internal.checkers.RedefinitionProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true}}
|
||||
org.eclipse.cdt.codan.internal.checkers.ReturnStyleProblem=-Warning
|
||||
org.eclipse.cdt.codan.internal.checkers.ReturnStyleProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true}}
|
||||
org.eclipse.cdt.codan.internal.checkers.ScanfFormatStringSecurityProblem=-Warning
|
||||
org.eclipse.cdt.codan.internal.checkers.ScanfFormatStringSecurityProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true}}
|
||||
org.eclipse.cdt.codan.internal.checkers.StatementHasNoEffectProblem=Warning
|
||||
org.eclipse.cdt.codan.internal.checkers.StatementHasNoEffectProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},macro\=>true,exceptions\=>()}
|
||||
org.eclipse.cdt.codan.internal.checkers.SuggestedParenthesisProblem=Warning
|
||||
org.eclipse.cdt.codan.internal.checkers.SuggestedParenthesisProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},paramNot\=>false}
|
||||
org.eclipse.cdt.codan.internal.checkers.SuspiciousSemicolonProblem=Warning
|
||||
org.eclipse.cdt.codan.internal.checkers.SuspiciousSemicolonProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},else\=>false,afterelse\=>false}
|
||||
org.eclipse.cdt.codan.internal.checkers.TypeResolutionProblem=Error
|
||||
org.eclipse.cdt.codan.internal.checkers.TypeResolutionProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true}}
|
||||
org.eclipse.cdt.codan.internal.checkers.UnusedFunctionDeclarationProblem=Warning
|
||||
org.eclipse.cdt.codan.internal.checkers.UnusedFunctionDeclarationProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},macro\=>true}
|
||||
org.eclipse.cdt.codan.internal.checkers.UnusedStaticFunctionProblem=Warning
|
||||
org.eclipse.cdt.codan.internal.checkers.UnusedStaticFunctionProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},macro\=>true}
|
||||
org.eclipse.cdt.codan.internal.checkers.UnusedVariableDeclarationProblem=Warning
|
||||
org.eclipse.cdt.codan.internal.checkers.UnusedVariableDeclarationProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},macro\=>true,exceptions\=>("@(\#)","$Id")}
|
||||
org.eclipse.cdt.codan.internal.checkers.VariableResolutionProblem=Error
|
||||
org.eclipse.cdt.codan.internal.checkers.VariableResolutionProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true}}
|
||||
@@ -0,0 +1,3 @@
|
||||
eclipse.preferences.version=1
|
||||
environment/project/0.1790260204.1906025362.1064002412/append=true
|
||||
environment/project/0.1790260204.1906025362.1064002412/appendContributed=true
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,28 @@
|
||||
RTAB-Map - https://github.com/introlab/rtabmap
|
||||
Copyright (c) 2010-2025, Mathieu Labbe - IntRoLab - Universite de Sherbrooke, all rights reserved.
|
||||
Copyright (c) XXX, contributors, all rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
|
||||
* Redistributions of source code must retain the above copyright notice, this
|
||||
list of conditions and the following disclaimer.
|
||||
|
||||
* Redistributions in binary form must reproduce the above copyright notice,
|
||||
this list of conditions and the following disclaimer in the documentation
|
||||
and/or other materials provided with the distribution.
|
||||
|
||||
* Neither the name of the copyright holders nor the names of the
|
||||
contributors may be used to endorse or promote products derived from
|
||||
this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
|
||||
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
||||
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
||||
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
||||
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||||
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
@@ -0,0 +1,82 @@
|
||||
rtabmap
|
||||
=======
|
||||
|
||||
[](http://introlab.github.io/rtabmap)
|
||||
|
||||
[![Release][release-image]][releases]
|
||||
[![Downloads][downloads-image]][downloads]
|
||||
[![License][license-image]][license]
|
||||
|
||||
[release-image]: https://img.shields.io/badge/release-0.21.4-green.svg?style=flat
|
||||
[releases]: https://github.com/introlab/rtabmap/releases
|
||||
|
||||
[downloads-image]: https://img.shields.io/github/downloads/introlab/rtabmap/total?label=downloads
|
||||
[downloads]: https://github.com/introlab/rtabmap/releases
|
||||
|
||||
[license-image]: https://img.shields.io/badge/license-BSD-green.svg?style=flat
|
||||
[license]: https://github.com/introlab/rtabmap/blob/master/LICENSE
|
||||
|
||||
RTAB-Map library and standalone application.
|
||||
|
||||
* For more information (e.g., papers, major updates), visit [RTAB-Map's home page](http://introlab.github.io/rtabmap).
|
||||
* For installation instructions and examples, visit [RTAB-Map's wiki](https://github.com/introlab/rtabmap/wiki).
|
||||
|
||||
To use RTAB-Map under ROS, visit the [rtabmap](http://wiki.ros.org/rtabmap) page on the ROS wiki.
|
||||
|
||||
### Acknowledgements
|
||||
This project is supported by [IntRoLab - Intelligent / Interactive / Integrated / Interdisciplinary Robot Lab](https://introlab.3it.usherbrooke.ca/), Sherbrooke, Québec, Canada.
|
||||
|
||||
<a href="https://introlab.3it.usherbrooke.ca/">
|
||||
<img src="https://github.com/introlab/16SoundsUSB/blob/master/images/IntRoLab.png" alt="IntRoLab" height="100">
|
||||
</a>
|
||||
|
||||
#### CI Latest
|
||||
|
||||
<table>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td>Linux</td>
|
||||
<td><a href="https://github.com/introlab/rtabmap/actions/workflows/cmake.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/cmake.yml/badge.svg" alt="Build Status"/> <br> <a href="https://github.com/introlab/rtabmap/actions/workflows/cmake-ros.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/cmake-ros.yml/badge.svg" alt="Build Status"/> <br> <a href="https://github.com/introlab/rtabmap/actions/workflows/docker.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/docker.yml/badge.svg" alt="Build Status"/>
|
||||
</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Windows</td>
|
||||
<td><a href="https://ci.appveyor.com/project/matlabbe/rtabmap/branch/master"><img src="https://ci.appveyor.com/api/projects/status/hr73xspix9oqa26h/branch/master?svg=true" alt="Build Status"/>
|
||||
</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
|
||||
#### ROS Binaries
|
||||
|
||||
`ros-$ROS_DISTRO-rtabmap`
|
||||
|
||||
<table>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td rowspan="1">ROS 1</td>
|
||||
<td>Noetic</td>
|
||||
<td><a href="http://build.ros.org/job/Nbin_ufv8_uFv8__rtabmap__ubuntu_focal_arm64__binary/"><img src="http://build.ros.org/buildStatus/icon?job=Nbin_ufv8_uFv8__rtabmap__ubuntu_focal_arm64__binary" alt="Build Status"/></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td rowspan="3">ROS 2</td>
|
||||
<td>Humble</td>
|
||||
<td><a href="http://build.ros2.org/job/Hbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary" alt="Build Status"/></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Jazzy</td>
|
||||
<td><a href="http://build.ros2.org/job/Jbin_uN64__rtabmap__ubuntu_noble_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Jbin_uN64__rtabmap__ubuntu_noble_amd64__binary" alt="Build Status"/></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Rolling</td>
|
||||
<td><a href="http://build.ros2.org/job/Rbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary" alt="Build Status"/></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Docker</td>
|
||||
<td>
|
||||
<a href="https://hub.docker.com/r/introlab3it/rtabmap">rtabmap</a>
|
||||
</td>
|
||||
<td><img src="https://img.shields.io/docker/pulls/introlab3it/rtabmap" alt="Docker Pulls"/></td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
@@ -0,0 +1,102 @@
|
||||
include(CMakeFindDependencyMacro)
|
||||
|
||||
# Mandatory dependencies
|
||||
find_dependency(OpenCV COMPONENTS core calib3d imgproc highgui stitching photo video OPTIONAL_COMPONENTS aruco objdetect xfeatures2d nonfree gpu cudafeatures2d)
|
||||
|
||||
if(EXISTS "${CMAKE_CURRENT_LIST_DIR}/RTABMap_guiTargets.cmake")
|
||||
find_dependency(PCL 1.7 COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization)
|
||||
|
||||
if(@CONF_QT_VERSION@ EQUAL 6)
|
||||
find_dependency(Qt6 COMPONENTS Widgets Core Gui OpenGL)
|
||||
elseif(@CONF_QT_VERSION@ EQUAL 5)
|
||||
find_dependency(Qt5 COMPONENTS Widgets Core Gui OpenGL)
|
||||
else() # Qt4
|
||||
find_dependency(Qt4 COMPONENTS QtCore QtGui)
|
||||
endif()
|
||||
set(RTABMap_QT_VERSION @CONF_QT_VERSION@)
|
||||
ELSE()
|
||||
find_dependency(PCL 1.7 COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation)
|
||||
ENDIF()
|
||||
set(RTABMap_DEFINITIONS ${PCL_DEFINITIONS})
|
||||
add_definitions(${RTABMap_DEFINITIONS}) # To include -march=native if set
|
||||
|
||||
# Optional dependencies
|
||||
IF(EXISTS "${CMAKE_CURRENT_LIST_DIR}/@CONF_MODULES_DIR@")
|
||||
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/@CONF_MODULES_DIR@")
|
||||
ENDIF()
|
||||
|
||||
IF(@CONF_WITH_REALSENSE2@)
|
||||
IF(WIN32)
|
||||
find_dependency(RealSense2)
|
||||
ELSE()
|
||||
find_dependency(realsense2)
|
||||
ENDIF()
|
||||
ENDIF()
|
||||
|
||||
IF(@CONF_WITH_K4A@)
|
||||
IF(WIN32)
|
||||
find_dependency(K4A)
|
||||
ELSE()
|
||||
find_dependency(k4a)
|
||||
find_dependency(k4arecord)
|
||||
ENDIF()
|
||||
ENDIF()
|
||||
|
||||
IF(@CONF_WITH_DEPTH_AI@)
|
||||
find_dependency(depthai 2.24)
|
||||
ENDIF()
|
||||
|
||||
IF(@CONF_WITH_XVSDK@)
|
||||
find_dependency(xvsdk)
|
||||
ENDIF()
|
||||
|
||||
IF(@CONF_WITH_OCTOMAP@)
|
||||
find_dependency(octomap)
|
||||
ENDIF()
|
||||
|
||||
IF(@CONF_WITH_PYTHON@)
|
||||
find_dependency(Python3 COMPONENTS Interpreter Development NumPy)
|
||||
ENDIF()
|
||||
|
||||
# Provide those for backward compatibilities (e.g., catkin requires them to propagate dependencies)
|
||||
set(RTABMap_INCLUDE_DIRS "")
|
||||
set(RTABMap_LIBRARIES "")
|
||||
set(RTABMap_TARGETS "")
|
||||
|
||||
set(_RTABMap_supported_components utilite core gui)
|
||||
|
||||
foreach(_comp ${_RTABMap_supported_components})
|
||||
if(EXISTS "${CMAKE_CURRENT_LIST_DIR}/RTABMap_${_comp}Targets.cmake")
|
||||
include("${CMAKE_CURRENT_LIST_DIR}/RTABMap_${_comp}Targets.cmake")
|
||||
set(RTABMap_${_comp}_FOUND True)
|
||||
set(RTABMap_TARGETS
|
||||
${RTABMap_TARGETS}
|
||||
rtabmap::${_comp})
|
||||
get_target_property(RTABMap_${_comp}_INCLUDE_DIRS rtabmap::${_comp} INTERFACE_INCLUDE_DIRECTORIES)
|
||||
get_target_property(RTABMap_${_comp}_LIBRARIES rtabmap::${_comp} INTERFACE_LINK_LIBRARIES)
|
||||
set(RTABMap_INCLUDE_DIRS
|
||||
${RTABMap_INCLUDE_DIRS}
|
||||
${RTABMap_${_comp}_INCLUDE_DIRS})
|
||||
set(RTABMap_LIBRARIES
|
||||
${RTABMap_LIBRARIES}
|
||||
rtabmap::${_comp})
|
||||
if(RTABMap_${_comp}_LIBRARIES)
|
||||
set(RTABMap_LIBRARIES
|
||||
${RTABMap_LIBRARIES}
|
||||
${RTABMap_${_comp}_LIBRARIES})
|
||||
endif()
|
||||
else()
|
||||
set(RTABMap_${_comp}_FOUND False)
|
||||
endif()
|
||||
endforeach()
|
||||
|
||||
include("${CMAKE_CURRENT_LIST_DIR}/RTABMapTargets.cmake")
|
||||
|
||||
foreach(_comp ${RTABMap_FIND_COMPONENTS})
|
||||
if (NOT RTABMap_${_comp}_FOUND)
|
||||
if(${RTABMap_FIND_REQUIRED_${_comp}})
|
||||
set(RTABMap_FOUND False)
|
||||
set(RTABMap_NOT_FOUND_MESSAGE "Unsupported or not found required component: ${_comp}")
|
||||
endif()
|
||||
endif()
|
||||
endforeach()
|
||||
@@ -0,0 +1,106 @@
|
||||
/*
|
||||
Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL UNIVERTY DE SHERBROOKE BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef VERSION_H_
|
||||
#define VERSION_H_
|
||||
|
||||
// This is auto-generated!
|
||||
#define RTABMAP_VERSION "@PROJECT_VERSION@"
|
||||
|
||||
#define RTABMAP_VERSION_MAJOR @PROJECT_VERSION_MAJOR@
|
||||
#define RTABMAP_VERSION_MINOR @PROJECT_VERSION_MINOR@
|
||||
#define RTABMAP_VERSION_PATCH @PROJECT_VERSION_PATCH@
|
||||
|
||||
#define RTABMAP_VERSION_COMPARE(major, minor, patch) (major>=@PROJECT_VERSION_MAJOR@ || (major==@PROJECT_VERSION_MAJOR@ && minor>=@PROJECT_VERSION_MINOR@) || (major==@PROJECT_VERSION_MAJOR@ && minor==@PROJECT_VERSION_MINOR@ && patch >=@PROJECT_VERSION_PATCH@))
|
||||
|
||||
@NONFREE@#define RTABMAP_NONFREE
|
||||
@TORO@#define RTABMAP_TORO
|
||||
@G2O@#define RTABMAP_G2O
|
||||
@G2O_CPP_CONF@#define RTABMAP_G2O_CPP11 @G2O_CPP11@
|
||||
@GTSAM@#define RTABMAP_GTSAM
|
||||
@CERES@#define RTABMAP_CERES
|
||||
@MRPT@#define RTABMAP_MRPT
|
||||
@VERTIGO@#define RTABMAP_VERTIGO
|
||||
@OPENNI@#define RTABMAP_OPENNI
|
||||
@OPENNI2@#define RTABMAP_OPENNI2
|
||||
@FREENECT@#define RTABMAP_FREENECT
|
||||
@FREENECT2@#define RTABMAP_FREENECT2
|
||||
@K4W2@#define RTABMAP_K4W2
|
||||
@K4A@#define RTABMAP_K4A
|
||||
@CVSBA@#define RTABMAP_CVSBA
|
||||
@POINTMATCHER@#define RTABMAP_POINTMATCHER
|
||||
@CCCORELIB@#define RTABMAP_CCCORELIB
|
||||
@OPEN3D@#define RTABMAP_OPEN3D
|
||||
@FASTCV@#define RTABMAP_FASTCV
|
||||
@OPENGV@#define RTABMAP_OPENGV
|
||||
@PDAL@#define RTABMAP_PDAL
|
||||
@LIBLAS@#define RTABMAP_LIBLAS
|
||||
@CUDASIFT@#define RTABMAP_CUDASIFT
|
||||
@LOAM@#define RTABMAP_LOAM
|
||||
@FLOAM@#define RTABMAP_FLOAM
|
||||
@DC1394@#define RTABMAP_DC1394
|
||||
@FLYCAPTURE2@#define RTABMAP_FLYCAPTURE2
|
||||
@ZED@#define RTABMAP_ZED
|
||||
@ZEDOC@#define RTABMAP_ZEDOC
|
||||
@REALSENSE@#define RTABMAP_REALSENSE
|
||||
@REALSENSESLAM@#define RTABMAP_REALSENSE_SLAM
|
||||
@REALSENSE2@#define RTABMAP_REALSENSE2
|
||||
@MYNTEYE@#define RTABMAP_MYNTEYE
|
||||
@DEPTHAI@#define RTABMAP_DEPTHAI
|
||||
@XVSDK@#define RTABMAP_XVSDK
|
||||
@OCTOMAP@#define RTABMAP_OCTOMAP
|
||||
@GRIDMAP@#define RTABMAP_GRIDMAP
|
||||
@CPUTSDF@#define RTABMAP_CPUTSDF
|
||||
@ALICE_VISION@#define RTABMAP_ALICE_VISION
|
||||
@OPENCHISEL@#define RTABMAP_OPENCHISEL
|
||||
@FOVIS@#define RTABMAP_FOVIS
|
||||
@VISO2@#define RTABMAP_VISO2
|
||||
@DVO@#define RTABMAP_DVO
|
||||
@OKVIS@#define RTABMAP_OKVIS
|
||||
@MSCKF_VIO@#define RTABMAP_MSCKF_VIO
|
||||
@VINS@#define RTABMAP_VINS
|
||||
@OPENVINS@#define RTABMAP_OPENVINS
|
||||
@ORB_SLAM@#define RTABMAP_ORB_SLAM @ORB_SLAM_VERSION@
|
||||
@ORB_OCTREE@#define RTABMAP_ORB_OCTREE
|
||||
@TORCH@#define RTABMAP_TORCH
|
||||
@PYTHON@#define RTABMAP_PYTHON
|
||||
@MADGWICK@#define RTABMAP_MADGWICK
|
||||
|
||||
#include <pcl/pcl_config.h>
|
||||
|
||||
#if PCL_VERSION_COMPARE(>, 1, 11, 1)
|
||||
#include <pcl/types.h>
|
||||
#define RTABMAP_PCL_INDEX pcl::index_t
|
||||
#elif PCL_VERSION_COMPARE(>=, 1, 10, 0)
|
||||
#define RTABMAP_PCL_INDEX std::uint32_t
|
||||
#else
|
||||
#include <pcl/pcl_macros.h>
|
||||
#define RTABMAP_PCL_INDEX pcl::uint32_t
|
||||
#endif
|
||||
|
||||
#endif /* VERSION_H_ */
|
||||
|
||||
@@ -0,0 +1,6 @@
|
||||
|
||||
IF(ANDROID)
|
||||
ADD_SUBDIRECTORY( android )
|
||||
ELSE()
|
||||
ADD_SUBDIRECTORY( src )
|
||||
ENDIF()
|
||||
@@ -0,0 +1,2 @@
|
||||
/bin/
|
||||
/gen/
|
||||
@@ -0,0 +1,11 @@
|
||||
eclipse.preferences.version=1
|
||||
org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled
|
||||
org.eclipse.jdt.core.compiler.codegen.targetPlatform=1.6
|
||||
org.eclipse.jdt.core.compiler.codegen.unusedLocal=preserve
|
||||
org.eclipse.jdt.core.compiler.compliance=1.6
|
||||
org.eclipse.jdt.core.compiler.debug.lineNumber=generate
|
||||
org.eclipse.jdt.core.compiler.debug.localVariable=generate
|
||||
org.eclipse.jdt.core.compiler.debug.sourceFile=generate
|
||||
org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
|
||||
org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
|
||||
org.eclipse.jdt.core.compiler.source=1.6
|
||||
@@ -0,0 +1,88 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- BEGIN_INCLUDE(manifest) -->
|
||||
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
|
||||
package="com.introlab.rtabmap"
|
||||
android:versionCode="72"
|
||||
android:versionName="@RTABMAP_VERSION@">
|
||||
|
||||
<uses-permission android:name="android.permission.CAMERA" />
|
||||
<uses-permission android:name="android.permission.READ_EXTERNAL_STORAGE" />
|
||||
<uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />
|
||||
<uses-permission android:name="android.permission.INTERNET" />
|
||||
<uses-permission android:name="android.permission.ACCESS_NETWORK_STATE" />
|
||||
<uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" />
|
||||
<uses-permission android:name="android.permission.ACCESS_WIFI_STATE" />
|
||||
<uses-feature android:name="android.hardware.location.gps" />
|
||||
<uses-feature android:glEsVersion="0x00020000" />
|
||||
|
||||
<!-- This is the platform API where depth16 support in android was introduced. -->
|
||||
<uses-sdk android:minSdkVersion="@ANDROID_NATIVE_API_LEVEL@" />
|
||||
|
||||
<queries>
|
||||
<package android:name="com.google.ar.core" />
|
||||
<package android:name="com.huawei.ar.engine" />
|
||||
</queries>
|
||||
|
||||
<!-- This .apk has no Java code itself, so set hasCode to false. -->
|
||||
<application
|
||||
android:label="@string/app_name"
|
||||
android:icon="@drawable/ic_launcher"
|
||||
android:debuggable="@ANDROID_DEBUGGABLE@">
|
||||
|
||||
<uses-library android:name="com.projecttango.libtango_device2" android:required="false" />
|
||||
<meta-data android:name="com.google.ar.core" android:value="optional" />
|
||||
<meta-data android:name="com.huawei.ar.engine" android:value="optional" />
|
||||
|
||||
<!-- Our activity is the built-in NativeActivity framework class.
|
||||
This will take care of integrating with our NDK code. -->
|
||||
<activity android:name="RTABMapActivity"
|
||||
android:label="@string/app_name"
|
||||
android:launchMode="singleTask"
|
||||
android:screenOrientation="fullSensor"
|
||||
android:configChanges="orientation|screenSize|keyboardHidden"
|
||||
android:theme="@style/ThemeApp">
|
||||
<!-- Tell NativeActivity the name of our .so -->
|
||||
<meta-data android:name="android.app.lib_name"
|
||||
android:value="NativeRTABMap" />
|
||||
<intent-filter>
|
||||
<action android:name="android.intent.action.MAIN" />
|
||||
<category android:name="android.intent.category.LAUNCHER" />
|
||||
</intent-filter>
|
||||
<intent-filter>
|
||||
<action android:name="android.intent.action.SEND" />
|
||||
<action android:name="android.intent.action.SEND_MULTIPLE" />
|
||||
<action android:name="android.intent.action.OPEN_DOCUMENT" />
|
||||
<category android:name="android.intent.category.DEFAULT" />
|
||||
<data android:mimeType="application/octet-stream" />
|
||||
<data android:pathPattern=".*\.db" />
|
||||
</intent-filter>
|
||||
|
||||
</activity>
|
||||
|
||||
<activity android:name="SettingsActivity" android:label="@string/settings" android:screenOrientation="fullSensor"/>
|
||||
<activity android:name="SketchfabActivity" android:label="@string/sketchfab" android:screenOrientation="fullSensor"/>
|
||||
|
||||
<meta-data
|
||||
android:name="com.google.ar.core.min_apk_version"
|
||||
android:value="191106000" /> <!-- This activity is critical for installing ARCore when it is not already present. -->
|
||||
<activity
|
||||
android:name="com.google.ar.core.InstallActivity"
|
||||
android:configChanges="keyboardHidden|orientation|screenSize"
|
||||
android:excludeFromRecents="true"
|
||||
android:exported="false"
|
||||
android:launchMode="singleTop"
|
||||
android:theme="@android:style/Theme.Material.Light.Dialog.Alert" />
|
||||
|
||||
<provider
|
||||
android:name="android.support.v4.content.FileProvider"
|
||||
android:authorities="com.introlab.rtabmap.provider"
|
||||
android:exported="false"
|
||||
android:grantUriPermissions="true">
|
||||
<meta-data
|
||||
android:name="android.support.FILE_PROVIDER_PATHS"
|
||||
android:resource="@xml/provider_paths"/>
|
||||
</provider>
|
||||
</application>
|
||||
|
||||
</manifest>
|
||||
<!-- END_INCLUDE(manifest) -->
|
||||
@@ -0,0 +1,191 @@
|
||||
|
||||
option(WITH_TANGO "Include Tango support" ON)
|
||||
option(WITH_ARCORE "Include ARCore support" ON)
|
||||
option(WITH_ARENGINE "Include AREngine support" ON)
|
||||
option(DISABLE_LOG "Disable Android logging (should be true in release)" ON)
|
||||
option(DEPTH_TEST "Enable depth test on ARCore" OFF)
|
||||
|
||||
# Google Tango needs access to system shared
|
||||
# libraries (e.g. libbinder.so) that are not accessible
|
||||
# with android >=24
|
||||
IF(WITH_TANGO AND ${ANDROID_NATIVE_API_LEVEL} LESS 24)
|
||||
FIND_PACKAGE(Tango QUIET)
|
||||
IF(Tango_FOUND)
|
||||
MESSAGE(STATUS "Found Tango: ${Tango_INCLUDE_DIRS}")
|
||||
ENDIF(Tango_FOUND)
|
||||
ENDIF(WITH_TANGO AND ${ANDROID_NATIVE_API_LEVEL} LESS 24)
|
||||
|
||||
IF(WITH_ARCORE AND ${ANDROID_NATIVE_API_LEVEL} GREATER 22)
|
||||
FIND_PACKAGE(ARCore QUIET)
|
||||
IF(ARCore_FOUND)
|
||||
MESSAGE(STATUS "Found ARCore: ${ARCore_INCLUDE_DIRS}")
|
||||
ENDIF(ARCore_FOUND)
|
||||
ENDIF(WITH_ARCORE AND ${ANDROID_NATIVE_API_LEVEL} GREATER 22)
|
||||
|
||||
IF(WITH_ARENGINE AND ${ANDROID_NATIVE_API_LEVEL} GREATER 23)
|
||||
FIND_PACKAGE(AREngine QUIET)
|
||||
IF(AREngine_FOUND)
|
||||
MESSAGE(STATUS "Found AREngine: ${AREngine_INCLUDE_DIRS}")
|
||||
ENDIF(AREngine_FOUND)
|
||||
ENDIF(WITH_ARENGINE AND ${ANDROID_NATIVE_API_LEVEL} GREATER 23)
|
||||
|
||||
IF(NOT Tango_FOUND)
|
||||
SET(TANGO "//")
|
||||
ENDIF(NOT Tango_FOUND)
|
||||
IF(NOT ARCore_FOUND)
|
||||
SET(ARCORE "//")
|
||||
ENDIF(NOT ARCore_FOUND)
|
||||
IF(NOT AREngine_FOUND)
|
||||
SET(ARENGINE "//")
|
||||
ENDIF(NOT AREngine_FOUND)
|
||||
|
||||
CONFIGURE_FILE(CameraAvailability.h.in ${CMAKE_CURRENT_SOURCE_DIR}/jni/CameraAvailability.h)
|
||||
|
||||
|
||||
IF(DISABLE_LOG)
|
||||
ADD_DEFINITIONS(-DDISABLE_LOG)
|
||||
ENDIF(DISABLE_LOG)
|
||||
IF(DEPTH_TEST)
|
||||
ADD_DEFINITIONS(-DDEPTH_TEST)
|
||||
ENDIF(DEPTH_TEST)
|
||||
|
||||
MESSAGE(STATUS "--------------------------------------------")
|
||||
MESSAGE(STATUS "Android build info:")
|
||||
MESSAGE(STATUS " DISABLE_LOG = ${DISABLE_LOG}")
|
||||
MESSAGE(STATUS " DEPTH_TEST = ${DEPTH_TEST}")
|
||||
IF(Tango_FOUND)
|
||||
MESSAGE(STATUS " With Tango = YES")
|
||||
ELSEIF(NOT WITH_TANGO)
|
||||
MESSAGE(STATUS " With Tango = NO (WITH_TANGO=OFF)")
|
||||
ELSE()
|
||||
IF(${ANDROID_NATIVE_API_LEVEL} GREATER 23)
|
||||
MESSAGE(STATUS " With Tango = NO (ANDROID_NATIVE_API_LEVEL should be <= 23)")
|
||||
ELSE()
|
||||
MESSAGE(STATUS " With Tango = NO (tango not found)")
|
||||
ENDIF()
|
||||
ENDIF()
|
||||
IF(ARCore_FOUND)
|
||||
MESSAGE(STATUS " With ARCore = YES")
|
||||
ELSEIF(NOT WITH_ARCORE)
|
||||
MESSAGE(STATUS " With ARCore = NO (WITH_ARCORE=OFF)")
|
||||
ELSE()
|
||||
IF(${ANDROID_NATIVE_API_LEVEL} LESS 23)
|
||||
MESSAGE(STATUS " With ARCore = NO (ANDROID_NATIVE_API_LEVEL should be >= 23)")
|
||||
ELSE()
|
||||
MESSAGE(STATUS " With ARCore = NO (ARCore not found)")
|
||||
ENDIF()
|
||||
ENDIF()
|
||||
IF(AREngine_FOUND)
|
||||
MESSAGE(STATUS " With AREngine = YES")
|
||||
ELSEIF(NOT WITH_ARENGINE)
|
||||
MESSAGE(STATUS " With AREngine = NO (WITH_ARENGINE=OFF)")
|
||||
ELSE()
|
||||
IF(${ANDROID_NATIVE_API_LEVEL} LESS 24)
|
||||
MESSAGE(STATUS " With AREngine = NO (ANDROID_NATIVE_API_LEVEL should be >= 24)")
|
||||
ELSE()
|
||||
MESSAGE(STATUS " With AREngine = NO (AREngine not found)")
|
||||
ENDIF()
|
||||
ENDIF()
|
||||
MESSAGE(STATUS " ANDROID_NATIVE_API_LEVEL = ${ANDROID_NATIVE_API_LEVEL}")
|
||||
MESSAGE(STATUS " ANDROID_COMPILER_FLAGS_RELEASE = ${ANDROID_COMPILER_FLAGS_RELEASE}")
|
||||
MESSAGE(STATUS " ANDROID_TOOLCHAIN_PREFIX = ${ANDROID_TOOLCHAIN_PREFIX}")
|
||||
|
||||
|
||||
IF(DISABLE_LOG)
|
||||
SET(ANDROID_DEBUGGABLE false)
|
||||
ELSE()
|
||||
SET(ANDROID_DEBUGGABLE true)
|
||||
ENDIF()
|
||||
|
||||
add_subdirectory(jni)
|
||||
|
||||
|
||||
######
|
||||
# Packaging
|
||||
######
|
||||
|
||||
# find android
|
||||
find_host_program(ANDROID_EXECUTABLE
|
||||
NAMES android
|
||||
DOC "The android command-line tool")
|
||||
if(NOT ANDROID_EXECUTABLE)
|
||||
message(FATAL_ERROR "Can not find android command line tool: android")
|
||||
endif()
|
||||
|
||||
configure_file(
|
||||
"${CMAKE_CURRENT_SOURCE_DIR}/AndroidManifest.xml.in"
|
||||
"${CMAKE_CURRENT_SOURCE_DIR}/AndroidManifest.xml"
|
||||
@ONLY)
|
||||
|
||||
configure_file(
|
||||
"${CMAKE_CURRENT_SOURCE_DIR}/AndroidManifest.xml"
|
||||
"${CMAKE_CURRENT_BINARY_DIR}/AndroidManifest.xml"
|
||||
COPYONLY)
|
||||
|
||||
configure_file(
|
||||
"${CMAKE_CURRENT_SOURCE_DIR}/info.txt.in"
|
||||
"${CMAKE_CURRENT_SOURCE_DIR}/res/raw/info.txt")
|
||||
|
||||
|
||||
configure_file(
|
||||
"${CMAKE_CURRENT_SOURCE_DIR}/ant.properties.in"
|
||||
"${CMAKE_CURRENT_BINARY_DIR}/ant.properties"
|
||||
@ONLY)
|
||||
|
||||
configure_file(
|
||||
"${CMAKE_CURRENT_SOURCE_DIR}/custom_rules.xml"
|
||||
"${CMAKE_CURRENT_BINARY_DIR}/custom_rules.xml"
|
||||
COPYONLY)
|
||||
|
||||
add_custom_target(NativeRTABMap-ant-configure ALL
|
||||
COMMAND "${ANDROID_EXECUTABLE}"
|
||||
update project
|
||||
--name RTABMap
|
||||
--path "${CMAKE_CURRENT_SOURCE_DIR}"
|
||||
--target "android-${ANDROID_NATIVE_API_LEVEL}"
|
||||
COMMAND "${CMAKE_COMMAND}" -E copy_if_different
|
||||
"${CMAKE_CURRENT_SOURCE_DIR}/build.xml"
|
||||
"${CMAKE_CURRENT_BINARY_DIR}/build.xml"
|
||||
COMMAND "${CMAKE_COMMAND}" -E copy_if_different
|
||||
"${CMAKE_CURRENT_SOURCE_DIR}/local.properties"
|
||||
"${CMAKE_CURRENT_BINARY_DIR}/local.properties"
|
||||
COMMAND "${CMAKE_COMMAND}" -E copy_if_different
|
||||
"${CMAKE_CURRENT_SOURCE_DIR}/project.properties"
|
||||
"${CMAKE_CURRENT_BINARY_DIR}/project.properties"
|
||||
COMMAND "${CMAKE_COMMAND}" -E copy_if_different
|
||||
"${CMAKE_CURRENT_SOURCE_DIR}/proguard-project.txt"
|
||||
"${CMAKE_CURRENT_BINARY_DIR}/proguard-project.txt"
|
||||
COMMAND "${CMAKE_COMMAND}" -E remove
|
||||
"${CMAKE_CURRENT_SOURCE_DIR}/build.xml"
|
||||
"${CMAKE_CURRENT_SOURCE_DIR}/local.properties"
|
||||
"${CMAKE_CURRENT_SOURCE_DIR}/project.properties"
|
||||
"${CMAKE_CURRENT_SOURCE_DIR}/proguard-project.txt"
|
||||
WORKING_DIRECTORY
|
||||
"${CMAKE_CURRENT_BINARY_DIR}")
|
||||
|
||||
add_dependencies(NativeRTABMap-ant-configure NativeRTABMap)
|
||||
|
||||
#find ant
|
||||
find_host_program(ANT_EXECUTABLE
|
||||
NAMES ant
|
||||
DOC "The ant build tool")
|
||||
if(NOT ANT_EXECUTABLE)
|
||||
message(FATAL_ERROR "Can not find ant build tool: ant")
|
||||
endif()
|
||||
|
||||
add_custom_target(NativeRTABMap-apk-release ALL
|
||||
COMMAND ${ANT_EXECUTABLE}
|
||||
-file "${CMAKE_CURRENT_BINARY_DIR}/build.xml"
|
||||
release)
|
||||
add_dependencies(NativeRTABMap-apk-release
|
||||
NativeRTABMap-ant-configure
|
||||
NativeRTABMap)
|
||||
|
||||
add_custom_target(NativeRTABMap-apk-debug ALL
|
||||
COMMAND ${ANT_EXECUTABLE}
|
||||
-file "${CMAKE_CURRENT_BINARY_DIR}/build.xml"
|
||||
debug)
|
||||
add_dependencies(NativeRTABMap-apk-debug
|
||||
# NativeRTABMap-apk-release
|
||||
NativeRTABMap-ant-configure
|
||||
NativeRTABMap)
|
||||
@@ -0,0 +1,39 @@
|
||||
/*
|
||||
Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL UNIVERTY DE SHERBROOKE BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef CAMERAAVAILABILITY_H_
|
||||
#define CAMERAAVAILABILITY_H_
|
||||
|
||||
// This is auto-generated!
|
||||
|
||||
@TANGO@#define RTABMAP_TANGO
|
||||
@ARCORE@#define RTABMAP_ARCORE
|
||||
@ARENGINE@#define RTABMAP_ARENGINE
|
||||
|
||||
|
||||
#endif /* CAMERAAVAILABILITY_H_ */
|
||||
|
||||
@@ -0,0 +1,13 @@
|
||||
builddir=@CMAKE_CURRENT_BINARY_DIR@
|
||||
srcdir=@CMAKE_CURRENT_SOURCE_DIR@
|
||||
android.abi=@ANDROID_ABI@
|
||||
|
||||
source.dir=${srcdir}/src
|
||||
gen.dir=${builddir}/gen
|
||||
out.dir=${builddir}/bin
|
||||
asset.dir=${builddir}/assets
|
||||
resource.absolute.dir=${srcdir}/res
|
||||
|
||||
jar.libs.dir=${builddir}/libs
|
||||
external.libs.dir=${builddir}/libs
|
||||
native.libs.dir=${builddir}/libs
|
||||
@@ -0,0 +1,13 @@
|
||||
<project>
|
||||
<target name="-pre-build">
|
||||
<copy todir="${jar.libs.dir}">
|
||||
<fileset dir="${srcdir}/libs" includes="**/*.jar" excludes="**/*sources.jar, **/*javadoc.jar" />
|
||||
</copy>
|
||||
<copy todir="${native.libs.dir}/${android.abi}">
|
||||
<fileset dir="${srcdir}/jni/third-party/lib" includes="*.so"/>
|
||||
</copy>
|
||||
<copy todir="${native.libs.dir}">
|
||||
<fileset dir="${srcdir}/jni/third-party/lib" includes="${android.abi}/*.so"/>
|
||||
</copy>
|
||||
</target>
|
||||
</project>
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 64 KiB |
@@ -0,0 +1,7 @@
|
||||
<h3>Real-Time Appearance-Based Mapping</h3>
|
||||
Version @RTABMAP_VERSION@<br>
|
||||
Author: Mathieu Labbé<br>
|
||||
Copyright 2016-2020<br>
|
||||
IntRoLab - Université de Sherbrooke<br>
|
||||
<b>http://introlab.github.io/rtabmap</b><br><br>
|
||||
|
||||
@@ -0,0 +1 @@
|
||||
CameraAvailability.h
|
||||
@@ -0,0 +1,171 @@
|
||||
|
||||
SET(INCLUDE_DIRS
|
||||
${CMAKE_CURRENT_SOURCE_DIR}
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/tango-gl/include
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/third-party/include
|
||||
${PROJECT_BINARY_DIR}/corelib/include
|
||||
${PROJECT_SOURCE_DIR}/corelib/include
|
||||
${PROJECT_SOURCE_DIR}/utilite/include
|
||||
${CMAKE_CURRENT_BINARY_DIR}
|
||||
${OpenCV_INCLUDE_DIRS}
|
||||
${PCL_INCLUDE_DIRS}
|
||||
"${ANDROID_NDK}/platforms/android-${ANDROID_NATIVE_API_LEVEL}/arch-${ANDROID_ARCH_NAME}/usr/include"
|
||||
)
|
||||
|
||||
SET(LIBRARIES
|
||||
${OpenCV_LIBRARIES}
|
||||
${PCL_LIBRARIES}
|
||||
)
|
||||
|
||||
set(sources
|
||||
jni_interface.cpp
|
||||
CameraMobile.cpp
|
||||
RTABMapApp.cpp
|
||||
scene.cpp
|
||||
point_cloud_drawable.cpp
|
||||
graph_drawable.cpp
|
||||
background_renderer.cc
|
||||
text_drawable.cpp
|
||||
quad_color.cpp
|
||||
tango-gl/bounding_box.cpp
|
||||
tango-gl/axis.cpp
|
||||
tango-gl/camera.cpp
|
||||
tango-gl/circle.cpp
|
||||
tango-gl/conversions.cpp
|
||||
tango-gl/drawable_object.cpp
|
||||
tango-gl/frustum.cpp
|
||||
tango-gl/gesture_camera.cpp
|
||||
tango-gl/grid.cpp
|
||||
tango-gl/line.cpp
|
||||
tango-gl/mesh.cpp
|
||||
tango-gl/shaders.cpp
|
||||
tango-gl/trace.cpp
|
||||
tango-gl/transform.cpp
|
||||
tango-gl/util.cpp
|
||||
)
|
||||
|
||||
IF(OPENMP_FOUND)
|
||||
file(COPY ${OpenMP_CXX_LIBRARIES}
|
||||
DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
|
||||
ENDIF(OPENMP_FOUND)
|
||||
|
||||
IF(Tango_FOUND)
|
||||
|
||||
SET(sources
|
||||
${sources}
|
||||
CameraTango.cpp
|
||||
)
|
||||
SET(INCLUDE_DIRS
|
||||
${INCLUDE_DIRS}
|
||||
${Tango_INCLUDE_DIRS}
|
||||
)
|
||||
SET(LIBRARIES
|
||||
${LIBRARIES}
|
||||
${Tango_LIBRARIES}
|
||||
)
|
||||
|
||||
file(COPY ${Tango_support_LIBRARY}
|
||||
DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
|
||||
ENDIF(Tango_FOUND)
|
||||
|
||||
IF(ARCore_FOUND)
|
||||
|
||||
SET(sources
|
||||
${sources}
|
||||
CameraARCore.cpp
|
||||
)
|
||||
SET(INCLUDE_DIRS
|
||||
${INCLUDE_DIRS}
|
||||
${ARCore_INCLUDE_DIRS}
|
||||
)
|
||||
SET(LIBRARIES
|
||||
${LIBRARIES}
|
||||
${ARCore_LIBRARIES}
|
||||
)
|
||||
|
||||
file(COPY ${ARCore_c_LIBRARY}
|
||||
DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
|
||||
file(COPY ${ARCore_jni_LIBRARY}
|
||||
DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
|
||||
|
||||
ENDIF(ARCore_FOUND)
|
||||
|
||||
IF(AREngine_FOUND)
|
||||
|
||||
SET(sources
|
||||
${sources}
|
||||
CameraAREngine.cpp
|
||||
)
|
||||
SET(INCLUDE_DIRS
|
||||
${INCLUDE_DIRS}
|
||||
${AREngine_INCLUDE_DIRS}
|
||||
)
|
||||
SET(LIBRARIES
|
||||
${LIBRARIES}
|
||||
${AREngine_LIBRARIES}
|
||||
camera2ndk
|
||||
mediandk
|
||||
)
|
||||
|
||||
file(COPY ${AREngine_impl_LIBRARY}
|
||||
DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
|
||||
file(COPY ${AREngine_jni_LIBRARY}
|
||||
DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
|
||||
file(COPY ${AREngine_ndk_LIBRARY}
|
||||
DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
|
||||
|
||||
ENDIF(AREngine_FOUND)
|
||||
|
||||
add_definitions(${PCL_DEFINITIONS})
|
||||
|
||||
INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
|
||||
|
||||
####################################
|
||||
# Generate resources files
|
||||
####################################
|
||||
SET(RESOURCES
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/resources/text_atlas.png
|
||||
)
|
||||
|
||||
foreach(arg ${RESOURCES})
|
||||
get_filename_component(filename ${arg} NAME)
|
||||
string(REPLACE "." "_" output ${filename})
|
||||
set(RESOURCES_HEADERS "${RESOURCES_HEADERS}" "${CMAKE_CURRENT_BINARY_DIR}/${output}.h")
|
||||
endforeach(arg ${RESOURCES})
|
||||
|
||||
find_host_program(RTABMAP_RES_TOOL rtabmap-res_tool PATHS ${CMAKE_RUNTIME_OUTPUT_DIRECTORY})
|
||||
IF(NOT RTABMAP_RES_TOOL)
|
||||
MESSAGE( FATAL_ERROR "RTABMAP_RES_TOOL is not defined (it is the path to \"rtabmap-res_tool\" application created by a non-Android build)." )
|
||||
ENDIF(NOT RTABMAP_RES_TOOL)
|
||||
|
||||
ADD_CUSTOM_COMMAND(
|
||||
OUTPUT ${RESOURCES_HEADERS}
|
||||
COMMAND ${RTABMAP_RES_TOOL} -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${RESOURCES}
|
||||
COMMENT "[Creating resources]"
|
||||
DEPENDS ${RESOURCES}
|
||||
)
|
||||
####################################
|
||||
# Generate resources files END
|
||||
####################################
|
||||
|
||||
add_library(NativeRTABMap SHARED ${sources} ${RESOURCES_HEADERS})
|
||||
target_link_libraries(NativeRTABMap ${LIBRARIES}
|
||||
android
|
||||
log
|
||||
GLESv2
|
||||
rtabmap_core
|
||||
rtabmap_utilite
|
||||
)
|
||||
|
||||
# see ant.properties.in
|
||||
set_target_properties(NativeRTABMap PROPERTIES
|
||||
LIBRARY_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME}"
|
||||
LIBRARY_OUTPUT_DIRECTORY_DEBUG "${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME}"
|
||||
LIBRARY_OUTPUT_DIRECTORY_RELEASE "${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME}")
|
||||
|
||||
IF(ANDROID_NATIVE_API_LEVEL GREATER 22)
|
||||
add_custom_command(TARGET NativeRTABMap POST_BUILD
|
||||
COMMAND "${ANDROID_TOOLCHAIN_PREFIX}strip" -g -S -d --strip-debug --verbose
|
||||
"${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME}/libNativeRTABMap.so"
|
||||
COMMENT "Strip debug symbols done on final binary.")
|
||||
ENDIF(ANDROID_NATIVE_API_LEVEL GREATER 22)
|
||||
@@ -0,0 +1,523 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#include "CameraARCore.h"
|
||||
#include "util.h"
|
||||
#include "rtabmap/utilite/ULogger.h"
|
||||
#include "rtabmap/core/util3d_transforms.h"
|
||||
#include "rtabmap/core/OdometryEvent.h"
|
||||
#include "rtabmap/core/util2d.h"
|
||||
|
||||
namespace rtabmap {
|
||||
|
||||
//////////////////////////////
|
||||
// CameraARCore
|
||||
//////////////////////////////
|
||||
CameraARCore::CameraARCore(void* env, void* context, void* activity, bool depthFromMotion, float upstreamRelocalizationAccThr):
|
||||
CameraMobile(upstreamRelocalizationAccThr),
|
||||
env_(env),
|
||||
context_(context),
|
||||
activity_(activity),
|
||||
arInstallRequested_(false),
|
||||
depthFromMotion_(depthFromMotion)
|
||||
{
|
||||
}
|
||||
|
||||
CameraARCore::~CameraARCore() {
|
||||
// Disconnect ARCore service
|
||||
close();
|
||||
}
|
||||
|
||||
|
||||
struct CameraConfig {
|
||||
int32_t width = 0;
|
||||
int32_t height = 0;
|
||||
std::string config_label;
|
||||
ArCameraConfig* config = nullptr;
|
||||
};
|
||||
|
||||
void getCameraConfigLowestAndHighestResolutions(
|
||||
std::vector<CameraConfig> & camera_configs,
|
||||
CameraConfig** lowest_resolution_config,
|
||||
CameraConfig** highest_resolution_config) {
|
||||
if (camera_configs.empty()) {
|
||||
return;
|
||||
}
|
||||
|
||||
int low_resolution_config_idx = 0;
|
||||
int high_resolution_config_idx = 0;
|
||||
int32_t smallest_height = camera_configs[0].height;
|
||||
int32_t largest_height = camera_configs[0].height;
|
||||
|
||||
for (int i = 1; i < camera_configs.size(); ++i) {
|
||||
int32_t image_height = camera_configs[i].height;
|
||||
if (image_height < smallest_height) {
|
||||
smallest_height = image_height;
|
||||
low_resolution_config_idx = i;
|
||||
} else if (image_height > largest_height) {
|
||||
largest_height = image_height;
|
||||
high_resolution_config_idx = i;
|
||||
}
|
||||
}
|
||||
|
||||
if (low_resolution_config_idx == high_resolution_config_idx) {
|
||||
*lowest_resolution_config = &camera_configs[low_resolution_config_idx];
|
||||
} else {
|
||||
*lowest_resolution_config = &camera_configs[low_resolution_config_idx];
|
||||
*highest_resolution_config = &camera_configs[high_resolution_config_idx];
|
||||
}
|
||||
}
|
||||
|
||||
void copyCameraConfig(
|
||||
const ArSession* ar_session, const ArCameraConfigList* all_configs,
|
||||
int index, int num_configs, CameraConfig* camera_config) {
|
||||
if (camera_config != nullptr && index >= 0 && index < num_configs) {
|
||||
ArCameraConfig_create(ar_session, &camera_config->config);
|
||||
ArCameraConfigList_getItem(ar_session, all_configs, index,
|
||||
camera_config->config);
|
||||
ArCameraConfig_getImageDimensions(ar_session, camera_config->config,
|
||||
&camera_config->width,
|
||||
&camera_config->height);
|
||||
camera_config->config_label = "(" + std::to_string(camera_config->width) +
|
||||
"x" + std::to_string(camera_config->height) +
|
||||
")";
|
||||
}
|
||||
}
|
||||
|
||||
void destroyCameraConfigs(std::vector<CameraConfig> & camera_configs) {
|
||||
for (int i = 0; i < camera_configs.size(); ++i) {
|
||||
if (camera_configs[i].config != nullptr) {
|
||||
ArCameraConfig_destroy(camera_configs[i].config);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
std::string CameraARCore::getSerial() const
|
||||
{
|
||||
return "ARCore";
|
||||
}
|
||||
|
||||
bool CameraARCore::init(const std::string & calibrationFolder, const std::string & cameraName)
|
||||
{
|
||||
close();
|
||||
|
||||
CameraMobile::init(calibrationFolder, cameraName);
|
||||
|
||||
UScopeMutex lock(arSessionMutex_);
|
||||
|
||||
ArInstallStatus install_status;
|
||||
// If install was not yet requested, that means that we are resuming the
|
||||
// activity first time because of explicit user interaction (such as
|
||||
// launching the application)
|
||||
bool user_requested_install = !arInstallRequested_;
|
||||
|
||||
// === ATTENTION! ATTENTION! ATTENTION! ===
|
||||
// This method can and will fail in user-facing situations. Your
|
||||
// application must handle these cases at least somewhat gracefully. See
|
||||
// HelloAR Java sample code for reasonable behavior.
|
||||
ArCoreApk_requestInstall(env_, activity_, user_requested_install, &install_status);
|
||||
|
||||
switch (install_status)
|
||||
{
|
||||
case AR_INSTALL_STATUS_INSTALLED:
|
||||
break;
|
||||
case AR_INSTALL_STATUS_INSTALL_REQUESTED:
|
||||
arInstallRequested_ = true;
|
||||
return false;
|
||||
}
|
||||
|
||||
// === ATTENTION! ATTENTION! ATTENTION! ===
|
||||
// This method can and will fail in user-facing situations. Your
|
||||
// application must handle these cases at least somewhat gracefully. See
|
||||
// HelloAR Java sample code for reasonable behavior.
|
||||
UASSERT(ArSession_create(env_, context_, &arSession_) == AR_SUCCESS);
|
||||
UASSERT(arSession_);
|
||||
|
||||
int32_t is_depth_supported = 0;
|
||||
ArSession_isDepthModeSupported(arSession_, AR_DEPTH_MODE_AUTOMATIC, &is_depth_supported);
|
||||
|
||||
ArConfig_create(arSession_, &arConfig_);
|
||||
UASSERT(arConfig_);
|
||||
|
||||
if (is_depth_supported!=0) {
|
||||
ArConfig_setDepthMode(arSession_, arConfig_, AR_DEPTH_MODE_AUTOMATIC);
|
||||
} else {
|
||||
ArConfig_setDepthMode(arSession_, arConfig_, AR_DEPTH_MODE_DISABLED);
|
||||
}
|
||||
|
||||
ArConfig_setFocusMode(arSession_, arConfig_, AR_FOCUS_MODE_FIXED);
|
||||
UASSERT(ArSession_configure(arSession_, arConfig_) == AR_SUCCESS);
|
||||
|
||||
ArFrame_create(arSession_, &arFrame_);
|
||||
UASSERT(arFrame_);
|
||||
|
||||
ArCameraIntrinsics_create(arSession_, &arCameraIntrinsics_);
|
||||
UASSERT(arCameraIntrinsics_);
|
||||
|
||||
ArPose_create(arSession_, nullptr, &arPose_);
|
||||
UASSERT(arPose_);
|
||||
|
||||
ArCameraConfigList* all_camera_configs = nullptr;
|
||||
int32_t num_configs = 0;
|
||||
ArCameraConfigList_create(arSession_, &all_camera_configs);
|
||||
// Create filter first to get both 30 and 60 fps.
|
||||
ArCameraConfigFilter* camera_config_filter = nullptr;
|
||||
ArCameraConfigFilter_create(arSession_, &camera_config_filter);
|
||||
ArCameraConfigFilter_setTargetFps(arSession_, camera_config_filter, AR_CAMERA_CONFIG_TARGET_FPS_30 | AR_CAMERA_CONFIG_TARGET_FPS_60);
|
||||
ArSession_getSupportedCameraConfigsWithFilter(arSession_, camera_config_filter, all_camera_configs);
|
||||
ArCameraConfigList_getSize(arSession_, all_camera_configs, &num_configs);
|
||||
|
||||
if (num_configs < 1) {
|
||||
UERROR("No camera config found");
|
||||
close();
|
||||
return false;
|
||||
}
|
||||
|
||||
std::vector<CameraConfig> camera_configs;
|
||||
CameraConfig* cpu_low_resolution_camera_config_ptr = nullptr;
|
||||
CameraConfig* cpu_high_resolution_camera_config_ptr = nullptr;
|
||||
camera_configs.resize(num_configs);
|
||||
for (int i = 0; i < num_configs; ++i) {
|
||||
copyCameraConfig(arSession_, all_camera_configs, i, num_configs,
|
||||
&camera_configs[i]);
|
||||
}
|
||||
// Determine the highest and lowest CPU resolutions.
|
||||
cpu_low_resolution_camera_config_ptr = nullptr;
|
||||
cpu_high_resolution_camera_config_ptr = nullptr;
|
||||
getCameraConfigLowestAndHighestResolutions(
|
||||
camera_configs,
|
||||
&cpu_low_resolution_camera_config_ptr,
|
||||
&cpu_high_resolution_camera_config_ptr);
|
||||
|
||||
// Cleanup the list obtained as it is safe to destroy the list as camera
|
||||
// config instances were explicitly created and copied. Refer to the
|
||||
// previous comment.
|
||||
ArCameraConfigList_destroy(all_camera_configs);
|
||||
ArSession_setCameraConfig(arSession_, cpu_low_resolution_camera_config_ptr->config);
|
||||
|
||||
/// Sets the behavior of @ref ArSession_update(). See
|
||||
/// ::ArUpdateMode for available options.
|
||||
ArConfig_setUpdateMode(arSession_, arConfig_, AR_UPDATE_MODE_BLOCKING);
|
||||
|
||||
deviceTColorCamera_ = opticalRotation;
|
||||
|
||||
if (ArSession_resume(arSession_) != ArStatus::AR_SUCCESS)
|
||||
{
|
||||
UERROR("Cannot resume camera!");
|
||||
// In a rare case (such as another camera app launching) the camera may be
|
||||
// given to a different app and so may not be available to this app. Handle
|
||||
// this properly and recreate the session at the next iteration.
|
||||
close();
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void CameraARCore::close()
|
||||
{
|
||||
UScopeMutex lock(arSessionMutex_);
|
||||
if(arSession_!= nullptr)
|
||||
{
|
||||
ArSession_destroy(arSession_);
|
||||
}
|
||||
arSession_ = nullptr;
|
||||
|
||||
if(arConfig_!= nullptr)
|
||||
{
|
||||
ArConfig_destroy(arConfig_);
|
||||
}
|
||||
arConfig_ = nullptr;
|
||||
|
||||
if (arFrame_ != nullptr)
|
||||
{
|
||||
ArFrame_destroy(arFrame_);
|
||||
}
|
||||
arFrame_ = nullptr;
|
||||
|
||||
if (arCameraIntrinsics_ != nullptr)
|
||||
{
|
||||
ArCameraIntrinsics_destroy(arCameraIntrinsics_);
|
||||
}
|
||||
arCameraIntrinsics_ = nullptr;
|
||||
|
||||
if (arPose_ != nullptr)
|
||||
{
|
||||
ArPose_destroy(arPose_);
|
||||
}
|
||||
arPose_ = nullptr;
|
||||
|
||||
CameraMobile::close();
|
||||
}
|
||||
|
||||
void CameraARCore::setScreenRotationAndSize(ScreenRotation colorCameraToDisplayRotation, int width, int height)
|
||||
{
|
||||
CameraMobile::setScreenRotationAndSize(colorCameraToDisplayRotation, width, height);
|
||||
if(arSession_)
|
||||
{
|
||||
int ret = static_cast<int>(colorCameraToDisplayRotation) + 1; // remove 90deg camera rotation
|
||||
if (ret > 3) {
|
||||
ret -= 4;
|
||||
}
|
||||
|
||||
ArSession_setDisplayGeometry(arSession_, ret, width, height);
|
||||
}
|
||||
}
|
||||
|
||||
SensorData CameraARCore::updateDataOnRender(Transform & pose)
|
||||
{
|
||||
UScopeMutex lock(arSessionMutex_);
|
||||
//LOGI("Capturing image...");
|
||||
|
||||
pose.setNull();
|
||||
SensorData data;
|
||||
if(!arSession_)
|
||||
{
|
||||
return data;
|
||||
}
|
||||
|
||||
if(textureId_ == 0)
|
||||
{
|
||||
glGenTextures(1, &textureId_);
|
||||
glBindTexture(GL_TEXTURE_EXTERNAL_OES, textureId_);
|
||||
glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
|
||||
glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
|
||||
glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
|
||||
glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
|
||||
}
|
||||
if(textureId_!=0)
|
||||
ArSession_setCameraTextureName(arSession_, textureId_);
|
||||
|
||||
// Update session to get current frame and render camera background.
|
||||
if (ArSession_update(arSession_, arFrame_) != AR_SUCCESS) {
|
||||
LOGE("CameraARCore::captureImage() ArSession_update error");
|
||||
return data;
|
||||
}
|
||||
|
||||
// If display rotation changed (also includes view size change), we need to
|
||||
// re-query the uv coordinates for the on-screen portion of the camera image.
|
||||
int32_t geometry_changed = 0;
|
||||
ArFrame_getDisplayGeometryChanged(arSession_, arFrame_, &geometry_changed);
|
||||
if (geometry_changed != 0 || !uvs_initialized_) {
|
||||
ArFrame_transformCoordinates2d(
|
||||
arSession_, arFrame_, AR_COORDINATES_2D_OPENGL_NORMALIZED_DEVICE_COORDINATES,
|
||||
BackgroundRenderer::kNumVertices, BackgroundRenderer_kVerticesDevice, AR_COORDINATES_2D_TEXTURE_NORMALIZED,
|
||||
transformed_uvs_);
|
||||
UASSERT(transformed_uvs_);
|
||||
uvs_initialized_ = true;
|
||||
}
|
||||
|
||||
ArCamera* ar_camera;
|
||||
ArFrame_acquireCamera(arSession_, arFrame_, &ar_camera);
|
||||
|
||||
ArCamera_getViewMatrix(arSession_, ar_camera, glm::value_ptr(viewMatrix_));
|
||||
ArCamera_getProjectionMatrix(arSession_, ar_camera,
|
||||
/*near=*/0.1f, /*far=*/100.f,
|
||||
glm::value_ptr(projectionMatrix_));
|
||||
|
||||
ArTrackingState camera_tracking_state;
|
||||
ArCamera_getTrackingState(arSession_, ar_camera, &camera_tracking_state);
|
||||
|
||||
CameraModel model;
|
||||
if(camera_tracking_state == AR_TRACKING_STATE_TRACKING)
|
||||
{
|
||||
// pose in OpenGL coordinates
|
||||
float pose_raw[7];
|
||||
ArCamera_getPose(arSession_, ar_camera, arPose_);
|
||||
ArPose_getPoseRaw(arSession_, arPose_, pose_raw);
|
||||
Transform poseArCore = Transform(pose_raw[4], pose_raw[5], pose_raw[6], pose_raw[0], pose_raw[1], pose_raw[2], pose_raw[3]);
|
||||
pose = rtabmap::rtabmap_world_T_opengl_world * poseArCore * rtabmap::opengl_world_T_rtabmap_world;
|
||||
|
||||
if(pose.isNull())
|
||||
{
|
||||
LOGE("CameraARCore: Pose is null");
|
||||
return data;
|
||||
}
|
||||
|
||||
// Get calibration parameters
|
||||
float fx,fy, cx, cy;
|
||||
int32_t width, height;
|
||||
ArCamera_getImageIntrinsics(arSession_, ar_camera, arCameraIntrinsics_);
|
||||
ArCameraIntrinsics_getFocalLength(arSession_, arCameraIntrinsics_, &fx, &fy);
|
||||
ArCameraIntrinsics_getPrincipalPoint(arSession_, arCameraIntrinsics_, &cx, &cy);
|
||||
ArCameraIntrinsics_getImageDimensions(arSession_, arCameraIntrinsics_, &width, &height);
|
||||
#ifndef DISABLE_LOG
|
||||
LOGI("%f %f %f %f %d %d", fx, fy, cx, cy, width, height);
|
||||
#endif
|
||||
|
||||
if(fx > 0 && fy > 0 && width > 0 && height > 0 && cx > 0 && cy > 0)
|
||||
{
|
||||
model = CameraModel(fx, fy, cx, cy, deviceTColorCamera_, 0, cv::Size(width, height));
|
||||
|
||||
ArPointCloud * pointCloud = nullptr;
|
||||
ArFrame_acquirePointCloud(arSession_, arFrame_, &pointCloud);
|
||||
|
||||
int32_t is_depth_supported = 0;
|
||||
ArSession_isDepthModeSupported(arSession_, AR_DEPTH_MODE_AUTOMATIC, &is_depth_supported);
|
||||
|
||||
ArImage * image = nullptr;
|
||||
ArStatus status = ArFrame_acquireCameraImage(arSession_, arFrame_, &image);
|
||||
if(status == AR_SUCCESS)
|
||||
{
|
||||
if(is_depth_supported)
|
||||
{
|
||||
LOGD("Acquire depth image!");
|
||||
ArImage * depthImage = nullptr;
|
||||
ArFrame_acquireDepthImage(arSession_, arFrame_, &depthImage);
|
||||
|
||||
ArImageFormat format;
|
||||
ArImage_getFormat(arSession_, depthImage, &format);
|
||||
if(format == AR_IMAGE_FORMAT_DEPTH16)
|
||||
{
|
||||
LOGD("Depth format detected!");
|
||||
int planeCount;
|
||||
ArImage_getNumberOfPlanes(arSession_, depthImage, &planeCount);
|
||||
LOGD("planeCount=%d", planeCount);
|
||||
UASSERT_MSG(planeCount == 1, uFormat("Error: getNumberOfPlanes() planceCount = %d", planeCount).c_str());
|
||||
const uint8_t *data = nullptr;
|
||||
int len = 0;
|
||||
int stride;
|
||||
int depth_width;
|
||||
int depth_height;
|
||||
ArImage_getWidth(arSession_, depthImage, &depth_width);
|
||||
ArImage_getHeight(arSession_, depthImage, &depth_height);
|
||||
ArImage_getPlaneRowStride(arSession_, depthImage, 0, &stride);
|
||||
ArImage_getPlaneData(arSession_, depthImage, 0, &data, &len);
|
||||
|
||||
LOGD("width=%d, height=%d, bytes=%d stride=%d", depth_width, depth_height, len, stride);
|
||||
|
||||
cv::Mat occlusionImage = cv::Mat(depth_height, depth_width, CV_16UC1, (void*)data).clone();
|
||||
|
||||
float scaleX = (float)depth_width / (float)width;
|
||||
float scaleY = (float)depth_height / (float)height;
|
||||
CameraModel occlusionModel(fx*scaleX, fy*scaleY, cx*scaleX, cy*scaleY, pose*deviceTColorCamera_, 0, cv::Size(depth_width, depth_height));
|
||||
this->setOcclusionImage(occlusionImage, occlusionModel);
|
||||
}
|
||||
ArImage_release(depthImage);
|
||||
}
|
||||
|
||||
int64_t timestamp_ns;
|
||||
ArImageFormat format;
|
||||
ArImage_getTimestamp(arSession_, image, ×tamp_ns);
|
||||
ArImage_getFormat(arSession_, image, &format);
|
||||
if(format == AR_IMAGE_FORMAT_YUV_420_888)
|
||||
{
|
||||
#ifndef DISABLE_LOG
|
||||
int32_t num_planes;
|
||||
ArImage_getNumberOfPlanes(arSession_, image, &num_planes);
|
||||
for(int i=0;i<num_planes; ++i)
|
||||
{
|
||||
int32_t pixel_stride;
|
||||
int32_t row_stride;
|
||||
ArImage_getPlanePixelStride(arSession_, image, i, &pixel_stride);
|
||||
ArImage_getPlaneRowStride(arSession_, image, i, &row_stride);
|
||||
LOGI("Plane %d/%d: pixel stride=%d, row stride=%d", i+1, num_planes, pixel_stride, row_stride);
|
||||
}
|
||||
#endif
|
||||
const uint8_t * plane_data;
|
||||
const uint8_t * plane_uv_data;
|
||||
int32_t data_length;
|
||||
ArImage_getPlaneData(arSession_, image, 0, &plane_data, &data_length);
|
||||
int32_t uv_data_length;
|
||||
ArImage_getPlaneData(arSession_, image, 2, &plane_uv_data, &uv_data_length);
|
||||
|
||||
if(plane_data != nullptr && data_length == height*width)
|
||||
{
|
||||
double stamp = double(timestamp_ns)/10e8;
|
||||
#ifndef DISABLE_LOG
|
||||
LOGI("data_length=%d stamp=%f", data_length, stamp);
|
||||
#endif
|
||||
cv::Mat rgb;
|
||||
if((long)plane_uv_data-(long)plane_data != data_length)
|
||||
{
|
||||
// The uv-plane is not concatenated to y plane in memory, so concatenate them
|
||||
cv::Mat yuv(height+height/2, width, CV_8UC1);
|
||||
memcpy(yuv.data, plane_data, data_length);
|
||||
memcpy(yuv.data+data_length, plane_uv_data, height/2*width);
|
||||
cv::cvtColor(yuv, rgb, cv::COLOR_YUV2BGR_NV21);
|
||||
}
|
||||
else
|
||||
{
|
||||
cv::cvtColor(cv::Mat(height+height/2, width, CV_8UC1, (void*)plane_data), rgb, cv::COLOR_YUV2BGR_NV21);
|
||||
}
|
||||
|
||||
std::vector<cv::KeyPoint> kpts;
|
||||
std::vector<cv::Point3f> kpts3;
|
||||
LaserScan scan;
|
||||
if(pointCloud)
|
||||
{
|
||||
int32_t points = 0;
|
||||
ArPointCloud_getNumberOfPoints(arSession_, pointCloud, &points);
|
||||
const float * pointCloudData = 0;
|
||||
ArPointCloud_getData(arSession_, pointCloud, &pointCloudData);
|
||||
#ifndef DISABLE_LOG
|
||||
LOGI("pointCloudData=%d size=%d", pointCloudData?1:0, points);
|
||||
#endif
|
||||
if(pointCloudData && points>0)
|
||||
{
|
||||
cv::Mat pointCloudDataMat(1, points, CV_32FC4, (void *)pointCloudData);
|
||||
scan = scanFromPointCloudData(pointCloudDataMat, pose, model, rgb, &kpts, &kpts3);
|
||||
#ifndef DISABLE_LOG
|
||||
LOGI("valid scan points = %d", scan.size());
|
||||
#endif
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
LOGI("pointCloud empty");
|
||||
}
|
||||
|
||||
data = SensorData(scan, rgb, depthFromMotion_?getOcclusionImage():cv::Mat(), model, 0, stamp);
|
||||
data.setFeatures(kpts, kpts3, cv::Mat());
|
||||
|
||||
if(!pose.isNull())
|
||||
{
|
||||
this->poseReceived(pose, stamp);
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
LOGE("CameraARCore: cannot convert image format %d", format);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
LOGE("CameraARCore: failed to get rgb image (status=%d)", (int)status);
|
||||
}
|
||||
|
||||
ArImage_release(image);
|
||||
ArPointCloud_release(pointCloud);
|
||||
}
|
||||
}
|
||||
|
||||
ArCamera_release(ar_camera);
|
||||
|
||||
return data;
|
||||
}
|
||||
|
||||
} /* namespace rtabmap */
|
||||
@@ -0,0 +1,84 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef CAMERAARCORE_H_
|
||||
#define CAMERAARCORE_H_
|
||||
|
||||
#include "CameraMobile.h"
|
||||
#include <rtabmap/core/Camera.h>
|
||||
#include <rtabmap/core/GeodeticCoords.h>
|
||||
#include <rtabmap/utilite/UMutex.h>
|
||||
#include <rtabmap/utilite/USemaphore.h>
|
||||
#include <rtabmap/utilite/UEventsSender.h>
|
||||
#include <rtabmap/utilite/UThread.h>
|
||||
#include <rtabmap/utilite/UEvent.h>
|
||||
#include <rtabmap/utilite/UTimer.h>
|
||||
#include <boost/thread/mutex.hpp>
|
||||
#include <background_renderer.h>
|
||||
|
||||
#include <arcore_c_api.h>
|
||||
#include <camera/NdkCameraDevice.h>
|
||||
#include <camera/NdkCameraManager.h>
|
||||
#include <media/NdkImageReader.h>
|
||||
#include <android/native_window.h>
|
||||
|
||||
namespace rtabmap {
|
||||
|
||||
class CameraARCore : public CameraMobile {
|
||||
public:
|
||||
CameraARCore(void* env, void* context, void* activity, bool depthFromMotion = false, float upstreamRelocalizationAccThr = 0.0f);
|
||||
virtual ~CameraARCore();
|
||||
|
||||
virtual void setScreenRotationAndSize(ScreenRotation colorCameraToDisplayRotation, int width, int height);
|
||||
|
||||
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
|
||||
virtual void close(); // close ARCore connection
|
||||
virtual std::string getSerial() const;
|
||||
|
||||
protected:
|
||||
virtual SensorData updateDataOnRender(Transform & pose); // should be called in opengl thread
|
||||
|
||||
private:
|
||||
rtabmap::Transform getPoseAtTimestamp(double timestamp);
|
||||
|
||||
private:
|
||||
void * env_;
|
||||
void * context_;
|
||||
void * activity_;
|
||||
ArSession* arSession_ = nullptr;
|
||||
ArConfig* arConfig_ = nullptr;
|
||||
ArFrame* arFrame_ = nullptr;
|
||||
ArCameraIntrinsics *arCameraIntrinsics_ = nullptr;
|
||||
ArPose * arPose_ = nullptr;
|
||||
bool arInstallRequested_;
|
||||
UMutex arSessionMutex_;
|
||||
|
||||
bool depthFromMotion_;
|
||||
};
|
||||
|
||||
} /* namespace rtabmap */
|
||||
#endif /* CAMERAARCORE_H_ */
|
||||
@@ -0,0 +1,355 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#include "CameraAREngine.h"
|
||||
#include "util.h"
|
||||
#include "rtabmap/utilite/ULogger.h"
|
||||
#include "rtabmap/core/util3d_transforms.h"
|
||||
#include "rtabmap/core/OdometryEvent.h"
|
||||
#include "rtabmap/core/util2d.h"
|
||||
|
||||
#include <media/NdkImage.h>
|
||||
|
||||
namespace rtabmap {
|
||||
|
||||
|
||||
//////////////////////////////
|
||||
// CameraAREngine
|
||||
//////////////////////////////
|
||||
CameraAREngine::CameraAREngine(void* env, void* context, void* activity, float upstreamRelocalizationAccThr):
|
||||
CameraMobile(upstreamRelocalizationAccThr),
|
||||
env_(env),
|
||||
context_(context),
|
||||
activity_(activity),
|
||||
arInstallRequested_(false)
|
||||
{
|
||||
glGenTextures(1, &textureId_);
|
||||
}
|
||||
|
||||
CameraAREngine::~CameraAREngine() {
|
||||
// Disconnect ARCore service
|
||||
close();
|
||||
|
||||
glDeleteTextures(1, &textureId_);
|
||||
}
|
||||
|
||||
std::string CameraAREngine::getSerial() const
|
||||
{
|
||||
return "AREngine";
|
||||
}
|
||||
|
||||
bool CameraAREngine::init(const std::string & calibrationFolder, const std::string & cameraName)
|
||||
{
|
||||
close();
|
||||
|
||||
CameraMobile::init(calibrationFolder, cameraName);
|
||||
|
||||
UScopeMutex lock(arSessionMutex_);
|
||||
|
||||
HwArInstallStatus install_status;
|
||||
// If install was not yet requested, that means that we are resuming the
|
||||
// activity first time because of explicit user interaction (such as
|
||||
// launching the application)
|
||||
bool user_requested_install = !arInstallRequested_;
|
||||
|
||||
// === ATTENTION! ATTENTION! ATTENTION! ===
|
||||
// This method can and will fail in user-facing situations. Your
|
||||
// application must handle these cases at least somewhat gracefully. See
|
||||
// HelloAR Java sample code for reasonable behavior.
|
||||
HwArEnginesApk_requestInstall(env_, activity_, user_requested_install, &install_status);
|
||||
|
||||
switch (install_status)
|
||||
{
|
||||
case HWAR_INSTALL_STATUS_INSTALLED:
|
||||
break;
|
||||
case HWAR_INSTALL_STATUS_INSTALL_REQUESTED:
|
||||
arInstallRequested_ = true;
|
||||
return false;
|
||||
}
|
||||
|
||||
// === ATTENTION! ATTENTION! ATTENTION! ===
|
||||
// This method can and will fail in user-facing situations. Your
|
||||
// application must handle these cases at least somewhat gracefully. See
|
||||
// HelloAR Java sample code for reasonable behavior.
|
||||
UASSERT(HwArSession_create(env_, context_, &arSession_) == HWAR_SUCCESS);
|
||||
UASSERT(arSession_);
|
||||
|
||||
HwArConfig_create(arSession_, &arConfig_);
|
||||
UASSERT(arConfig_);
|
||||
|
||||
HwArConfig_setFocusMode(arSession_, arConfig_, HWAR_FOCUS_MODE_FIXED);
|
||||
UASSERT(HwArSession_configure(arSession_, arConfig_) == HWAR_SUCCESS);
|
||||
|
||||
HwArFrame_create(arSession_, &arFrame_);
|
||||
UASSERT(arFrame_);
|
||||
|
||||
HwArCameraIntrinsics_create(arSession_, &arCameraIntrinsics_); // May fail?!
|
||||
//UASSERT(arCameraIntrinsics_);
|
||||
|
||||
HwArPose_create(arSession_, nullptr, &arPose_);
|
||||
UASSERT(arPose_);
|
||||
|
||||
/// Sets the behavior of @ref ArSession_update(). See
|
||||
/// ::ArUpdateMode for available options.
|
||||
HwArConfig_setUpdateMode(arSession_, arConfig_, HWAR_UPDATE_MODE_BLOCKING);
|
||||
|
||||
deviceTColorCamera_ = opticalRotation;
|
||||
|
||||
if (HwArSession_resume(arSession_) != HWAR_SUCCESS)
|
||||
{
|
||||
UERROR("Cannot resume camera!");
|
||||
// In a rare case (such as another camera app launching) the camera may be
|
||||
// given to a different app and so may not be available to this app. Handle
|
||||
// this properly and recreate the session at the next iteration.
|
||||
close();
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void CameraAREngine::close()
|
||||
{
|
||||
UScopeMutex lock(arSessionMutex_);
|
||||
if (arCameraIntrinsics_ != nullptr)
|
||||
{
|
||||
HwArCameraIntrinsics_destroy(arSession_, arCameraIntrinsics_);
|
||||
}
|
||||
arCameraIntrinsics_ = nullptr;
|
||||
|
||||
if(arSession_!= nullptr)
|
||||
{
|
||||
HwArSession_destroy(arSession_);
|
||||
}
|
||||
arSession_ = nullptr;
|
||||
|
||||
if(arConfig_!= nullptr)
|
||||
{
|
||||
HwArConfig_destroy(arConfig_);
|
||||
}
|
||||
arConfig_ = nullptr;
|
||||
|
||||
if (arFrame_ != nullptr)
|
||||
{
|
||||
HwArFrame_destroy(arFrame_);
|
||||
}
|
||||
arFrame_ = nullptr;
|
||||
|
||||
if (arPose_ != nullptr)
|
||||
{
|
||||
HwArPose_destroy(arPose_);
|
||||
}
|
||||
arPose_ = nullptr;
|
||||
|
||||
CameraMobile::close();
|
||||
}
|
||||
|
||||
void CameraAREngine::setScreenRotationAndSize(ScreenRotation colorCameraToDisplayRotation, int width, int height)
|
||||
{
|
||||
CameraMobile::setScreenRotationAndSize(colorCameraToDisplayRotation, width, height);
|
||||
if(arSession_)
|
||||
{
|
||||
int ret = static_cast<int>(colorCameraToDisplayRotation) + 1; // remove 90deg camera rotation
|
||||
if (ret > 3) {
|
||||
ret -= 4;
|
||||
}
|
||||
|
||||
HwArSession_setDisplayGeometry(arSession_, ret, width, height);
|
||||
}
|
||||
}
|
||||
|
||||
SensorData CameraAREngine::updateDataOnRender(Transform & pose)
|
||||
{
|
||||
UScopeMutex lock(arSessionMutex_);
|
||||
//LOGI("Capturing image...");
|
||||
|
||||
pose.setNull();
|
||||
SensorData data;
|
||||
if(!arSession_)
|
||||
{
|
||||
return data;
|
||||
}
|
||||
|
||||
if(textureId_ == 0)
|
||||
{
|
||||
glGenTextures(1, &textureId_);
|
||||
glBindTexture(GL_TEXTURE_EXTERNAL_OES, textureId_);
|
||||
glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
|
||||
glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
|
||||
glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
|
||||
glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
|
||||
}
|
||||
if(textureId_!=0)
|
||||
HwArSession_setCameraTextureName(arSession_, textureId_);
|
||||
|
||||
// Update session to get current frame and render camera background.
|
||||
if (HwArSession_update(arSession_, arFrame_) != HWAR_SUCCESS) {
|
||||
LOGE("CameraAREngine::captureImage() ArSession_update error");
|
||||
return data;
|
||||
}
|
||||
|
||||
// If display rotation changed (also includes view size change), we need to
|
||||
// re-query the uv coordinates for the on-screen portion of the camera image.
|
||||
int32_t geometry_changed = 0;
|
||||
HwArFrame_getDisplayGeometryChanged(arSession_, arFrame_, &geometry_changed);
|
||||
if (geometry_changed != 0 || !uvs_initialized_) {
|
||||
HwArFrame_transformDisplayUvCoords(
|
||||
arSession_, arFrame_,
|
||||
BackgroundRenderer::kNumVertices*2, BackgroundRenderer_kVerticesView,
|
||||
transformed_uvs_);
|
||||
UERROR("uv: (%f,%f) (%f,%f) (%f,%f) (%f,%f)",
|
||||
transformed_uvs_[0], transformed_uvs_[1],
|
||||
transformed_uvs_[2], transformed_uvs_[3],
|
||||
transformed_uvs_[4], transformed_uvs_[5],
|
||||
transformed_uvs_[6], transformed_uvs_[7]);
|
||||
UASSERT(transformed_uvs_);
|
||||
uvs_initialized_ = true;
|
||||
}
|
||||
|
||||
HwArCamera* ar_camera;
|
||||
HwArFrame_acquireCamera(arSession_, arFrame_, &ar_camera);
|
||||
|
||||
HwArCamera_getViewMatrix(arSession_, ar_camera, glm::value_ptr(viewMatrix_));
|
||||
HwArCamera_getProjectionMatrix(arSession_, ar_camera,
|
||||
/*near=*/0.1f, /*far=*/100.f,
|
||||
glm::value_ptr(projectionMatrix_));
|
||||
|
||||
HwArTrackingState camera_tracking_state;
|
||||
HwArCamera_getTrackingState(arSession_, ar_camera, &camera_tracking_state);
|
||||
|
||||
if(camera_tracking_state == HWAR_TRACKING_STATE_TRACKING)
|
||||
{
|
||||
// Get calibration parameters
|
||||
// FIXME: Hard-coded as getting intrinsics with the api fails
|
||||
float fx=492.689667,fy=492.606201, cx=323.594849, cy=234.659744;
|
||||
int32_t camWidth=640, camHeight=480;
|
||||
//HwArCamera_getImageIntrinsics(arSession_, ar_camera, arCameraIntrinsics_);
|
||||
//HwArCameraIntrinsics_getFocalLength(arSession_, arCameraIntrinsics_, &fx, &fy);
|
||||
//HwArCameraIntrinsics_getPrincipalPoint(arSession_, arCameraIntrinsics_, &cx, &cy);
|
||||
//HwArCameraIntrinsics_getImageDimensions(arSession_, arCameraIntrinsics_, &camWidth, &camHeight);
|
||||
LOGI("%f %f %f %f %d %d", fx, fy, cx, cy, camWidth, camHeight);
|
||||
|
||||
if(fx > 0 && fy > 0 && camWidth > 0 && camHeight > 0 && cx > 0 && cy > 0)
|
||||
{
|
||||
//ArPointCloud * point_cloud;
|
||||
//ArFrame_acquirePointCloud(ar_session_, ar_frame_, &point_cloud);
|
||||
|
||||
HwArImage * image = nullptr;
|
||||
HwArImage * depthImage = nullptr;
|
||||
HwArStatus statusRgb = HwArFrame_acquireCameraImage(arSession_, arFrame_, &image);
|
||||
HwArStatus statusDepth = HwArFrame_acquireDepthImage(arSession_, arFrame_, &depthImage);
|
||||
if(statusRgb == HWAR_SUCCESS && statusDepth == HWAR_SUCCESS)
|
||||
{
|
||||
int64_t timestamp_ns;
|
||||
HwArFrame_getTimestamp(arSession_, arFrame_, ×tamp_ns);
|
||||
|
||||
int planeCount;
|
||||
uint8_t *imageData = nullptr;
|
||||
int len = 0;
|
||||
int stride;
|
||||
int width;
|
||||
int height;
|
||||
const AImage* ndkImageRGB;
|
||||
HwArImage_getNdkImage(image, &ndkImageRGB);
|
||||
|
||||
AImage_getNumberOfPlanes(ndkImageRGB, &planeCount);
|
||||
AImage_getWidth(ndkImageRGB, &width);
|
||||
AImage_getHeight(ndkImageRGB, &height);
|
||||
AImage_getPlaneRowStride(ndkImageRGB, 0, &stride);
|
||||
AImage_getPlaneData(ndkImageRGB, 0, &imageData, &len);
|
||||
LOGI("RGB: width=%d, height=%d, bytes=%d stride=%d planeCount=%d", width, height, len, stride, planeCount);
|
||||
|
||||
cv::Mat outputRGB;
|
||||
if(imageData != nullptr && len>0)
|
||||
{
|
||||
cv::cvtColor(cv::Mat(height+height/2, width, CV_8UC1, (void*)imageData), outputRGB, cv::COLOR_YUV2BGR_NV21);
|
||||
}
|
||||
|
||||
//Depth
|
||||
const AImage* ndkImageDepth;
|
||||
HwArImage_getNdkImage(depthImage, &ndkImageDepth);
|
||||
AImage_getNumberOfPlanes(ndkImageDepth, &planeCount);
|
||||
AImage_getWidth(ndkImageDepth, &width);
|
||||
AImage_getHeight(ndkImageDepth, &height);
|
||||
AImage_getPlaneRowStride(ndkImageDepth, 0, &stride);
|
||||
AImage_getPlaneData(ndkImageDepth, 0, &imageData, &len);
|
||||
LOGI("Depth: width=%d, height=%d, bytes=%d stride=%d planeCount=%d", width, height, len, stride, planeCount);
|
||||
|
||||
cv::Mat outputDepth(height, width, CV_16UC1);
|
||||
uint16_t *dataShort = (uint16_t *)imageData;
|
||||
for (int y = 0; y < outputDepth.rows; ++y)
|
||||
{
|
||||
for (int x = 0; x < outputDepth.cols; ++x)
|
||||
{
|
||||
uint16_t depthSample = dataShort[y*outputDepth.cols + x];
|
||||
uint16_t depthRange = (depthSample & 0x1FFF); // first 3 bits are confidence
|
||||
outputDepth.at<uint16_t>(y,x) = depthRange;
|
||||
}
|
||||
}
|
||||
|
||||
if(!outputRGB.empty() && !outputDepth.empty())
|
||||
{
|
||||
double stamp = double(timestamp_ns)/10e8;
|
||||
CameraModel model = CameraModel(fx, fy, cx, cy, deviceTColorCamera_, 0, cv::Size(camWidth, camHeight));
|
||||
data = SensorData(outputRGB, outputDepth, model, 0, stamp);
|
||||
|
||||
// pose in OpenGL coordinates
|
||||
float pose_raw[7];
|
||||
HwArCamera_getPose(arSession_, ar_camera, arPose_);
|
||||
HwArPose_getPoseRaw(arSession_, arPose_, pose_raw);
|
||||
pose = Transform(pose_raw[4], pose_raw[5], pose_raw[6], pose_raw[0], pose_raw[1], pose_raw[2], pose_raw[3]);
|
||||
if(pose.isNull())
|
||||
{
|
||||
LOGE("CameraAREngine: Pose is null");
|
||||
}
|
||||
else
|
||||
{
|
||||
pose = rtabmap::rtabmap_world_T_opengl_world * pose * rtabmap::opengl_world_T_rtabmap_world;
|
||||
this->poseReceived(pose, stamp);
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
LOGE("CameraAREngine: failed to get rgb image (status=%d %d)", (int)statusRgb, (int)statusDepth);
|
||||
}
|
||||
|
||||
HwArImage_release(image);
|
||||
HwArImage_release(depthImage);
|
||||
}
|
||||
else
|
||||
{
|
||||
LOGE("Invalid intrinsics!");
|
||||
}
|
||||
}
|
||||
|
||||
HwArCamera_release(ar_camera);
|
||||
return data;
|
||||
|
||||
}
|
||||
|
||||
} /* namespace rtabmap */
|
||||
@@ -0,0 +1,79 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef CAMERAARENGINE_H_
|
||||
#define CAMERAARENGINE_H_
|
||||
|
||||
#include "CameraMobile.h"
|
||||
#include <rtabmap/core/Camera.h>
|
||||
#include <rtabmap/core/GeodeticCoords.h>
|
||||
#include <rtabmap/utilite/UMutex.h>
|
||||
#include <rtabmap/utilite/USemaphore.h>
|
||||
#include <rtabmap/utilite/UEventsSender.h>
|
||||
#include <rtabmap/utilite/UThread.h>
|
||||
#include <rtabmap/utilite/UEvent.h>
|
||||
#include <rtabmap/utilite/UTimer.h>
|
||||
#include <boost/thread/mutex.hpp>
|
||||
#include <background_renderer.h>
|
||||
|
||||
#include <huawei_arengine_interface.h>
|
||||
|
||||
namespace rtabmap {
|
||||
|
||||
class CameraAREngine : public CameraMobile {
|
||||
public:
|
||||
CameraAREngine(void* env, void* context, void* activity, float upstreamRelocalizationAccThr = 0.0f);
|
||||
virtual ~CameraAREngine();
|
||||
|
||||
virtual void setScreenRotationAndSize(ScreenRotation colorCameraToDisplayRotation, int width, int height);
|
||||
|
||||
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
|
||||
virtual void close(); // close AREngine connection
|
||||
virtual std::string getSerial() const;
|
||||
|
||||
protected:
|
||||
virtual SensorData updateDataOnRender(Transform & pose);
|
||||
|
||||
private:
|
||||
rtabmap::Transform getPoseAtTimestamp(double timestamp);
|
||||
|
||||
private:
|
||||
void * env_;
|
||||
void * context_;
|
||||
void * activity_;
|
||||
HwArSession* arSession_ = nullptr;
|
||||
HwArConfig* arConfig_ = nullptr;
|
||||
HwArFrame* arFrame_ = nullptr;
|
||||
HwArCameraIntrinsics *arCameraIntrinsics_ = nullptr;
|
||||
HwArPose * arPose_ = nullptr;
|
||||
bool arInstallRequested_;
|
||||
UMutex arSessionMutex_;
|
||||
|
||||
};
|
||||
|
||||
} /* namespace rtabmap */
|
||||
#endif /* CAMERAARENGINE_H_ */
|
||||
@@ -0,0 +1,636 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#include "CameraMobile.h"
|
||||
#include "util.h"
|
||||
#include "rtabmap/utilite/ULogger.h"
|
||||
#include "rtabmap/core/util3d_transforms.h"
|
||||
#include "rtabmap/core/OdometryEvent.h"
|
||||
#include "rtabmap/core/util2d.h"
|
||||
#include <glm/gtx/transform.hpp>
|
||||
|
||||
namespace rtabmap {
|
||||
|
||||
#define nullptr 0
|
||||
|
||||
//////////////////////////////
|
||||
// CameraMobile
|
||||
//////////////////////////////
|
||||
const rtabmap::Transform CameraMobile::opticalRotation = Transform(
|
||||
0.0f, 0.0f, 1.0f, 0.0f,
|
||||
-1.0f, 0.0f, 0.0f, 0.0f,
|
||||
0.0f, -1.0f, 0.0f, 0.0f);
|
||||
const rtabmap::Transform CameraMobile::opticalRotationInv = Transform(
|
||||
0.0f, -1.0f, 0.0f, 0.0f,
|
||||
0.0f, 0.0f, -1.0f, 0.0f,
|
||||
1.0f, 0.0f, 0.0f, 0.0f);
|
||||
|
||||
CameraMobile::CameraMobile(float upstreamRelocalizationAccThr) :
|
||||
Camera(10),
|
||||
deviceTColorCamera_(Transform::getIdentity()),
|
||||
textureId_(0),
|
||||
uvs_initialized_(false),
|
||||
stampEpochOffset_(0.0),
|
||||
colorCameraToDisplayRotation_(ROTATION_0),
|
||||
originUpdate_(true),
|
||||
upstreamRelocalizationAccThr_(upstreamRelocalizationAccThr),
|
||||
previousAnchorStamp_(0.0),
|
||||
dataGoodTracking_(true)
|
||||
{
|
||||
}
|
||||
|
||||
CameraMobile::~CameraMobile() {
|
||||
// Disconnect camera service
|
||||
close();
|
||||
}
|
||||
|
||||
bool CameraMobile::init(const std::string &, const std::string &)
|
||||
{
|
||||
deviceTColorCamera_ = opticalRotation;
|
||||
// clear semaphore
|
||||
if(dataReady_.value() > 0) {
|
||||
dataReady_.acquire(dataReady_.value());
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
void CameraMobile::close()
|
||||
{
|
||||
UScopeMutex lock(dataMutex_);
|
||||
|
||||
firstFrame_ = true;
|
||||
lastKnownGPS_ = GPS();
|
||||
lastEnvSensors_.clear();
|
||||
originOffset_ = Transform();
|
||||
originUpdate_ = true;
|
||||
dataPose_ = Transform();
|
||||
data_ = SensorData();
|
||||
dataGoodTracking_ = true;
|
||||
previousAnchorPose_.setNull();
|
||||
previousAnchorLinearVelocity_.clear();
|
||||
previousAnchorStamp_ = 0.0;
|
||||
|
||||
if(textureId_ != 0)
|
||||
{
|
||||
glDeleteTextures(1, &textureId_);
|
||||
textureId_ = 0;
|
||||
}
|
||||
// in case someone is waiting on captureImage()
|
||||
dataReady_.release();
|
||||
}
|
||||
|
||||
void CameraMobile::resetOrigin(const rtabmap::Transform & offset)
|
||||
{
|
||||
manualOriginOffset_ = offset;
|
||||
originUpdate_ = true;
|
||||
}
|
||||
|
||||
bool CameraMobile::getPose(double epochStamp, Transform & pose, cv::Mat & covariance, double maxWaitTime)
|
||||
{
|
||||
pose.setNull();
|
||||
|
||||
int maxWaitTimeMs = maxWaitTime * 1000;
|
||||
|
||||
// Interpolate pose
|
||||
if(!poseBuffer_.empty())
|
||||
{
|
||||
poseMutex_.lock();
|
||||
int waitTry = 0;
|
||||
while(maxWaitTimeMs>0 && poseBuffer_.rbegin()->first < epochStamp && waitTry < maxWaitTimeMs)
|
||||
{
|
||||
poseMutex_.unlock();
|
||||
++waitTry;
|
||||
uSleep(1);
|
||||
poseMutex_.lock();
|
||||
}
|
||||
if(poseBuffer_.rbegin()->first < epochStamp)
|
||||
{
|
||||
if(maxWaitTimeMs > 0)
|
||||
{
|
||||
UWARN("Could not find poses to interpolate at time %f after waiting %d ms (latest is %f)...", epochStamp, maxWaitTimeMs, poseBuffer_.rbegin()->first);
|
||||
}
|
||||
else
|
||||
{
|
||||
UWARN("Could not find poses to interpolate at time %f (latest is %f)...", epochStamp, poseBuffer_.rbegin()->first);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
std::map<double, Transform>::const_iterator iterB = poseBuffer_.lower_bound(epochStamp);
|
||||
std::map<double, Transform>::const_iterator iterA = iterB;
|
||||
if(iterA != poseBuffer_.begin())
|
||||
{
|
||||
iterA = --iterA;
|
||||
}
|
||||
if(iterB == poseBuffer_.end())
|
||||
{
|
||||
iterB = --iterB;
|
||||
}
|
||||
if(iterA == iterB && epochStamp == iterA->first)
|
||||
{
|
||||
pose = iterA->second;
|
||||
}
|
||||
else if(epochStamp >= iterA->first && epochStamp <= iterB->first)
|
||||
{
|
||||
pose = iterA->second.interpolate((epochStamp-iterA->first) / (iterB->first-iterA->first), iterB->second);
|
||||
}
|
||||
else // stamp < iterA->first
|
||||
{
|
||||
UWARN("Could not find pose data to interpolate at time %f (earliest is %f). Are sensors synchronized?", epochStamp, iterA->first);
|
||||
}
|
||||
}
|
||||
poseMutex_.unlock();
|
||||
}
|
||||
return !pose.isNull();
|
||||
}
|
||||
|
||||
void CameraMobile::poseReceived(const Transform & pose, double deviceStamp)
|
||||
{
|
||||
// Pose reveived is the pose of the device in rtabmap coordinate
|
||||
if(!pose.isNull())
|
||||
{
|
||||
Transform p = pose;
|
||||
|
||||
if(stampEpochOffset_ == 0.0)
|
||||
{
|
||||
stampEpochOffset_ = UTimer::now() - deviceStamp;
|
||||
}
|
||||
|
||||
if(originUpdate_)
|
||||
{
|
||||
firstFrame_ = true;
|
||||
lastKnownGPS_ = GPS();
|
||||
lastEnvSensors_.clear();
|
||||
dataGoodTracking_ = true;
|
||||
previousAnchorPose_.setNull();
|
||||
previousAnchorLinearVelocity_.clear();
|
||||
previousAnchorStamp_ = 0.0;
|
||||
originOffset_ = manualOriginOffset_.isNull() ? pose.translation().inverse() : manualOriginOffset_;
|
||||
originUpdate_ = false;
|
||||
}
|
||||
|
||||
double epochStamp = stampEpochOffset_ + deviceStamp;
|
||||
if(!originOffset_.isNull())
|
||||
{
|
||||
// Filter re-localizations from poses received
|
||||
rtabmap::Transform rawPose = originOffset_ * pose.translation(); // remove rotation to keep position in fixed frame
|
||||
// Remove upstream localization corrections by integrating pose from previous frame anchor
|
||||
bool showLog = false;
|
||||
if(upstreamRelocalizationAccThr_>0.0f && !previousAnchorPose_.isNull())
|
||||
{
|
||||
float dt = epochStamp - previousAnchorStamp_;
|
||||
std::vector<float> currentLinearVelocity(3);
|
||||
float dx = rawPose.x()-previousAnchorPose_.x();
|
||||
float dy = rawPose.y()-previousAnchorPose_.y();
|
||||
float dz = rawPose.z()-previousAnchorPose_.z();
|
||||
currentLinearVelocity[0] = dx / dt;
|
||||
currentLinearVelocity[1] = dy / dt;
|
||||
currentLinearVelocity[2] = dz / dt;
|
||||
if(!previousAnchorLinearVelocity_.empty() && uNorm(dx, dy, dz)>0.02)
|
||||
{
|
||||
float ax = (currentLinearVelocity[0] - previousAnchorLinearVelocity_[0]) / dt;
|
||||
float ay = (currentLinearVelocity[1] - previousAnchorLinearVelocity_[1]) / dt;
|
||||
float az = (currentLinearVelocity[2] - previousAnchorLinearVelocity_[2]) / dt;
|
||||
float acceleration = sqrt(ax*ax + ay*ay + az*az);
|
||||
if(acceleration>=upstreamRelocalizationAccThr_)
|
||||
{
|
||||
// Only correct the translation to not lose rotation aligned
|
||||
// with gravity.
|
||||
|
||||
// Use constant motion model to update current pose.
|
||||
rtabmap::Transform offset(previousAnchorLinearVelocity_[0] * dt,
|
||||
previousAnchorLinearVelocity_[1] * dt,
|
||||
previousAnchorLinearVelocity_[2] * dt,
|
||||
0, 0, 0, 1);
|
||||
rtabmap::Transform newRawPose = offset * previousAnchorPose_;
|
||||
currentLinearVelocity = previousAnchorLinearVelocity_;
|
||||
originOffset_.x() += newRawPose.x() - rawPose.x();
|
||||
originOffset_.y() += newRawPose.y() - rawPose.y();
|
||||
originOffset_.z() += newRawPose.z() - rawPose.z();
|
||||
UERROR("Upstream re-localization has been suppressed because of "
|
||||
"high acceleration detected (%f m/s^2) causing a jump!",
|
||||
acceleration);
|
||||
dataGoodTracking_ = false;
|
||||
post(new CameraInfoEvent(0, "UpstreamRelocationFiltered", uFormat("%.1f m/s^2", acceleration).c_str()));
|
||||
showLog = true;
|
||||
}
|
||||
}
|
||||
previousAnchorLinearVelocity_ = currentLinearVelocity;
|
||||
}
|
||||
|
||||
p = originOffset_*pose;
|
||||
previousAnchorPose_ = p;
|
||||
previousAnchorStamp_ = epochStamp;
|
||||
|
||||
if(upstreamRelocalizationAccThr_>0.0f) {
|
||||
relocalizationDebugBuffer_.insert(std::make_pair(epochStamp, std::make_pair(pose, p)));
|
||||
if(relocalizationDebugBuffer_.size() > 60)
|
||||
{
|
||||
relocalizationDebugBuffer_.erase(relocalizationDebugBuffer_.begin());
|
||||
}
|
||||
if(showLog) {
|
||||
std::stringstream stream;
|
||||
for(auto iter=relocalizationDebugBuffer_.begin(); iter!=relocalizationDebugBuffer_.end(); ++iter)
|
||||
{
|
||||
stream << iter->first - relocalizationDebugBuffer_.begin()->first
|
||||
<< " " << iter->second.first.x()
|
||||
<< " " << iter->second.first.y()
|
||||
<< " " << iter->second.first.z()
|
||||
<< " " << iter->second.second.x()
|
||||
<< " " << iter->second.second.y()
|
||||
<< " " << iter->second.second.z() << std::endl;
|
||||
}
|
||||
UERROR("timestamp original_xyz corrected_xyz:\n%s", stream.str().c_str());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
{
|
||||
UScopeMutex lock(poseMutex_);
|
||||
poseBuffer_.insert(poseBuffer_.end(), std::make_pair(epochStamp, p));
|
||||
if(poseBuffer_.size() > 1000)
|
||||
{
|
||||
poseBuffer_.erase(poseBuffer_.begin());
|
||||
}
|
||||
}
|
||||
|
||||
// send pose of the camera (with optical rotation)
|
||||
this->post(new PoseEvent(p * deviceTColorCamera_));
|
||||
}
|
||||
}
|
||||
|
||||
bool CameraMobile::isCalibrated() const
|
||||
{
|
||||
return model_.isValidForProjection();
|
||||
}
|
||||
|
||||
void CameraMobile::setGPS(const GPS & gps)
|
||||
{
|
||||
lastKnownGPS_ = gps;
|
||||
}
|
||||
|
||||
void CameraMobile::addEnvSensor(int type, float value)
|
||||
{
|
||||
lastEnvSensors_.insert(std::make_pair((EnvSensor::Type)type, EnvSensor((EnvSensor::Type)type, value)));
|
||||
}
|
||||
|
||||
void CameraMobile::update(const SensorData & data, const Transform & pose, const glm::mat4 & viewMatrix, const glm::mat4 & projectionMatrix, const float * texCoord)
|
||||
{
|
||||
UScopeMutex lock(dataMutex_);
|
||||
|
||||
LOGD("CameraMobile::update pose=%s stamp=%f", pose.prettyPrint().c_str(), data.stamp());
|
||||
|
||||
bool notify = !data_.isValid();
|
||||
|
||||
data_ = data;
|
||||
dataPose_ = pose;
|
||||
|
||||
viewMatrix_ = viewMatrix;
|
||||
projectionMatrix_ = projectionMatrix;
|
||||
|
||||
if(textureId_ == 0)
|
||||
{
|
||||
glGenTextures(1, &textureId_);
|
||||
}
|
||||
|
||||
if(texCoord)
|
||||
{
|
||||
memcpy(transformed_uvs_, texCoord, 8*sizeof(float));
|
||||
uvs_initialized_ = true;
|
||||
}
|
||||
|
||||
LOGD("CameraMobile::update textureId_=%d", (int)textureId_);
|
||||
|
||||
if(textureId_ != 0 && texCoord != 0)
|
||||
{
|
||||
cv::Mat rgbImage;
|
||||
cv::cvtColor(data.imageRaw(), rgbImage, cv::COLOR_BGR2RGBA);
|
||||
|
||||
glBindTexture(GL_TEXTURE_2D, textureId_);
|
||||
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
|
||||
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
|
||||
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
|
||||
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
|
||||
|
||||
glPixelStorei(GL_UNPACK_ALIGNMENT, 4);
|
||||
//glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
|
||||
//glPixelStorei(GL_UNPACK_SKIP_PIXELS, 0);
|
||||
//glPixelStorei(GL_UNPACK_SKIP_ROWS, 0);
|
||||
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, rgbImage.cols, rgbImage.rows, 0, GL_RGBA, GL_UNSIGNED_BYTE, rgbImage.data);
|
||||
|
||||
GLint error = glGetError();
|
||||
if(error != GL_NO_ERROR)
|
||||
{
|
||||
LOGE("OpenGL: Could not allocate texture (0x%x)\n", error);
|
||||
textureId_ = 0;
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
if(data_.isValid())
|
||||
{
|
||||
postUpdate();
|
||||
|
||||
if(notify)
|
||||
{
|
||||
dataReady_.release();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void CameraMobile::updateOnRender()
|
||||
{
|
||||
UScopeMutex lock(dataMutex_);
|
||||
bool notify = !data_.isValid();
|
||||
|
||||
data_ = updateDataOnRender(dataPose_);
|
||||
if(data_.isValid())
|
||||
{
|
||||
postUpdate();
|
||||
|
||||
if(notify)
|
||||
{
|
||||
dataReady_.release();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
SensorData CameraMobile::updateDataOnRender(Transform & pose)
|
||||
{
|
||||
LOGE("To use CameraMobile::updateOnRender(), CameraMobile::updateDataOnRender() "
|
||||
"should be overridden by inherited classes. Returning empty data!\n");
|
||||
return SensorData();
|
||||
}
|
||||
|
||||
void CameraMobile::postUpdate()
|
||||
{
|
||||
if(data_.isValid())
|
||||
{
|
||||
// adjust origin
|
||||
if(!originOffset_.isNull())
|
||||
{
|
||||
dataPose_ = originOffset_ * dataPose_;
|
||||
viewMatrix_ = glm::inverse(rtabmap::glmFromTransform(rtabmap::opengl_world_T_rtabmap_world * originOffset_ *rtabmap::rtabmap_world_T_opengl_world)*glm::inverse(viewMatrix_));
|
||||
occlusionModel_.setLocalTransform(originOffset_ * occlusionModel_.localTransform());
|
||||
}
|
||||
|
||||
if(lastKnownGPS_.stamp() > 0.0 && data_.stamp()-lastKnownGPS_.stamp()<1.0)
|
||||
{
|
||||
data_.setGPS(lastKnownGPS_);
|
||||
}
|
||||
else if(lastKnownGPS_.stamp()>0.0)
|
||||
{
|
||||
LOGD("GPS too old (current time=%f, gps time = %f)", data_.stamp(), lastKnownGPS_.stamp());
|
||||
}
|
||||
|
||||
if(lastEnvSensors_.size())
|
||||
{
|
||||
data_.setEnvSensors(lastEnvSensors_);
|
||||
lastEnvSensors_.clear();
|
||||
}
|
||||
|
||||
|
||||
// Rotate image depending on the camera orientation
|
||||
if(colorCameraToDisplayRotation_ == ROTATION_90)
|
||||
{
|
||||
UDEBUG("ROTATION_90");
|
||||
cv::Mat rgb, depth, confidence;
|
||||
cv::Mat rgbt;
|
||||
cv::flip(data_.imageRaw(),rgb,1);
|
||||
cv::transpose(rgb,rgbt);
|
||||
rgb = rgbt;
|
||||
cv::Mat deptht;
|
||||
cv::flip(data_.depthRaw(),depth,1);
|
||||
cv::transpose(depth,deptht);
|
||||
depth = deptht;
|
||||
if(!data_.depthConfidenceRaw().empty()) {
|
||||
cv::Mat conft;
|
||||
cv::flip(data_.depthConfidenceRaw(),confidence,1);
|
||||
cv::transpose(confidence,conft);
|
||||
confidence = conft;
|
||||
}
|
||||
CameraModel model = data_.cameraModels()[0];
|
||||
cv::Size sizet(model.imageHeight(), model.imageWidth());
|
||||
model = CameraModel(
|
||||
model.fy(),
|
||||
model.fx(),
|
||||
model.cy(),
|
||||
model.cx()>0?model.imageWidth()-model.cx():0,
|
||||
model.localTransform()*rtabmap::Transform(0,-1,0,0, 1,0,0,0, 0,0,1,0));
|
||||
model.setImageSize(sizet);
|
||||
data_.setRGBDImage(rgb, depth, confidence, model);
|
||||
|
||||
std::vector<cv::KeyPoint> keypoints = data_.keypoints();
|
||||
for(size_t i=0; i<keypoints.size(); ++i)
|
||||
{
|
||||
keypoints[i].pt.x = data_.keypoints()[i].pt.y;
|
||||
keypoints[i].pt.y = rgb.rows - data_.keypoints()[i].pt.x;
|
||||
}
|
||||
data_.setFeatures(keypoints, data_.keypoints3D(), cv::Mat());
|
||||
}
|
||||
else if(colorCameraToDisplayRotation_ == ROTATION_180)
|
||||
{
|
||||
UDEBUG("ROTATION_180");
|
||||
cv::Mat rgb, depth, confidence;
|
||||
cv::flip(data_.imageRaw(),rgb,1);
|
||||
cv::flip(rgb,rgb,0);
|
||||
cv::flip(data_.depthOrRightRaw(),depth,1);
|
||||
cv::flip(depth,depth,0);
|
||||
if(!data_.depthConfidenceRaw().empty()) {
|
||||
cv::flip(data_.depthConfidenceRaw(),confidence,1);
|
||||
cv::flip(confidence,confidence,0);
|
||||
}
|
||||
CameraModel model = data_.cameraModels()[0];
|
||||
cv::Size sizet(model.imageWidth(), model.imageHeight());
|
||||
model = CameraModel(
|
||||
model.fx(),
|
||||
model.fy(),
|
||||
model.cx()>0?model.imageWidth()-model.cx():0,
|
||||
model.cy()>0?model.imageHeight()-model.cy():0,
|
||||
model.localTransform()*rtabmap::Transform(0,0,0,0,0,1,0));
|
||||
model.setImageSize(sizet);
|
||||
data_.setRGBDImage(rgb, depth, confidence, model);
|
||||
|
||||
std::vector<cv::KeyPoint> keypoints = data_.keypoints();
|
||||
for(size_t i=0; i<keypoints.size(); ++i)
|
||||
{
|
||||
keypoints[i].pt.x = rgb.cols - data_.keypoints()[i].pt.x;
|
||||
keypoints[i].pt.y = rgb.rows - data_.keypoints()[i].pt.y;
|
||||
}
|
||||
data_.setFeatures(keypoints, data_.keypoints3D(), cv::Mat());
|
||||
}
|
||||
else if(colorCameraToDisplayRotation_ == ROTATION_270)
|
||||
{
|
||||
UDEBUG("ROTATION_270");
|
||||
cv::Mat rgb, depth, confidence;
|
||||
cv::transpose(data_.imageRaw(),rgb);
|
||||
cv::flip(rgb,rgb,1);
|
||||
cv::transpose(data_.depthOrRightRaw(),depth);
|
||||
cv::flip(depth,depth,1);
|
||||
if(!data_.depthConfidenceRaw().empty()) {
|
||||
cv::transpose(data_.depthConfidenceRaw(),confidence);
|
||||
cv::flip(confidence,confidence,1);
|
||||
}
|
||||
CameraModel model = data_.cameraModels()[0];
|
||||
cv::Size sizet(model.imageHeight(), model.imageWidth());
|
||||
model = CameraModel(
|
||||
model.fy(),
|
||||
model.fx(),
|
||||
model.cy()>0?model.imageHeight()-model.cy():0,
|
||||
model.cx(),
|
||||
model.localTransform()*rtabmap::Transform(0,1,0,0, -1,0,0,0, 0,0,1,0));
|
||||
model.setImageSize(sizet);
|
||||
data_.setRGBDImage(rgb, depth, confidence, model);
|
||||
|
||||
std::vector<cv::KeyPoint> keypoints = data_.keypoints();
|
||||
for(size_t i=0; i<keypoints.size(); ++i)
|
||||
{
|
||||
keypoints[i].pt.x = rgb.cols - data_.keypoints()[i].pt.y;
|
||||
keypoints[i].pt.y = data_.keypoints()[i].pt.x;
|
||||
}
|
||||
data_.setFeatures(keypoints, data_.keypoints3D(), cv::Mat());
|
||||
}
|
||||
else
|
||||
{
|
||||
UDEBUG("ROTATION_0");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
SensorData CameraMobile::captureImage(SensorCaptureInfo * info)
|
||||
{
|
||||
SensorData data;
|
||||
bool firstFrame = true;
|
||||
bool dataGoodTracking = true;
|
||||
rtabmap::Transform dataPose;
|
||||
if(dataReady_.acquire(1, 15000))
|
||||
{
|
||||
UScopeMutex lock(dataMutex_);
|
||||
data = data_;
|
||||
dataPose = dataPose_;
|
||||
firstFrame = firstFrame_;
|
||||
dataGoodTracking = dataGoodTracking_;
|
||||
firstFrame_ = false;
|
||||
dataGoodTracking_ = true;
|
||||
data_ = SensorData();
|
||||
dataPose_.setNull();
|
||||
}
|
||||
if(data.isValid())
|
||||
{
|
||||
data.setGroundTruth(Transform());
|
||||
data.setStamp(stampEpochOffset_ + data.stamp());
|
||||
|
||||
if(info)
|
||||
{
|
||||
// linear cov = 0.0001
|
||||
info->odomCovariance = cv::Mat::eye(6,6,CV_64FC1) * (firstFrame?9999.0:0.00001);
|
||||
if(!firstFrame)
|
||||
{
|
||||
// angular cov = 0.000001
|
||||
// roll/pitch should be fairly accurate with VIO input
|
||||
info->odomCovariance.at<double>(3,3) *= 0.01; // roll
|
||||
info->odomCovariance.at<double>(4,4) *= 0.01; // pitch
|
||||
if(!dataGoodTracking)
|
||||
{
|
||||
UERROR("not good tracking!");
|
||||
// add slightly more error on translation
|
||||
// 0.001
|
||||
info->odomCovariance.at<double>(0,0) *= 10; // x
|
||||
info->odomCovariance.at<double>(1,1) *= 10; // y
|
||||
info->odomCovariance.at<double>(2,2) *= 10; // z
|
||||
info->odomCovariance.at<double>(5,5) *= 10; // yaw
|
||||
}
|
||||
}
|
||||
info->odomPose = dataPose;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
UWARN("CameraMobile::captureImage() invalid data!");
|
||||
}
|
||||
return data;
|
||||
}
|
||||
|
||||
LaserScan CameraMobile::scanFromPointCloudData(
|
||||
const cv::Mat & pointCloudData,
|
||||
const Transform & pose,
|
||||
const CameraModel & model,
|
||||
const cv::Mat & rgb,
|
||||
std::vector<cv::KeyPoint> * kpts,
|
||||
std::vector<cv::Point3f> * kpts3D,
|
||||
int kptsSize)
|
||||
{
|
||||
if(!pointCloudData.empty())
|
||||
{
|
||||
cv::Mat scanData(1, pointCloudData.cols, CV_32FC4);
|
||||
float * ptr = scanData.ptr<float>();
|
||||
const float * inPtr = pointCloudData.ptr<float>();
|
||||
int ic = pointCloudData.channels();
|
||||
UASSERT(pointCloudData.depth() == CV_32F && ic >= 3);
|
||||
|
||||
int oi = 0;
|
||||
for(unsigned int i=0;i<pointCloudData.cols; ++i)
|
||||
{
|
||||
cv::Point3f pt(inPtr[i*ic], inPtr[i*ic + 1], inPtr[i*ic + 2]);
|
||||
pt = util3d::transformPoint(pt, pose.inverse()*rtabmap_world_T_opengl_world);
|
||||
ptr[oi*4] = pt.x;
|
||||
ptr[oi*4 + 1] = pt.y;
|
||||
ptr[oi*4 + 2] = pt.z;
|
||||
|
||||
//get color from rgb image
|
||||
cv::Point3f org= pt;
|
||||
pt = util3d::transformPoint(pt, opticalRotationInv);
|
||||
if(pt.z > 0)
|
||||
{
|
||||
int u,v;
|
||||
model.reproject(pt.x, pt.y, pt.z, u, v);
|
||||
unsigned char r=255,g=255,b=255;
|
||||
if(model.inFrame(u, v))
|
||||
{
|
||||
b=rgb.at<cv::Vec3b>(v,u).val[0];
|
||||
g=rgb.at<cv::Vec3b>(v,u).val[1];
|
||||
r=rgb.at<cv::Vec3b>(v,u).val[2];
|
||||
if(kpts)
|
||||
kpts->push_back(cv::KeyPoint(u,v,kptsSize));
|
||||
if(kpts3D)
|
||||
kpts3D->push_back(org);
|
||||
|
||||
*(int*)&ptr[oi*4 + 3] = int(b) | (int(g) << 8) | (int(r) << 16);
|
||||
++oi;
|
||||
}
|
||||
}
|
||||
//confidence
|
||||
//*(int*)&ptr[i*4 + 3] = (int(pointCloudData[i*4 + 3] * 255.0f) << 8) | (int(255) << 16);
|
||||
|
||||
}
|
||||
return LaserScan::backwardCompatibility(scanData.colRange(0, oi), 0, 10, rtabmap::Transform::getIdentity());
|
||||
}
|
||||
return LaserScan();
|
||||
}
|
||||
|
||||
} /* namespace rtabmap */
|
||||
@@ -0,0 +1,169 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef CAMERAMOBILE_H_
|
||||
#define CAMERAMOBILE_H_
|
||||
|
||||
#include <rtabmap/core/Camera.h>
|
||||
#include <rtabmap/core/GeodeticCoords.h>
|
||||
#include <rtabmap/utilite/UMutex.h>
|
||||
#include <rtabmap/utilite/USemaphore.h>
|
||||
#include <rtabmap/utilite/UEventsSender.h>
|
||||
#include <rtabmap/utilite/UThread.h>
|
||||
#include <rtabmap/utilite/UEvent.h>
|
||||
#include <rtabmap/utilite/UTimer.h>
|
||||
#include <boost/thread/mutex.hpp>
|
||||
#include "util.h"
|
||||
|
||||
namespace rtabmap {
|
||||
|
||||
class CameraInfoEvent: public UEvent
|
||||
{
|
||||
public:
|
||||
CameraInfoEvent(int type, const std::string & key, const std::string & value) : type_(type), key_(key), value_(value) {}
|
||||
virtual std::string getClassName() const {return "CameraInfoEvent";}
|
||||
int type() const {return type_;}
|
||||
const std::string & key() const {return key_;}
|
||||
const std::string & value() const {return value_;}
|
||||
|
||||
private:
|
||||
int type_;
|
||||
std::string key_;
|
||||
std::string value_;
|
||||
|
||||
};
|
||||
|
||||
class PoseEvent: public UEvent
|
||||
{
|
||||
public:
|
||||
PoseEvent(const Transform & pose) : pose_(pose) {}
|
||||
virtual std::string getClassName() const {return "PoseEvent";}
|
||||
const Transform & pose() const {return pose_;}
|
||||
|
||||
private:
|
||||
Transform pose_;
|
||||
};
|
||||
|
||||
class CameraMobile : public Camera, public UEventsSender {
|
||||
public:
|
||||
static const rtabmap::Transform opticalRotation;
|
||||
static const rtabmap::Transform opticalRotationInv;
|
||||
|
||||
public:
|
||||
static LaserScan scanFromPointCloudData(
|
||||
const cv::Mat & pointCloudData,
|
||||
const Transform & pose,
|
||||
const CameraModel & model,
|
||||
const cv::Mat & rgb,
|
||||
std::vector<cv::KeyPoint> * kpts = 0,
|
||||
std::vector<cv::Point3f> * kpts3D = 0,
|
||||
int kptsSize = 3);
|
||||
|
||||
public:
|
||||
CameraMobile(float upstreamRelocalizationAccThr = 0.0f);
|
||||
virtual ~CameraMobile();
|
||||
|
||||
// abstract functions
|
||||
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
|
||||
virtual void close(); // inherited classes should call its parent at the end of their close().
|
||||
virtual std::string getSerial() const {return "CameraMobile";}
|
||||
|
||||
// original pose of device in rtabmap frame (without origin offset), stamp of the device (may be not epoch), viewMatrix in opengl frame (without origin offset)
|
||||
void update(const SensorData & data, const Transform & pose, const glm::mat4 & viewMatrix, const glm::mat4 & projectionMatrix, const float * texCoord);
|
||||
void updateOnRender();
|
||||
|
||||
void resetOrigin(const rtabmap::Transform & offset = rtabmap::Transform());
|
||||
virtual bool isCalibrated() const;
|
||||
|
||||
virtual bool odomProvided() const { return true; }
|
||||
virtual bool getPose(double epochStamp, Transform & pose, cv::Mat & covariance, double maxWaitTime = 0.06); // Return pose of device in rtabmap frame (with origin offset), stamp should be epoch time
|
||||
// original pose of device in rtabmap frame (without origin offset), stamp of the device (may be not epoch)
|
||||
void poseReceived(const Transform & pose, double deviceStamp);
|
||||
double getStampEpochOffset() const {return stampEpochOffset_;}
|
||||
|
||||
const CameraModel & getCameraModel() const {return model_;}
|
||||
const Transform & getDeviceTColorCamera() const {return deviceTColorCamera_;}
|
||||
virtual void setScreenRotationAndSize(ScreenRotation colorCameraToDisplayRotation, int width, int height) {colorCameraToDisplayRotation_ = colorCameraToDisplayRotation;}
|
||||
void setGPS(const GPS & gps);
|
||||
void addEnvSensor(int type, float value);
|
||||
|
||||
GLuint getTextureId() {return textureId_;}
|
||||
bool uvsInitialized() const {return uvs_initialized_;}
|
||||
const float* uvsTransformed() const {return transformed_uvs_;}
|
||||
void getVPMatrices(glm::mat4 & view, glm::mat4 & projection) const {view=viewMatrix_; projection=projectionMatrix_;}
|
||||
ScreenRotation getScreenRotation() const {return colorCameraToDisplayRotation_;}
|
||||
|
||||
void setOcclusionImage(const cv::Mat & image, const CameraModel & model) {occlusionModel_ = model; occlusionImage_ = image;}
|
||||
const cv::Mat & getOcclusionImage(CameraModel * model=0) const {if(model)*model=occlusionModel_; return occlusionImage_; }
|
||||
|
||||
protected:
|
||||
virtual SensorData updateDataOnRender(Transform & pose);
|
||||
|
||||
private:
|
||||
virtual SensorData captureImage(SensorCaptureInfo * info = 0);
|
||||
void postUpdate(); // Should be called while being protected by dataMutex_
|
||||
|
||||
protected:
|
||||
CameraModel model_; // local transform is the device to camera optical rotation in rtabmap frame
|
||||
Transform deviceTColorCamera_; // device to camera optical rotation in rtabmap frame
|
||||
|
||||
GLuint textureId_;
|
||||
glm::mat4 viewMatrix_;
|
||||
glm::mat4 projectionMatrix_;
|
||||
float transformed_uvs_[8];
|
||||
bool uvs_initialized_ = false;
|
||||
|
||||
private:
|
||||
bool firstFrame_;
|
||||
double stampEpochOffset_;
|
||||
ScreenRotation colorCameraToDisplayRotation_;
|
||||
GPS lastKnownGPS_;
|
||||
EnvSensors lastEnvSensors_;
|
||||
Transform originOffset_;
|
||||
bool originUpdate_;
|
||||
rtabmap::Transform manualOriginOffset_;
|
||||
float upstreamRelocalizationAccThr_;
|
||||
rtabmap::Transform previousAnchorPose_;
|
||||
std::vector<float> previousAnchorLinearVelocity_;
|
||||
double previousAnchorStamp_;
|
||||
std::map<double, std::pair<rtabmap::Transform, rtabmap::Transform> > relocalizationDebugBuffer_;
|
||||
|
||||
USemaphore dataReady_;
|
||||
UMutex dataMutex_;
|
||||
SensorData data_;
|
||||
Transform dataPose_;
|
||||
bool dataGoodTracking_;
|
||||
|
||||
UMutex poseMutex_;
|
||||
std::map<double, Transform> poseBuffer_; // <stamp, Pose>
|
||||
|
||||
cv::Mat occlusionImage_;
|
||||
CameraModel occlusionModel_;
|
||||
};
|
||||
|
||||
} /* namespace rtabmap */
|
||||
#endif /* CAMERATANGO_H_ */
|
||||
@@ -0,0 +1,880 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#include "CameraTango.h"
|
||||
#include "util.h"
|
||||
#include "rtabmap/utilite/ULogger.h"
|
||||
#include "rtabmap/core/util3d_transforms.h"
|
||||
#include "rtabmap/core/OdometryEvent.h"
|
||||
#include "rtabmap/core/util2d.h"
|
||||
#include <tango_client_api.h>
|
||||
#include <tango_support_api.h>
|
||||
#include "tango-gl/camera.h"
|
||||
|
||||
namespace rtabmap {
|
||||
|
||||
#define nullptr 0
|
||||
const int kVersionStringLength = 128;
|
||||
const int holeSize = 5;
|
||||
const float maxDepthError = 0.10;
|
||||
const int scanDownsampling = 1;
|
||||
|
||||
//android phone
|
||||
//11 10 01 00 // portrait
|
||||
//01 11 00 10 // left
|
||||
//10 00 11 01 // right
|
||||
//00 01 10 11 // down
|
||||
|
||||
const float kTextureCoords0[] = {1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 0.0, 0.0};
|
||||
const float kTextureCoords90[] = {0.0, 1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 0.0};
|
||||
const float kTextureCoords180[] = {0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 1.0, 1.0};
|
||||
const float kTextureCoords270[] = {1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 1.0};
|
||||
|
||||
// Callbacks
|
||||
void onPointCloudAvailableRouter(void* context, const TangoPointCloud* point_cloud)
|
||||
{
|
||||
CameraTango* app = static_cast<CameraTango*>(context);
|
||||
if(point_cloud->num_points>0)
|
||||
{
|
||||
app->cloudReceived(cv::Mat(1, point_cloud->num_points, CV_32FC4, point_cloud->points[0]), point_cloud->timestamp);
|
||||
}
|
||||
}
|
||||
|
||||
void onFrameAvailableRouter(void* context, TangoCameraId id, const TangoImageBuffer* color)
|
||||
{
|
||||
CameraTango* app = static_cast<CameraTango*>(context);
|
||||
|
||||
cv::Mat tangoImage;
|
||||
if(color->format == TANGO_HAL_PIXEL_FORMAT_RGBA_8888)
|
||||
{
|
||||
tangoImage = cv::Mat(color->height, color->width, CV_8UC4, color->data);
|
||||
}
|
||||
else if(color->format == TANGO_HAL_PIXEL_FORMAT_YV12)
|
||||
{
|
||||
tangoImage = cv::Mat(color->height+color->height/2, color->width, CV_8UC1, color->data);
|
||||
}
|
||||
else if(color->format == TANGO_HAL_PIXEL_FORMAT_YCrCb_420_SP)
|
||||
{
|
||||
tangoImage = cv::Mat(color->height+color->height/2, color->width, CV_8UC1, color->data);
|
||||
}
|
||||
else if(color->format == 35)
|
||||
{
|
||||
tangoImage = cv::Mat(color->height+color->height/2, color->width, CV_8UC1, color->data);
|
||||
}
|
||||
else
|
||||
{
|
||||
LOGE("Not supported color format : %d.", color->format);
|
||||
}
|
||||
|
||||
if(!tangoImage.empty())
|
||||
{
|
||||
app->rgbReceived(tangoImage, (unsigned int)color->format, color->timestamp);
|
||||
}
|
||||
}
|
||||
|
||||
void onPoseAvailableRouter(void* context, const TangoPoseData* pose)
|
||||
{
|
||||
if(pose->status_code == TANGO_POSE_VALID)
|
||||
{
|
||||
CameraTango* app = static_cast<CameraTango*>(context);
|
||||
app->poseReceived(rtabmap_world_T_tango_world * app->tangoPoseToTransform(pose) * tango_device_T_rtabmap_world, pose->timestamp);
|
||||
}
|
||||
}
|
||||
|
||||
void onTangoEventAvailableRouter(void* context, const TangoEvent* event)
|
||||
{
|
||||
CameraTango* app = static_cast<CameraTango*>(context);
|
||||
app->tangoEventReceived(event->type, event->event_key, event->event_value);
|
||||
}
|
||||
|
||||
//////////////////////////////
|
||||
// CameraTango
|
||||
//////////////////////////////
|
||||
CameraTango::CameraTango(bool colorCamera, int decimation, bool publishRawScan) :
|
||||
tango_config_(0),
|
||||
colorCamera_(colorCamera),
|
||||
decimation_(decimation),
|
||||
rawScanPublished_(publishRawScan),
|
||||
tangoColorType_(0),
|
||||
tangoColorStamp_(0)
|
||||
{
|
||||
UASSERT(decimation >= 1);
|
||||
}
|
||||
|
||||
CameraTango::~CameraTango() {
|
||||
// Disconnect Tango service
|
||||
close();
|
||||
}
|
||||
|
||||
// Compute fisheye distorted coordinates from undistorted coordinates.
|
||||
// The distortion model used by the Tango fisheye camera is called FOV and is
|
||||
// described in 'Straight lines have to be straight' by Frederic Devernay and
|
||||
// Olivier Faugeras. See https://hal.inria.fr/inria-00267247/document.
|
||||
// Tango ROS Streamer: https://github.com/Intermodalics/tango_ros/blob/master/tango_ros_common/tango_ros_native/src/tango_ros_node.cpp
|
||||
void applyFovModel(
|
||||
double xu, double yu, double w, double w_inverse, double two_tan_w_div_two,
|
||||
double* xd, double* yd) {
|
||||
double ru = sqrt(xu * xu + yu * yu);
|
||||
constexpr double epsilon = 1e-7;
|
||||
if (w < epsilon || ru < epsilon) {
|
||||
*xd = xu;
|
||||
*yd = yu ;
|
||||
} else {
|
||||
double rd_div_ru = std::atan(ru * two_tan_w_div_two) * w_inverse / ru;
|
||||
*xd = xu * rd_div_ru;
|
||||
*yd = yu * rd_div_ru;
|
||||
}
|
||||
}
|
||||
// Compute the warp maps to undistort the Tango fisheye image using the FOV
|
||||
// model. See OpenCV documentation for more information on warp maps:
|
||||
// http://docs.opencv.org/2.4/modules/imgproc/doc/geometric_transformations.html
|
||||
// Tango ROS Streamer: https://github.com/Intermodalics/tango_ros/blob/master/tango_ros_common/tango_ros_native/src/tango_ros_node.cpp
|
||||
// @param fisheyeModel the fisheye camera intrinsics.
|
||||
// @param mapX the output map for the x direction.
|
||||
// @param mapY the output map for the y direction.
|
||||
void initFisheyeRectificationMap(
|
||||
const CameraModel& fisheyeModel,
|
||||
cv::Mat & mapX, cv::Mat & mapY) {
|
||||
const double & fx = fisheyeModel.K().at<double>(0,0);
|
||||
const double & fy = fisheyeModel.K().at<double>(1,1);
|
||||
const double & cx = fisheyeModel.K().at<double>(0,2);
|
||||
const double & cy = fisheyeModel.K().at<double>(1,2);
|
||||
const double & w = fisheyeModel.D().at<double>(0,0);
|
||||
mapX.create(fisheyeModel.imageSize(), CV_32FC1);
|
||||
mapY.create(fisheyeModel.imageSize(), CV_32FC1);
|
||||
LOGD("initFisheyeRectificationMap: fx=%f fy=%f, cx=%f, cy=%f, w=%f", fx, fy, cx, cy, w);
|
||||
// Pre-computed variables for more efficiency.
|
||||
const double fy_inverse = 1.0 / fy;
|
||||
const double fx_inverse = 1.0 / fx;
|
||||
const double w_inverse = 1 / w;
|
||||
const double two_tan_w_div_two = 2.0 * std::tan(w * 0.5);
|
||||
// Compute warp maps in x and y directions.
|
||||
// OpenCV expects maps from dest to src, i.e. from undistorted to distorted
|
||||
// pixel coordinates.
|
||||
for(int iu = 0; iu < fisheyeModel.imageHeight(); ++iu) {
|
||||
for (int ju = 0; ju < fisheyeModel.imageWidth(); ++ju) {
|
||||
double xu = (ju - cx) * fx_inverse;
|
||||
double yu = (iu - cy) * fy_inverse;
|
||||
double xd, yd;
|
||||
applyFovModel(xu, yu, w, w_inverse, two_tan_w_div_two, &xd, &yd);
|
||||
double jd = cx + xd * fx;
|
||||
double id = cy + yd * fy;
|
||||
mapX.at<float>(iu, ju) = jd;
|
||||
mapY.at<float>(iu, ju) = id;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool CameraTango::init(const std::string & calibrationFolder, const std::string & cameraName)
|
||||
{
|
||||
close();
|
||||
|
||||
CameraMobile::init(calibrationFolder, cameraName);
|
||||
|
||||
TangoSupport_initialize(TangoService_getPoseAtTime, TangoService_getCameraIntrinsics);
|
||||
|
||||
// Connect to Tango
|
||||
LOGI("NativeRTABMap: Setup tango config");
|
||||
tango_config_ = TangoService_getConfig(TANGO_CONFIG_DEFAULT);
|
||||
if (tango_config_ == nullptr)
|
||||
{
|
||||
LOGE("NativeRTABMap: Failed to get default config form");
|
||||
return false;
|
||||
}
|
||||
|
||||
// Set auto-recovery for motion tracking as requested by the user.
|
||||
bool is_atuo_recovery = true;
|
||||
int ret = TangoConfig_setBool(tango_config_, "config_enable_auto_recovery", is_atuo_recovery);
|
||||
if (ret != TANGO_SUCCESS)
|
||||
{
|
||||
LOGE("NativeRTABMap: config_enable_auto_recovery() failed with error code: %d", ret);
|
||||
return false;
|
||||
}
|
||||
|
||||
if(colorCamera_)
|
||||
{
|
||||
// Enable color.
|
||||
ret = TangoConfig_setBool(tango_config_, "config_enable_color_camera", true);
|
||||
if (ret != TANGO_SUCCESS)
|
||||
{
|
||||
LOGE("NativeRTABMap: config_enable_color_camera() failed with error code: %d", ret);
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
// Enable depth.
|
||||
ret = TangoConfig_setBool(tango_config_, "config_enable_depth", true);
|
||||
if (ret != TANGO_SUCCESS)
|
||||
{
|
||||
LOGE("NativeRTABMap: config_enable_depth() failed with error code: %d", ret);
|
||||
return false;
|
||||
}
|
||||
|
||||
// Need to specify the depth_mode as XYZC.
|
||||
ret = TangoConfig_setInt32(tango_config_, "config_depth_mode", TANGO_POINTCLOUD_XYZC);
|
||||
if (ret != TANGO_SUCCESS)
|
||||
{
|
||||
LOGE("Failed to set 'depth_mode' configuration flag with error code: %d", ret);
|
||||
return false;
|
||||
}
|
||||
|
||||
// Note that it's super important for AR applications that we enable low
|
||||
// latency imu integration so that we have pose information available as
|
||||
// quickly as possible. Without setting this flag, you'll often receive
|
||||
// invalid poses when calling GetPoseAtTime for an image.
|
||||
ret = TangoConfig_setBool(tango_config_, "config_enable_low_latency_imu_integration", true);
|
||||
if (ret != TANGO_SUCCESS)
|
||||
{
|
||||
LOGE("NativeRTABMap: Failed to enable low latency imu integration.");
|
||||
return false;
|
||||
}
|
||||
|
||||
// Drift correction allows motion tracking to recover after it loses tracking.
|
||||
//
|
||||
// The drift corrected pose is is available through the frame pair with
|
||||
// base frame AREA_DESCRIPTION and target frame DEVICE.
|
||||
/*ret = TangoConfig_setBool(tango_config_, "config_enable_drift_correction", true);
|
||||
if (ret != TANGO_SUCCESS) {
|
||||
LOGE(
|
||||
"NativeRTABMap: enabling config_enable_drift_correction "
|
||||
"failed with error code: %d",
|
||||
ret);
|
||||
return false;
|
||||
}*/
|
||||
|
||||
// Get TangoCore version string from service.
|
||||
char tango_core_version[kVersionStringLength];
|
||||
ret = TangoConfig_getString(tango_config_, "tango_service_library_version", tango_core_version, kVersionStringLength);
|
||||
if (ret != TANGO_SUCCESS)
|
||||
{
|
||||
LOGE("NativeRTABMap: get tango core version failed with error code: %d", ret);
|
||||
return false;
|
||||
}
|
||||
LOGI("NativeRTABMap: Tango version : %s", tango_core_version);
|
||||
|
||||
|
||||
// Callbacks
|
||||
LOGI("NativeRTABMap: Setup callbacks");
|
||||
// Attach the OnXYZijAvailable callback.
|
||||
// The callback will be called after the service is connected.
|
||||
ret = TangoService_connectOnPointCloudAvailable(onPointCloudAvailableRouter);
|
||||
if (ret != TANGO_SUCCESS)
|
||||
{
|
||||
LOGE("NativeRTABMap: Failed to connect to point cloud callback with error code: %d", ret);
|
||||
return false;
|
||||
}
|
||||
|
||||
ret = TangoService_connectOnFrameAvailable(colorCamera_?TANGO_CAMERA_COLOR:TANGO_CAMERA_FISHEYE, this, onFrameAvailableRouter);
|
||||
if (ret != TANGO_SUCCESS)
|
||||
{
|
||||
LOGE("NativeRTABMap: Failed to connect to color callback with error code: %d", ret);
|
||||
return false;
|
||||
}
|
||||
|
||||
// Attach the onPoseAvailable callback.
|
||||
// The callback will be called after the service is connected.
|
||||
TangoCoordinateFramePair pair;
|
||||
//pair.base = TANGO_COORDINATE_FRAME_AREA_DESCRIPTION; // drift correction is enabled
|
||||
pair.base = TANGO_COORDINATE_FRAME_START_OF_SERVICE;
|
||||
pair.target = TANGO_COORDINATE_FRAME_DEVICE;
|
||||
ret = TangoService_connectOnPoseAvailable(1, &pair, onPoseAvailableRouter);
|
||||
if (ret != TANGO_SUCCESS)
|
||||
{
|
||||
LOGE("NativeRTABMap: Failed to connect to pose callback with error code: %d", ret);
|
||||
return false;
|
||||
}
|
||||
|
||||
// Attach the onEventAvailable callback.
|
||||
// The callback will be called after the service is connected.
|
||||
ret = TangoService_connectOnTangoEvent(onTangoEventAvailableRouter);
|
||||
if (ret != TANGO_SUCCESS)
|
||||
{
|
||||
LOGE("PointCloudApp: Failed to connect to event callback with error code: %d", ret);
|
||||
return false;
|
||||
}
|
||||
|
||||
// Now connect service so the callbacks above will be called
|
||||
LOGI("NativeRTABMap: Connect to tango service");
|
||||
ret = TangoService_connect(this, tango_config_);
|
||||
if (ret != TANGO_SUCCESS)
|
||||
{
|
||||
LOGE("NativeRTABMap: Failed to connect to the Tango service with error code: %d", ret);
|
||||
return false;
|
||||
}
|
||||
|
||||
// update extrinsics
|
||||
LOGI("NativeRTABMap: Update extrinsics");
|
||||
TangoPoseData pose_data;
|
||||
TangoCoordinateFramePair frame_pair;
|
||||
|
||||
// TangoService_getPoseAtTime function is used for query device extrinsics
|
||||
// as well. We use timestamp 0.0 and the target frame pair to get the
|
||||
// extrinsics from the sensors.
|
||||
//
|
||||
// Get color camera with respect to device transformation matrix.
|
||||
frame_pair.base = TANGO_COORDINATE_FRAME_DEVICE;
|
||||
frame_pair.target = colorCamera_?TANGO_COORDINATE_FRAME_CAMERA_COLOR:TANGO_COORDINATE_FRAME_CAMERA_FISHEYE;
|
||||
ret = TangoService_getPoseAtTime(0.0, frame_pair, &pose_data);
|
||||
if (ret != TANGO_SUCCESS)
|
||||
{
|
||||
LOGE("NativeRTABMap: Failed to get transform between the color camera frame and device frames");
|
||||
return false;
|
||||
}
|
||||
deviceTColorCamera_ = rtabmap::Transform(
|
||||
pose_data.translation[0],
|
||||
pose_data.translation[1],
|
||||
pose_data.translation[2],
|
||||
pose_data.orientation[0],
|
||||
pose_data.orientation[1],
|
||||
pose_data.orientation[2],
|
||||
pose_data.orientation[3]);
|
||||
deviceTColorCamera_ = rtabmap_world_T_opengl_world * deviceTColorCamera_;
|
||||
|
||||
// camera intrinsic
|
||||
TangoCameraIntrinsics color_camera_intrinsics;
|
||||
ret = TangoService_getCameraIntrinsics(colorCamera_?TANGO_CAMERA_COLOR:TANGO_CAMERA_FISHEYE, &color_camera_intrinsics);
|
||||
if (ret != TANGO_SUCCESS)
|
||||
{
|
||||
LOGE("NativeRTABMap: Failed to get the intrinsics for the color camera with error code: %d.", ret);
|
||||
return false;
|
||||
}
|
||||
|
||||
LOGD("Calibration: fx=%f fy=%f cx=%f cy=%f width=%d height=%d",
|
||||
color_camera_intrinsics.fx,
|
||||
color_camera_intrinsics.fy,
|
||||
color_camera_intrinsics.cx,
|
||||
color_camera_intrinsics.cy,
|
||||
color_camera_intrinsics.width,
|
||||
color_camera_intrinsics.height);
|
||||
|
||||
cv::Mat K = cv::Mat::eye(3, 3, CV_64FC1);
|
||||
K.at<double>(0,0) = color_camera_intrinsics.fx;
|
||||
K.at<double>(1,1) = color_camera_intrinsics.fy;
|
||||
K.at<double>(0,2) = color_camera_intrinsics.cx;
|
||||
K.at<double>(1,2) = color_camera_intrinsics.cy;
|
||||
cv::Mat D = cv::Mat::zeros(1, 5, CV_64FC1);
|
||||
LOGD("Calibration type = %d", color_camera_intrinsics.calibration_type);
|
||||
if(color_camera_intrinsics.calibration_type == TANGO_CALIBRATION_POLYNOMIAL_5_PARAMETERS ||
|
||||
color_camera_intrinsics.calibration_type == TANGO_CALIBRATION_EQUIDISTANT)
|
||||
{
|
||||
D.at<double>(0,0) = color_camera_intrinsics.distortion[0];
|
||||
D.at<double>(0,1) = color_camera_intrinsics.distortion[1];
|
||||
D.at<double>(0,2) = color_camera_intrinsics.distortion[2];
|
||||
D.at<double>(0,3) = color_camera_intrinsics.distortion[3];
|
||||
D.at<double>(0,4) = color_camera_intrinsics.distortion[4];
|
||||
}
|
||||
else if(color_camera_intrinsics.calibration_type == TANGO_CALIBRATION_POLYNOMIAL_3_PARAMETERS)
|
||||
{
|
||||
D.at<double>(0,0) = color_camera_intrinsics.distortion[0];
|
||||
D.at<double>(0,1) = color_camera_intrinsics.distortion[1];
|
||||
D.at<double>(0,2) = 0.;
|
||||
D.at<double>(0,3) = 0.;
|
||||
D.at<double>(0,4) = color_camera_intrinsics.distortion[2];
|
||||
}
|
||||
else if(color_camera_intrinsics.calibration_type == TANGO_CALIBRATION_POLYNOMIAL_2_PARAMETERS)
|
||||
{
|
||||
D.at<double>(0,0) = color_camera_intrinsics.distortion[0];
|
||||
D.at<double>(0,1) = color_camera_intrinsics.distortion[1];
|
||||
D.at<double>(0,2) = 0.;
|
||||
D.at<double>(0,3) = 0.;
|
||||
D.at<double>(0,4) = 0.;
|
||||
}
|
||||
|
||||
cv::Mat R = cv::Mat::eye(3, 3, CV_64FC1);
|
||||
cv::Mat P;
|
||||
|
||||
LOGD("Distortion params: %f, %f, %f, %f, %f", D.at<double>(0,0), D.at<double>(0,1), D.at<double>(0,2), D.at<double>(0,3), D.at<double>(0,4));
|
||||
model_ = CameraModel(colorCamera_?"color":"fisheye",
|
||||
cv::Size(color_camera_intrinsics.width, color_camera_intrinsics.height),
|
||||
K, D, R, P,
|
||||
deviceTColorCamera_);
|
||||
|
||||
if(!colorCamera_)
|
||||
{
|
||||
initFisheyeRectificationMap(model_, fisheyeRectifyMapX_, fisheyeRectifyMapY_);
|
||||
}
|
||||
|
||||
LOGI("deviceTColorCameraRtabmap =%s", deviceTColorCamera_.prettyPrint().c_str());
|
||||
return true;
|
||||
}
|
||||
|
||||
void CameraTango::close()
|
||||
{
|
||||
if(tango_config_)
|
||||
{
|
||||
TangoConfig_free(tango_config_);
|
||||
tango_config_ = nullptr;
|
||||
LOGI("TangoService_disconnect()");
|
||||
TangoService_disconnect();
|
||||
LOGI("TangoService_disconnect() done.");
|
||||
}
|
||||
fisheyeRectifyMapX_ = cv::Mat();
|
||||
fisheyeRectifyMapY_ = cv::Mat();
|
||||
|
||||
CameraMobile::close();
|
||||
}
|
||||
|
||||
void CameraTango::cloudReceived(const cv::Mat & cloud, double timestamp)
|
||||
{
|
||||
if(!cloud.empty())
|
||||
{
|
||||
//LOGD("Depth received! %fs (%d points)", timestamp, cloud.cols);
|
||||
|
||||
UASSERT(cloud.type() == CV_32FC4);
|
||||
boost::mutex::scoped_lock lock(tangoDataMutex_);
|
||||
|
||||
// From post: http://stackoverflow.com/questions/29236110/timing-issues-with-tango-image-frames
|
||||
// "In the current version of Project Tango Tablet RGB IR camera
|
||||
// is used for both depth and color images and it can only do one
|
||||
// or the other for each frame. So in the stream we get 4 RGB frames
|
||||
// followed by 1 Depth frame resulting in the pattern you observed. This
|
||||
// is more of a hardware limitation."
|
||||
//
|
||||
// So, synchronize with the last RGB frame before the Depth is acquired
|
||||
if(!tangoColor_.empty())
|
||||
{
|
||||
UTimer timer;
|
||||
double dt = fabs(timestamp - tangoColorStamp_);
|
||||
|
||||
//LOGD("Depth: %f vs %f = %f", tangoColorStamp_, timestamp, dt);
|
||||
|
||||
if(dt >= 0.0 && dt < 0.5)
|
||||
{
|
||||
bool notify = !tangoData_.isValid();
|
||||
|
||||
cv::Mat tangoImage = tangoColor_;
|
||||
cv::Mat rgb;
|
||||
double cloudStamp = timestamp;
|
||||
double rgbStamp = tangoColorStamp_;
|
||||
int tangoColorType = tangoColorType_;
|
||||
|
||||
tangoColor_ = cv::Mat();
|
||||
tangoColorStamp_ = 0.0;
|
||||
tangoColorType_ = 0;
|
||||
|
||||
LOGD("tangoColorType=%d", tangoColorType);
|
||||
if(tangoColorType == TANGO_HAL_PIXEL_FORMAT_RGBA_8888)
|
||||
{
|
||||
cv::cvtColor(tangoImage, rgb, cv::COLOR_RGBA2BGR);
|
||||
}
|
||||
else if(tangoColorType == TANGO_HAL_PIXEL_FORMAT_YV12)
|
||||
{
|
||||
cv::cvtColor(tangoImage, rgb, cv::COLOR_YUV2BGR_YV12);
|
||||
}
|
||||
else if(tangoColorType == TANGO_HAL_PIXEL_FORMAT_YCrCb_420_SP)
|
||||
{
|
||||
cv::cvtColor(tangoImage, rgb, cv::COLOR_YUV2BGR_NV21);
|
||||
}
|
||||
else if(tangoColorType == 35)
|
||||
{
|
||||
cv::cvtColor(tangoImage, rgb, cv::COLOR_YUV420sp2GRAY);
|
||||
}
|
||||
else
|
||||
{
|
||||
LOGE("Not supported color format : %d.", tangoColorType);
|
||||
tangoData_ = SensorData();
|
||||
return;
|
||||
}
|
||||
|
||||
//for(int i=0; i<rgb.cols; ++i)
|
||||
//{
|
||||
// UERROR("%d,%d,%d", (int)rgb.at<cv::Vec3b>(i)[0], (int)rgb.at<cv::Vec3b>(i)[1], (int)rgb.at<cv::Vec3b>(i)[2]);
|
||||
//}
|
||||
|
||||
CameraModel model = model_;
|
||||
|
||||
if(colorCamera_)
|
||||
{
|
||||
if(decimation_ > 1)
|
||||
{
|
||||
rgb = util2d::decimate(rgb, decimation_);
|
||||
model = model.scaled(1.0/double(decimation_));
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
//UTimer t;
|
||||
cv::Mat rgbRect;
|
||||
cv::remap(rgb, rgbRect, fisheyeRectifyMapX_, fisheyeRectifyMapY_, cv::INTER_LINEAR, cv::BORDER_CONSTANT, 0);
|
||||
rgb = rgbRect;
|
||||
//LOGD("Rectification time=%fs", t.ticks());
|
||||
}
|
||||
|
||||
// Querying the depth image's frame transformation based on the depth image's
|
||||
// timestamp.
|
||||
cv::Mat depth;
|
||||
|
||||
// Calculate the relative pose from color camera frame at timestamp
|
||||
// color_timestamp t1 and depth
|
||||
// camera frame at depth_timestamp t0.
|
||||
Transform colorToDepth;
|
||||
TangoPoseData pose_color_image_t1_T_depth_image_t0;
|
||||
if (TangoSupport_calculateRelativePose(
|
||||
rgbStamp, colorCamera_?TANGO_COORDINATE_FRAME_CAMERA_COLOR:TANGO_COORDINATE_FRAME_CAMERA_FISHEYE, cloudStamp,
|
||||
TANGO_COORDINATE_FRAME_CAMERA_DEPTH,
|
||||
&pose_color_image_t1_T_depth_image_t0) == TANGO_SUCCESS)
|
||||
{
|
||||
colorToDepth = tangoPoseToTransform(&pose_color_image_t1_T_depth_image_t0);
|
||||
}
|
||||
else
|
||||
{
|
||||
LOGE(
|
||||
"SynchronizationApplication: Could not find a valid relative pose at "
|
||||
"time for color and "
|
||||
" depth cameras.");
|
||||
}
|
||||
|
||||
if(colorToDepth.getNormSquared() > 100000)
|
||||
{
|
||||
LOGE("Very large color to depth error detected (%s)! Ignoring this frame!", colorToDepth.prettyPrint().c_str());
|
||||
colorToDepth.setNull();
|
||||
}
|
||||
cv::Mat scan;
|
||||
if(!colorToDepth.isNull())
|
||||
{
|
||||
// The Color Camera frame at timestamp t0 with respect to Depth
|
||||
// Camera frame at timestamp t1.
|
||||
//LOGD("colorToDepth=%s", colorToDepth.prettyPrint().c_str());
|
||||
LOGD("rgb=%dx%d cloud size=%d", rgb.cols, rgb.rows, (int)cloud.total());
|
||||
|
||||
int pixelsSet = 0;
|
||||
int depthSizeDec = colorCamera_?8:1;
|
||||
depth = cv::Mat::zeros(model_.imageHeight()/depthSizeDec, model_.imageWidth()/depthSizeDec, CV_16UC1); // mm
|
||||
CameraModel depthModel = model_.scaled(1.0f/float(depthSizeDec));
|
||||
std::vector<cv::Point3f> scanData(rawScanPublished_?cloud.total():0);
|
||||
int oi=0;
|
||||
int closePoints = 0;
|
||||
float closeROI[4];
|
||||
closeROI[0] = depth.cols/4;
|
||||
closeROI[1] = 3*(depth.cols/4);
|
||||
closeROI[2] = depth.rows/4;
|
||||
closeROI[3] = 3*(depth.rows/4);
|
||||
unsigned short minDepthValue=10000;
|
||||
for(unsigned int i=0; i<cloud.total(); ++i)
|
||||
{
|
||||
const float * p = cloud.ptr<float>(0,i);
|
||||
cv::Point3f pt = util3d::transformPoint(cv::Point3f(p[0], p[1], p[2]), colorToDepth);
|
||||
|
||||
if(pt.z > 0.0f && i%scanDownsampling == 0 && rawScanPublished_)
|
||||
{
|
||||
scanData.at(oi++) = pt;
|
||||
}
|
||||
|
||||
int pixel_x_l, pixel_y_l, pixel_x_h, pixel_y_h;
|
||||
// get the coordinate on image plane.
|
||||
pixel_x_l = static_cast<int>((depthModel.fx()) * (pt.x / pt.z) + depthModel.cx());
|
||||
pixel_y_l = static_cast<int>((depthModel.fy()) * (pt.y / pt.z) + depthModel.cy());
|
||||
pixel_x_h = static_cast<int>((depthModel.fx()) * (pt.x / pt.z) + depthModel.cx() + 0.5f);
|
||||
pixel_y_h = static_cast<int>((depthModel.fy()) * (pt.y / pt.z) + depthModel.cy() + 0.5f);
|
||||
unsigned short depth_value(pt.z * 1000.0f);
|
||||
|
||||
if(pixel_x_l>=closeROI[0] && pixel_x_l<closeROI[1] &&
|
||||
pixel_y_l>closeROI[2] && pixel_y_l<closeROI[3] &&
|
||||
depth_value < 600)
|
||||
{
|
||||
++closePoints;
|
||||
if(depth_value < minDepthValue)
|
||||
{
|
||||
minDepthValue = depth_value;
|
||||
}
|
||||
}
|
||||
|
||||
bool pixelSet = false;
|
||||
if(pixel_x_l>=0 && pixel_x_l<depth.cols &&
|
||||
pixel_y_l>0 && pixel_y_l<depth.rows && // ignore first line
|
||||
depth_value)
|
||||
{
|
||||
unsigned short & depthPixel = depth.at<unsigned short>(pixel_y_l, pixel_x_l);
|
||||
if(depthPixel == 0 || depthPixel > depth_value)
|
||||
{
|
||||
depthPixel = depth_value;
|
||||
pixelSet = true;
|
||||
}
|
||||
}
|
||||
if(pixel_x_h>=0 && pixel_x_h<depth.cols &&
|
||||
pixel_y_h>0 && pixel_y_h<depth.rows && // ignore first line
|
||||
depth_value)
|
||||
{
|
||||
unsigned short & depthPixel = depth.at<unsigned short>(pixel_y_h, pixel_x_h);
|
||||
if(depthPixel == 0 || depthPixel > depth_value)
|
||||
{
|
||||
depthPixel = depth_value;
|
||||
pixelSet = true;
|
||||
}
|
||||
}
|
||||
if(pixelSet)
|
||||
{
|
||||
pixelsSet += 1;
|
||||
}
|
||||
}
|
||||
|
||||
if(closePoints > 100)
|
||||
{
|
||||
this->post(new CameraInfoEvent(0, "TooClose", ""));
|
||||
}
|
||||
|
||||
if(oi)
|
||||
{
|
||||
scan = cv::Mat(1, oi, CV_32FC3, scanData.data()).clone();
|
||||
}
|
||||
//LOGD("pixels depth set= %d", pixelsSet);
|
||||
}
|
||||
else
|
||||
{
|
||||
LOGE("color to depth pose is null?!? (rgb stamp=%f) (depth stamp=%f)", rgbStamp, cloudStamp);
|
||||
}
|
||||
|
||||
if(!rgb.empty() && !depth.empty())
|
||||
{
|
||||
depth = rtabmap::util2d::fillDepthHoles(depth, holeSize, maxDepthError);
|
||||
|
||||
Transform odom = getPoseAtTimestamp(rgbStamp);
|
||||
|
||||
//LOGD("Local = %s", model.localTransform().prettyPrint().c_str());
|
||||
//LOGD("tango = %s", poseDevice.prettyPrint().c_str());
|
||||
//LOGD("opengl(t)= %s", (opengl_world_T_tango_world * poseDevice).prettyPrint().c_str());
|
||||
|
||||
// occlusion depth
|
||||
if(!depth.empty())
|
||||
{
|
||||
rtabmap::CameraModel depthModel = model.scaled(float(depth.cols) / float(model.imageWidth()));
|
||||
depthModel.setLocalTransform(odom*model.localTransform());
|
||||
this->setOcclusionImage(depth, depthModel);
|
||||
}
|
||||
|
||||
//LOGD("rtabmap = %s", odom.prettyPrint().c_str());
|
||||
//LOGD("opengl(r)= %s", (opengl_world_T_rtabmap_world * odom * rtabmap_device_T_opengl_device).prettyPrint().c_str());
|
||||
|
||||
Transform scanLocalTransform = model.localTransform();
|
||||
|
||||
if(rawScanPublished_)
|
||||
{
|
||||
tangoData_ = SensorData(LaserScan::backwardCompatibility(scan, cloud.total()/scanDownsampling, 0, scanLocalTransform), rgb, depth, model, this->getNextSeqID(), rgbStamp);
|
||||
}
|
||||
else
|
||||
{
|
||||
tangoData_ = SensorData(rgb, depth, model, this->getNextSeqID(), rgbStamp);
|
||||
}
|
||||
tangoData_.setGroundTruth(odom);
|
||||
}
|
||||
else
|
||||
{
|
||||
LOGE("Could not get depth and rgb images!?!");
|
||||
tangoData_ = SensorData();
|
||||
return;
|
||||
}
|
||||
|
||||
if(notify)
|
||||
{
|
||||
tangoDataReady_.release();
|
||||
}
|
||||
LOGD("process cloud received %fs", timer.ticks());
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void CameraTango::rgbReceived(const cv::Mat & tangoImage, int type, double timestamp)
|
||||
{
|
||||
if(!tangoImage.empty())
|
||||
{
|
||||
//LOGD("RGB received! %fs", timestamp);
|
||||
|
||||
boost::mutex::scoped_lock lock(tangoDataMutex_);
|
||||
|
||||
tangoColor_ = tangoImage.clone();
|
||||
tangoColorStamp_ = timestamp;
|
||||
tangoColorType_ = type;
|
||||
}
|
||||
}
|
||||
|
||||
void CameraTango::tangoEventReceived(int type, const char * key, const char * value)
|
||||
{
|
||||
this->post(new CameraInfoEvent(type, key, value));
|
||||
}
|
||||
|
||||
std::string CameraTango::getSerial() const
|
||||
{
|
||||
return "Tango";
|
||||
}
|
||||
|
||||
rtabmap::Transform CameraTango::tangoPoseToTransform(const TangoPoseData * tangoPose) const
|
||||
{
|
||||
UASSERT(tangoPose);
|
||||
rtabmap::Transform pose;
|
||||
|
||||
pose = rtabmap::Transform(
|
||||
tangoPose->translation[0],
|
||||
tangoPose->translation[1],
|
||||
tangoPose->translation[2],
|
||||
tangoPose->orientation[0],
|
||||
tangoPose->orientation[1],
|
||||
tangoPose->orientation[2],
|
||||
tangoPose->orientation[3]);
|
||||
|
||||
return pose;
|
||||
}
|
||||
|
||||
rtabmap::Transform CameraTango::getPoseAtTimestamp(double timestamp)
|
||||
{
|
||||
rtabmap::Transform pose;
|
||||
|
||||
TangoPoseData pose_start_service_T_device;
|
||||
TangoCoordinateFramePair frame_pair;
|
||||
frame_pair.base = TANGO_COORDINATE_FRAME_START_OF_SERVICE;
|
||||
frame_pair.target = TANGO_COORDINATE_FRAME_DEVICE;
|
||||
TangoErrorType status = TangoService_getPoseAtTime(timestamp, frame_pair, &pose_start_service_T_device);
|
||||
if (status != TANGO_SUCCESS)
|
||||
{
|
||||
LOGE(
|
||||
"PoseData: Failed to get transform between the Start of service and "
|
||||
"device frames at timestamp %lf",
|
||||
timestamp);
|
||||
}
|
||||
if (pose_start_service_T_device.status_code != TANGO_POSE_VALID)
|
||||
{
|
||||
LOGW(
|
||||
"PoseData: Failed to get transform between the Start of service and "
|
||||
"device frames at timestamp %lf",
|
||||
timestamp);
|
||||
}
|
||||
else
|
||||
{
|
||||
pose = rtabmap_world_T_tango_world * tangoPoseToTransform(&pose_start_service_T_device) * tango_device_T_rtabmap_world;
|
||||
}
|
||||
|
||||
return pose;
|
||||
}
|
||||
|
||||
SensorData CameraTango::updateDataOnRender(Transform & pose)
|
||||
{
|
||||
//LOGI("Capturing image...");
|
||||
|
||||
pose.setNull();
|
||||
if(textureId_ == 0)
|
||||
{
|
||||
glGenTextures(1, &textureId_);
|
||||
glBindTexture(GL_TEXTURE_EXTERNAL_OES, textureId_);
|
||||
glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
|
||||
glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
|
||||
glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
|
||||
glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
|
||||
}
|
||||
|
||||
// Update Texture (optional, just for first-view rendering)
|
||||
if(colorCamera_ && textureId_)
|
||||
{
|
||||
double video_overlay_timestamp;
|
||||
TangoErrorType status = TangoService_updateTextureExternalOes(TANGO_CAMERA_COLOR, textureId_, &video_overlay_timestamp);
|
||||
|
||||
if (status == TANGO_SUCCESS)
|
||||
{
|
||||
pose = getPoseAtTimestamp(video_overlay_timestamp);
|
||||
|
||||
int rotation = static_cast<int>(getScreenRotation()) + 1; // remove 90deg camera rotation
|
||||
if (rotation > 3) {
|
||||
rotation -= 4;
|
||||
}
|
||||
|
||||
TangoDoubleMatrixTransformData matrix_transform;
|
||||
status = TangoSupport_getDoubleMatrixTransformAtTime(
|
||||
video_overlay_timestamp,
|
||||
TANGO_COORDINATE_FRAME_CAMERA_COLOR,
|
||||
TANGO_COORDINATE_FRAME_START_OF_SERVICE,
|
||||
TANGO_SUPPORT_ENGINE_OPENGL,
|
||||
TANGO_SUPPORT_ENGINE_OPENGL,
|
||||
static_cast<TangoSupportRotation>(rotation),
|
||||
&matrix_transform);
|
||||
if (matrix_transform.status_code == TANGO_POSE_VALID)
|
||||
{
|
||||
// Get projection matrix
|
||||
TangoCameraIntrinsics color_camera_intrinsics;
|
||||
int ret = TangoSupport_getCameraIntrinsicsBasedOnDisplayRotation(
|
||||
TANGO_CAMERA_COLOR,
|
||||
static_cast<TangoSupportRotation>(rotation),
|
||||
&color_camera_intrinsics);
|
||||
|
||||
if (ret == TANGO_SUCCESS) {
|
||||
float image_width = static_cast<float>(color_camera_intrinsics.width);
|
||||
float image_height = static_cast<float>(color_camera_intrinsics.height);
|
||||
float fx = static_cast<float>(color_camera_intrinsics.fx);
|
||||
float fy = static_cast<float>(color_camera_intrinsics.fy);
|
||||
float cx = static_cast<float>(color_camera_intrinsics.cx);
|
||||
float cy = static_cast<float>(color_camera_intrinsics.cy);
|
||||
|
||||
viewMatrix_ = glm::make_mat4(matrix_transform.matrix);
|
||||
|
||||
projectionMatrix_ = tango_gl::Camera::ProjectionMatrixForCameraIntrinsics(
|
||||
image_width, image_height, fx, fy, cx, cy, 0.3, 50);
|
||||
|
||||
switch(rotation)
|
||||
{
|
||||
case ROTATION_90:
|
||||
memcpy(transformed_uvs_, kTextureCoords90, 8*sizeof(float));
|
||||
break;
|
||||
case ROTATION_180:
|
||||
memcpy(transformed_uvs_, kTextureCoords180, 8*sizeof(float));
|
||||
break;
|
||||
case ROTATION_270:
|
||||
memcpy(transformed_uvs_, kTextureCoords270, 8*sizeof(float));
|
||||
break;
|
||||
case ROTATION_0:
|
||||
default:
|
||||
memcpy(transformed_uvs_, kTextureCoords0, 8*sizeof(float));
|
||||
}
|
||||
uvs_initialized_ = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("TangoSupport_getCameraIntrinsicsBasedOnDisplayRotation failed!");
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("TangoSupport_getDoubleMatrixTransformAtTime failed!");
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("TangoService_updateTextureExternalOes failed!");
|
||||
}
|
||||
}
|
||||
|
||||
SensorData data;
|
||||
if(tangoDataReady_.acquireTry(1))
|
||||
{
|
||||
boost::mutex::scoped_lock lock(tangoDataMutex_);
|
||||
data = tangoData_;
|
||||
tangoData_ = SensorData();
|
||||
pose = data.groundTruth();
|
||||
data.setGroundTruth(Transform());
|
||||
}
|
||||
return data;
|
||||
|
||||
}
|
||||
|
||||
} /* namespace rtabmap */
|
||||
@@ -0,0 +1,84 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef CAMERATANGO_H_
|
||||
#define CAMERATANGO_H_
|
||||
|
||||
#include "CameraMobile.h"
|
||||
#include <rtabmap/core/Camera.h>
|
||||
#include <rtabmap/core/GeodeticCoords.h>
|
||||
#include <rtabmap/utilite/UMutex.h>
|
||||
#include <rtabmap/utilite/USemaphore.h>
|
||||
#include <rtabmap/utilite/UEventsSender.h>
|
||||
#include <rtabmap/utilite/UThread.h>
|
||||
#include <rtabmap/utilite/UEvent.h>
|
||||
#include <rtabmap/utilite/UTimer.h>
|
||||
#include <boost/thread/mutex.hpp>
|
||||
#include <tango_client_api.h>
|
||||
#include <tango_support_api.h>
|
||||
|
||||
namespace rtabmap {
|
||||
|
||||
class CameraTango : public CameraMobile {
|
||||
public:
|
||||
CameraTango(bool colorCamera, int decimation, bool publishRawScan);
|
||||
virtual ~CameraTango();
|
||||
|
||||
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
|
||||
virtual void close(); // close Tango connection
|
||||
virtual std::string getSerial() const;
|
||||
rtabmap::Transform tangoPoseToTransform(const TangoPoseData * tangoPose) const;
|
||||
void setDecimation(int value) {decimation_ = value;}
|
||||
void setRawScanPublished(bool enabled) {rawScanPublished_ = enabled;}
|
||||
|
||||
void cloudReceived(const cv::Mat & cloud, double timestamp);
|
||||
void rgbReceived(const cv::Mat & tangoImage, int type, double timestamp);
|
||||
void tangoEventReceived(int type, const char * key, const char * value);
|
||||
|
||||
protected:
|
||||
virtual SensorData updateDataOnRender(Transform & pose);
|
||||
|
||||
private:
|
||||
rtabmap::Transform getPoseAtTimestamp(double timestamp);
|
||||
|
||||
private:
|
||||
void * tango_config_;
|
||||
bool colorCamera_;
|
||||
int decimation_;
|
||||
bool rawScanPublished_;
|
||||
SensorData tangoData_;
|
||||
cv::Mat tangoColor_;
|
||||
int tangoColorType_;
|
||||
double tangoColorStamp_;
|
||||
boost::mutex tangoDataMutex_;
|
||||
USemaphore tangoDataReady_;
|
||||
cv::Mat fisheyeRectifyMapX_;
|
||||
cv::Mat fisheyeRectifyMapY_;
|
||||
};
|
||||
|
||||
} /* namespace rtabmap */
|
||||
#endif /* CAMERATANGO_H_ */
|
||||
@@ -0,0 +1,65 @@
|
||||
/*
|
||||
Copyright (c) 2010-2025, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef MEASURE_H_
|
||||
#define MEASURE_H_
|
||||
|
||||
#include <opencv2/opencv.hpp>
|
||||
|
||||
class Measure
|
||||
{
|
||||
public:
|
||||
Measure(
|
||||
const cv::Point3f & pt1,
|
||||
const cv::Point3f & pt2,
|
||||
const cv::Vec3f & n1,
|
||||
const cv::Vec3f & n2) :
|
||||
pt1_(pt1),
|
||||
pt2_(pt2),
|
||||
n1_(n1),
|
||||
n2_(n2)
|
||||
{
|
||||
length_ = cv::norm(pt2_ - pt1_);
|
||||
}
|
||||
virtual ~Measure() {}
|
||||
|
||||
float length() const {return length_;}
|
||||
const cv::Point3f & pt1() const {return pt1_;}
|
||||
const cv::Point3f & pt2() const {return pt2_;}
|
||||
const cv::Vec3f & n1() const {return n1_;}
|
||||
const cv::Vec3f & n2() const {return n2_;}
|
||||
|
||||
private:
|
||||
cv::Point3f pt1_;
|
||||
cv::Point3f pt2_;
|
||||
cv::Vec3f n1_;
|
||||
cv::Vec3f n2_;
|
||||
float length_;
|
||||
};
|
||||
|
||||
|
||||
#endif /* MEASURE_H_ */
|
||||
@@ -0,0 +1,155 @@
|
||||
/*
|
||||
* ProgressionStatus.h
|
||||
*
|
||||
* Created on: Feb 28, 2017
|
||||
* Author: mathieu
|
||||
*/
|
||||
|
||||
#ifndef APP_ANDROID_JNI_PROGRESSIONSTATUS_H_
|
||||
#define APP_ANDROID_JNI_PROGRESSIONSTATUS_H_
|
||||
|
||||
#include <rtabmap/core/ProgressState.h>
|
||||
#include <rtabmap/utilite/ULogger.h>
|
||||
#include <rtabmap/utilite/UEventsManager.h>
|
||||
#ifdef __ANDROID__
|
||||
#include <jni.h>
|
||||
#endif
|
||||
|
||||
namespace rtabmap {
|
||||
|
||||
class ProgressEvent : public UEvent
|
||||
{
|
||||
public:
|
||||
ProgressEvent(int count = 1) : count_(count){}
|
||||
virtual std::string getClassName() const {return "ProgressEvent";}
|
||||
|
||||
int count_;
|
||||
};
|
||||
|
||||
class ProgressionStatus: public ProgressState, public UEventsHandler
|
||||
{
|
||||
public:
|
||||
ProgressionStatus() : count_(0), max_(100)
|
||||
#ifdef __ANDROID__
|
||||
, jvm_(0), rtabmap_(0)
|
||||
#else
|
||||
, swiftClassPtr_(0)
|
||||
#endif
|
||||
{
|
||||
registerToEventsManager();
|
||||
}
|
||||
|
||||
#ifdef __ANDROID__
|
||||
void setJavaObjects(JavaVM * jvm, jobject rtabmap)
|
||||
{
|
||||
jvm_ = jvm;
|
||||
rtabmap_ = rtabmap;
|
||||
}
|
||||
#else
|
||||
void setSwiftCallback(void * classPtr, void(*callback)(void *, int, int))
|
||||
{
|
||||
swiftClassPtr_ = classPtr;
|
||||
swiftCallback = callback;
|
||||
}
|
||||
#endif
|
||||
|
||||
void reset(int max)
|
||||
{
|
||||
count_=-1;
|
||||
max_ = max;
|
||||
setCanceled(false);
|
||||
|
||||
increment();
|
||||
}
|
||||
|
||||
void setMax(int max)
|
||||
{
|
||||
max_ = max;
|
||||
}
|
||||
int getMax() const {return max_;}
|
||||
|
||||
void increment(int count = 1) const
|
||||
{
|
||||
UEventsManager::post(new ProgressEvent(count));
|
||||
}
|
||||
|
||||
void finish()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
virtual bool callback(const std::string & msg) const
|
||||
{
|
||||
if(!isCanceled())
|
||||
{
|
||||
increment();
|
||||
}
|
||||
|
||||
return ProgressState::callback(msg);
|
||||
}
|
||||
virtual ~ProgressionStatus(){}
|
||||
|
||||
protected:
|
||||
virtual bool handleEvent(UEvent * event)
|
||||
{
|
||||
if(event->getClassName().compare("ProgressEvent") == 0)
|
||||
{
|
||||
count_ += ((ProgressEvent*)event)->count_;
|
||||
// Call JAVA callback
|
||||
bool success = false;
|
||||
#ifdef __ANDROID__
|
||||
if(jvm_ && rtabmap_)
|
||||
{
|
||||
JNIEnv *env = 0;
|
||||
jint rs = jvm_->AttachCurrentThread(&env, NULL);
|
||||
if(rs == JNI_OK && env)
|
||||
{
|
||||
jclass clazz = env->GetObjectClass(rtabmap_);
|
||||
if(clazz)
|
||||
{
|
||||
jmethodID methodID = env->GetMethodID(clazz, "updateProgressionCallback", "(II)V" );
|
||||
if(methodID)
|
||||
{
|
||||
env->CallVoidMethod(rtabmap_, methodID,
|
||||
count_,
|
||||
max_);
|
||||
success = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
jvm_->DetachCurrentThread();
|
||||
}
|
||||
#else // APPLE
|
||||
if(swiftClassPtr_)
|
||||
{
|
||||
std::function<void()> actualCallback = [&](){
|
||||
swiftCallback(swiftClassPtr_, count_, max_);
|
||||
};
|
||||
actualCallback();
|
||||
success = true;
|
||||
}
|
||||
#endif
|
||||
if(!success)
|
||||
{
|
||||
UERROR("Failed to call rtabmap::updateProgressionCallback");
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
private:
|
||||
int count_;
|
||||
int max_;
|
||||
#ifdef __ANDROID__
|
||||
JavaVM *jvm_;
|
||||
jobject rtabmap_;
|
||||
#else
|
||||
void * swiftClassPtr_;
|
||||
void(*swiftCallback)(void *, int, int);
|
||||
#endif
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
|
||||
#endif /* APP_ANDROID_JNI_PROGRESSIONSTATUS_H_ */
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,348 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef RTABMAP_APP_H_
|
||||
#define RTABMAP_APP_H_
|
||||
|
||||
#ifdef __ANDROID__
|
||||
#include <jni.h>
|
||||
#endif
|
||||
#include <memory>
|
||||
|
||||
#include <tango-gl/util.h>
|
||||
|
||||
#include "scene.h"
|
||||
#include "CameraMobile.h"
|
||||
#include "util.h"
|
||||
#include "ProgressionStatus.h"
|
||||
|
||||
#include <rtabmap/core/SensorCaptureThread.h>
|
||||
#include <rtabmap/core/RtabmapThread.h>
|
||||
#include <rtabmap/core/SensorEvent.h>
|
||||
#include <rtabmap/utilite/UEventsHandler.h>
|
||||
#include <boost/thread/mutex.hpp>
|
||||
#include <pcl/pcl_base.h>
|
||||
#include <pcl/TextureMesh.h>
|
||||
|
||||
#include "Measure.h"
|
||||
|
||||
// RTABMapApp handles the application lifecycle and resources.
|
||||
class RTABMapApp : public UEventsHandler {
|
||||
public:
|
||||
// Constructor and deconstructor.
|
||||
#ifdef __ANDROID__
|
||||
RTABMapApp(JNIEnv* env, jobject caller_activity);
|
||||
#else // __APPLE__
|
||||
RTABMapApp();
|
||||
void setupSwiftCallbacks(void * classPtr,
|
||||
void(*progressCallback)(void *, int, int),
|
||||
void(*initCallback)(void *, int, const char*),
|
||||
void(*statsUpdatedCallback)(void *,
|
||||
int, int, int, int,
|
||||
float,
|
||||
int, int, int, int, int ,int,
|
||||
float,
|
||||
int,
|
||||
float,
|
||||
int,
|
||||
float, float, float, float,
|
||||
int, int,
|
||||
float, float, float, float, float, float),
|
||||
void(*cameraInfoCallback)(void *, int, const char*, const char*));
|
||||
|
||||
#endif
|
||||
~RTABMapApp();
|
||||
|
||||
void setScreenRotation(int displayRotation, int cameraRotation);
|
||||
|
||||
int openDatabase(const std::string & databasePath, bool databaseInMemory, bool optimize, bool clearDatabase);
|
||||
|
||||
bool isBuiltWith(int cameraDriver) const;
|
||||
#ifdef __ANDROID__
|
||||
bool startCamera(JNIEnv* env, jobject iBinder, jobject context, jobject activity, int driver);
|
||||
#else // __APPLE__
|
||||
bool startCamera();
|
||||
#endif
|
||||
// Allocate OpenGL resources for rendering, mainly for initializing the Scene.
|
||||
void InitializeGLContent();
|
||||
|
||||
// Setup the view port width and height.
|
||||
void SetViewPort(int width, int height);
|
||||
|
||||
// Main render loop.
|
||||
int Render();
|
||||
|
||||
void stopCamera();
|
||||
|
||||
// Set render camera's viewing angle, first person, third person or top down.
|
||||
//
|
||||
// @param: camera_type, camera type includes first person, third person and
|
||||
// top down
|
||||
void SetCameraType(tango_gl::GestureCamera::CameraType camera_type);
|
||||
|
||||
// Touch event passed from android activity. This function only supports two
|
||||
// touches.
|
||||
//
|
||||
// @param: touch_count, total count for touches.
|
||||
// @param: event, touch event of current touch.
|
||||
// @param: x0, normalized touch location for touch 0 on x axis.
|
||||
// @param: y0, normalized touch location for touch 0 on y axis.
|
||||
// @param: x1, normalized touch location for touch 1 on x axis.
|
||||
// @param: y1, normalized touch location for touch 1 on y axis.
|
||||
void OnTouchEvent(int touch_count, tango_gl::GestureCamera::TouchEvent event,
|
||||
float x0, float y0, float x1, float y1);
|
||||
|
||||
void setPausedMapping(bool paused);
|
||||
void setOnlineBlending(bool enabled);
|
||||
void setMapCloudShown(bool shown);
|
||||
void setOdomCloudShown(bool shown);
|
||||
void setMeshRendering(bool enabled, bool withTexture);
|
||||
void setPointSize(float value);
|
||||
void setFOV(float angle);
|
||||
void setOrthoCropFactor(float value);
|
||||
void setGridRotation(float value);
|
||||
void setLighting(bool enabled);
|
||||
void setBackfaceCulling(bool enabled);
|
||||
void setWireframe(bool enabled);
|
||||
void setTextureColorSeamsHidden(bool hidden);
|
||||
void setLocalizationMode(bool enabled);
|
||||
void setTrajectoryMode(bool enabled);
|
||||
void setGraphOptimization(bool enabled);
|
||||
void setNodesFiltering(bool enabled);
|
||||
void setGraphVisible(bool visible);
|
||||
void setGridVisible(bool visible);
|
||||
void setRawScanSaved(bool enabled);
|
||||
void setCameraColor(bool enabled);
|
||||
void setFullResolution(bool enabled);
|
||||
void setSmoothing(bool enabled);
|
||||
void setDepthBleedingError(float value);
|
||||
void setDepthFromMotion(bool enabled);
|
||||
void setAppendMode(bool enabled);
|
||||
void setUpstreamRelocalizationAccThr(float value);
|
||||
void setDataRecorderMode(bool enabled);
|
||||
void setMaxCloudDepth(float value);
|
||||
void setMinCloudDepth(float value);
|
||||
void setCloudDensityLevel(int value);
|
||||
void setMeshAngleTolerance(float value);
|
||||
void setMeshDecimationFactor(float value);
|
||||
void setMeshTriangleSize(int value);
|
||||
void setClusterRatio(float value);
|
||||
void setMaxGainRadius(float value);
|
||||
void setRenderingTextureDecimation(int value);
|
||||
void setBackgroundColor(float gray);
|
||||
void setDepthConfidence(int value);
|
||||
void setExportPointCloudFormat(const std::string & format);
|
||||
int setMappingParameter(const std::string & key, const std::string & value);
|
||||
void setGPS(const rtabmap::GPS & gps);
|
||||
void addEnvSensor(int type, float value);
|
||||
|
||||
void save(const std::string & databasePath);
|
||||
bool recover(const std::string & from, const std::string & to);
|
||||
void cancelProcessing();
|
||||
bool exportMesh(
|
||||
float cloudVoxelSize,
|
||||
bool regenerateCloud,
|
||||
bool meshing,
|
||||
int textureSize,
|
||||
int textureCount,
|
||||
int normalK,
|
||||
bool optimized,
|
||||
float optimizedVoxelSize,
|
||||
int optimizedDepth,
|
||||
int optimizedMaxPolygons,
|
||||
float optimizedColorRadius,
|
||||
bool optimizedCleanWhitePolygons,
|
||||
int optimizedMinClusterSize,
|
||||
float optimizedMaxTextureDistance,
|
||||
int optimizedMinTextureClusterSize,
|
||||
int textureVertexColorPolicy,
|
||||
bool blockRendering);
|
||||
bool postExportation(bool visualize);
|
||||
bool writeExportedMesh(const std::string & directory, const std::string & name);
|
||||
int postProcessing(int approach);
|
||||
void clearMeasures();
|
||||
void showMeasures(bool x, bool y, bool z, bool custom);
|
||||
void setMeasuringMode(int mode);
|
||||
void addMeasureButtonClicked();
|
||||
void teleportButtonClicked();
|
||||
void removeMeasure();
|
||||
void setMetricSystem(bool enabled);
|
||||
void setMeasuringTextSize(float size);
|
||||
|
||||
void postOdometryEvent(
|
||||
rtabmap::Transform pose,
|
||||
float rgb_fx, float rgb_fy, float rgb_cx, float rgb_cy,
|
||||
float depth_fx, float depth_fy, float depth_cx, float depth_cy,
|
||||
const rtabmap::Transform & rgbFrame,
|
||||
const rtabmap::Transform & depthFrame,
|
||||
double stamp,
|
||||
double depthStamp,
|
||||
const void * yPlane, const void * uPlane, const void * vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
|
||||
const void * depth, int depthLen, int depthWidth, int depthHeight, int depthFormat,
|
||||
const void * conf, int confLen, int confWidth, int confHeight, int confFormat,
|
||||
const float * points, int pointsLen, int pointsChannels,
|
||||
rtabmap::Transform viewMatrix, //view matrix
|
||||
float p00, float p11, float p02, float p12, float p22, float p32, float p23, // projection matrix
|
||||
float t0, float t1, float t2, float t3, float t4, float t5, float t6, float t7); // tex coord
|
||||
|
||||
protected:
|
||||
virtual bool handleEvent(UEvent * event);
|
||||
|
||||
private:
|
||||
int updateMeshDecimation(int width, int height);
|
||||
rtabmap::ParametersMap getRtabmapParameters();
|
||||
void updateMeasuringState();
|
||||
bool smoothMesh(int id, rtabmap::Mesh & mesh);
|
||||
void gainCompensation(bool full = false);
|
||||
std::vector<pcl::Vertices> filterOrganizedPolygons(const std::vector<pcl::Vertices> & polygons, int cloudSize) const;
|
||||
std::vector<pcl::Vertices> filterPolygons(const std::vector<pcl::Vertices> & polygons, int cloudSize) const;
|
||||
|
||||
private:
|
||||
int cameraDriver_;
|
||||
rtabmap::CameraMobile * camera_;
|
||||
rtabmap::SensorCaptureThread * sensorCaptureThread_;
|
||||
rtabmap::RtabmapThread * rtabmapThread_;
|
||||
rtabmap::Rtabmap * rtabmap_;
|
||||
rtabmap::LogHandler * logHandler_;
|
||||
|
||||
bool odomCloudShown_;
|
||||
bool graphOptimization_;
|
||||
bool nodesFiltering_;
|
||||
bool localizationMode_;
|
||||
bool trajectoryMode_;
|
||||
bool rawScanSaved_;
|
||||
bool smoothing_;
|
||||
float depthBleedingError_;
|
||||
bool depthFromMotion_;
|
||||
bool cameraColor_;
|
||||
bool fullResolution_;
|
||||
bool appendMode_;
|
||||
bool useExternalLidar_;
|
||||
float maxCloudDepth_;
|
||||
float minCloudDepth_;
|
||||
int cloudDensityLevel_;
|
||||
int meshTrianglePix_;
|
||||
float meshAngleToleranceDeg_;
|
||||
float meshDecimationFactor_;
|
||||
float clusterRatio_;
|
||||
float maxGainRadius_;
|
||||
int renderingTextureDecimation_;
|
||||
float backgroundColor_;
|
||||
unsigned char depthConfidence_;
|
||||
float upstreamRelocalizationMaxAcc_;
|
||||
std::string exportPointCloudFormat_;
|
||||
|
||||
rtabmap::ParametersMap mappingParameters_;
|
||||
|
||||
bool dataRecorderMode_;
|
||||
bool clearSceneOnNextRender_;
|
||||
bool openingDatabase_;
|
||||
bool exporting_;
|
||||
bool postProcessing_;
|
||||
bool filterPolygonsOnNextRender_;
|
||||
int gainCompensationOnNextRender_;
|
||||
bool bilateralFilteringOnNextRender_;
|
||||
bool takeScreenshotOnNextRender_;
|
||||
bool cameraJustInitialized_;
|
||||
int totalPoints_;
|
||||
int totalPolygons_;
|
||||
int lastDrawnCloudsCount_;
|
||||
float renderingTime_;
|
||||
double lastPostRenderEventTime_;
|
||||
double lastPoseEventTime_;
|
||||
std::map<std::string, float> bufferedStatsData_;
|
||||
|
||||
bool visualizingMesh_;
|
||||
bool exportedMeshUpdated_;
|
||||
pcl::TextureMesh::Ptr optTextureMesh_;
|
||||
cv::Mat optTexture_;
|
||||
rtabmap::Mesh optMesh_;
|
||||
int optRefId_;
|
||||
rtabmap::Transform * optRefPose_; // App crashes when loading native library if not dynamic
|
||||
std::list<Measure> measures_; // In opengl frame
|
||||
bool measuresUpdated_;
|
||||
bool metricSystem_;
|
||||
float measuringTextSize_;
|
||||
float snapAxisThr_;
|
||||
std::vector<cv::Vec3f> snapAxes_;
|
||||
int measuringMode_;
|
||||
bool addMeasureClicked_;
|
||||
bool teleportClicked_;
|
||||
bool removeMeasureClicked_;
|
||||
std::vector<cv::Point3f> measuringTmpPts_; // In opengl frame
|
||||
std::vector<cv::Point3f> measuringTmpNormals_; // In opengl frame
|
||||
pcl::PointCloud<pcl::PointXYZRGB>::Ptr targetPoint_;
|
||||
pcl::PointCloud<pcl::PointXYZ>::Ptr quadSample_;
|
||||
std::vector<pcl::Vertices> quadSamplePolygons_;
|
||||
// main_scene_ includes all drawable object for visualizing Tango device's
|
||||
// movement and point cloud.
|
||||
Scene main_scene_;
|
||||
|
||||
UTimer fpsTime_;
|
||||
|
||||
std::list<rtabmap::RtabmapEvent*> rtabmapEvents_;
|
||||
std::list<rtabmap::SensorEvent> sensorEvents_;
|
||||
std::list<rtabmap::Transform> poseEvents_;
|
||||
|
||||
rtabmap::Transform mapToOdom_;
|
||||
|
||||
boost::mutex cameraMutex_;
|
||||
boost::mutex rtabmapMutex_;
|
||||
boost::mutex meshesMutex_;
|
||||
boost::mutex sensorMutex_;
|
||||
boost::mutex poseMutex_;
|
||||
boost::mutex renderingMutex_;
|
||||
|
||||
USemaphore screenshotReady_;
|
||||
|
||||
std::map<int, rtabmap::Mesh> createdMeshes_;
|
||||
std::map<int, rtabmap::Transform> rawPoses_;
|
||||
|
||||
std::pair<rtabmap::RtabmapEventInit::Status, std::string> status_;
|
||||
|
||||
rtabmap::ProgressionStatus progressionStatus_;
|
||||
|
||||
#ifndef __ANDROID__
|
||||
void * swiftClassPtr_;
|
||||
void(*swiftInitCallback)(void *, int, const char *);
|
||||
void(*swiftStatsUpdatedCallback)(void *,
|
||||
int, int, int, int,
|
||||
float,
|
||||
int, int, int, int, int ,int,
|
||||
float,
|
||||
int,
|
||||
float,
|
||||
int,
|
||||
float, float, float, float,
|
||||
int, int,
|
||||
float, float, float, float, float, float);
|
||||
void(*swiftCameraInfoEventCallback)(void *, int, const char *, const char *);
|
||||
|
||||
#endif
|
||||
};
|
||||
|
||||
#endif // TANGO_POINT_CLOUD_POINT_CLOUD_APP_H_
|
||||
@@ -0,0 +1,210 @@
|
||||
/*
|
||||
* Copyright 2018 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.
|
||||
*/
|
||||
|
||||
// This modules handles drawing the passthrough camera image into the OpenGL
|
||||
// scene.
|
||||
|
||||
#include "background_renderer.h"
|
||||
|
||||
#include <type_traits>
|
||||
|
||||
namespace {
|
||||
|
||||
const std::string kVertexShader =
|
||||
"attribute vec4 a_Position;\n"
|
||||
"attribute vec2 a_TexCoord;\n"
|
||||
|
||||
"varying vec2 v_TexCoord;\n"
|
||||
|
||||
"void main() {\n"
|
||||
" gl_Position = a_Position;\n"
|
||||
" v_TexCoord = a_TexCoord;\n"
|
||||
"}\n";
|
||||
|
||||
const std::string kFragmentShaderOES =
|
||||
"#extension GL_OES_EGL_image_external : require\n"
|
||||
"precision mediump float;\n"
|
||||
"varying vec2 v_TexCoord;\n"
|
||||
"uniform samplerExternalOES sTexture;\n"
|
||||
"uniform bool uRedUnknown;\n"
|
||||
"void main() {\n"
|
||||
" vec4 sample = texture2D(sTexture, v_TexCoord);\n"
|
||||
" float grey = 0.21 * sample.r + 0.71 * sample.g + 0.07 * sample.b;\n"
|
||||
" gl_FragColor = vec4(grey, uRedUnknown?0.0:grey, uRedUnknown?0.0:grey, 0.5);\n"
|
||||
"}\n";
|
||||
|
||||
const std::string kFragmentShaderBlendingOES =
|
||||
"#extension GL_OES_EGL_image_external : require\n"
|
||||
"precision mediump float;\n"
|
||||
"varying vec2 v_TexCoord;\n"
|
||||
"uniform samplerExternalOES sTexture;\n"
|
||||
"uniform sampler2D uDepthTexture;\n"
|
||||
"uniform vec2 uScreenScale;\n"
|
||||
"uniform bool uRedUnknown;\n"
|
||||
"void main() {\n"
|
||||
" vec4 sample = texture2D(sTexture, v_TexCoord);\n"
|
||||
" vec2 coord = uScreenScale * gl_FragCoord.xy;\n;"
|
||||
" vec4 depthPacked = texture2D(uDepthTexture, coord);\n"
|
||||
" float depth = dot(depthPacked, 1./vec4(1.,255.,65025.,16581375.));\n"
|
||||
" if(depth > 0.0)\n"
|
||||
" gl_FragColor = vec4(sample.r, sample.g, sample.b, 0.5);\n"
|
||||
" else {\n"
|
||||
" float grey = 0.21 * sample.r + 0.71 * sample.g + 0.07 * sample.b;\n"
|
||||
" gl_FragColor = vec4(grey, uRedUnknown?0.0:grey, uRedUnknown?0.0:grey, 0.5);\n"
|
||||
" }\n"
|
||||
"}\n";
|
||||
|
||||
const std::string kFragmentShader =
|
||||
"precision mediump float;\n"
|
||||
"varying vec2 v_TexCoord;\n"
|
||||
"uniform sampler2D sTexture;\n"
|
||||
"uniform bool uRedUnknown;\n"
|
||||
"void main() {\n"
|
||||
" vec4 sample = texture2D(sTexture, v_TexCoord);\n"
|
||||
" float grey = 0.21 * sample.r + 0.71 * sample.g + 0.07 * sample.b;\n"
|
||||
" gl_FragColor = vec4(grey, uRedUnknown?0.0:grey, uRedUnknown?0.0:grey, 0.5);\n"
|
||||
"}\n";
|
||||
|
||||
const std::string kFragmentShaderBlending =
|
||||
"precision mediump float;\n"
|
||||
"varying vec2 v_TexCoord;\n"
|
||||
"uniform sampler2D sTexture;\n"
|
||||
"uniform sampler2D uDepthTexture;\n"
|
||||
"uniform vec2 uScreenScale;\n"
|
||||
"uniform bool uRedUnknown;\n"
|
||||
"void main() {\n"
|
||||
" vec4 sample = texture2D(sTexture, v_TexCoord);\n"
|
||||
" vec2 coord = uScreenScale * gl_FragCoord.xy;\n;"
|
||||
" vec4 depthPacked = texture2D(uDepthTexture, coord);\n"
|
||||
" float depth = dot(depthPacked, 1./vec4(1.,255.,65025.,16581375.));\n"
|
||||
" if(depth > 0.0)\n"
|
||||
" gl_FragColor = vec4(sample.r, sample.g, sample.b, 0.5);\n"
|
||||
" else {\n"
|
||||
" float grey = 0.21 * sample.r + 0.71 * sample.g + 0.07 * sample.b;\n"
|
||||
" gl_FragColor = vec4(grey, uRedUnknown?0.0:grey, uRedUnknown?0.0:grey, 0.5);\n"
|
||||
" }\n"
|
||||
"}\n";
|
||||
|
||||
/* To debug depth texture
|
||||
const std::string kFragmentShader =
|
||||
"precision mediump float;\n"
|
||||
"varying vec2 v_TexCoord;\n"
|
||||
"uniform sampler2D sTexture;\n"
|
||||
|
||||
"void main() {\n"
|
||||
" float uNearZ = 0.2;\n"
|
||||
" float uFarZ = 1000.0;\n"
|
||||
" float depth = texture2D(sTexture, v_TexCoord).r;\n"
|
||||
" float num = (2.0 * uNearZ * uFarZ);\n"
|
||||
" float diff = (uFarZ - uNearZ);\n"
|
||||
" float add = (uFarZ + uNearZ);\n"
|
||||
" float ndcDepth = depth * 2.0 - 1.0;\n" // Back to NDC
|
||||
" float linearDepth = num / (add - ndcDepth * diff);\n" // inverse projection matrix
|
||||
" float grey = linearDepth/3.0;\n"
|
||||
" gl_FragColor = vec4(grey, grey, grey, 0.5);\n"
|
||||
"}\n";
|
||||
*/
|
||||
|
||||
} // namespace
|
||||
|
||||
std::vector<GLuint> BackgroundRenderer::shaderPrograms_;
|
||||
|
||||
BackgroundRenderer::~BackgroundRenderer()
|
||||
{
|
||||
for(unsigned int i=0; i<shaderPrograms_.size(); ++i)
|
||||
{
|
||||
glDeleteShader(shaderPrograms_[i]);
|
||||
}
|
||||
shaderPrograms_.clear();
|
||||
}
|
||||
|
||||
void BackgroundRenderer::InitializeGlContent(GLuint textureId, bool oes)
|
||||
{
|
||||
LOGI("textureId=%d", textureId);
|
||||
|
||||
texture_id_ = textureId;
|
||||
#ifdef __ANDROID__
|
||||
oes_ = oes;
|
||||
#endif
|
||||
|
||||
if(shaderPrograms_.empty())
|
||||
{
|
||||
shaderPrograms_.resize(2,0);
|
||||
shaderPrograms_[0] = tango_gl::util::CreateProgram(
|
||||
kVertexShader.c_str(),
|
||||
oes_?kFragmentShaderOES.c_str():kFragmentShader.c_str());
|
||||
UASSERT(shaderPrograms_[0]!=0);
|
||||
shaderPrograms_[1] = tango_gl::util::CreateProgram(
|
||||
kVertexShader.c_str(),
|
||||
oes_?kFragmentShaderBlendingOES.c_str():kFragmentShaderBlending.c_str());
|
||||
UASSERT(shaderPrograms_[1]!=0);
|
||||
}
|
||||
}
|
||||
|
||||
void BackgroundRenderer::Draw(const float * transformed_uvs, const GLuint & depthTexture, int screenWidth, int screenHeight, bool redUnknown) {
|
||||
static_assert(std::extent<decltype(BackgroundRenderer_kVerticesDevice)>::value == kNumVertices * 2, "Incorrect kVertices length");
|
||||
|
||||
GLuint program = shaderPrograms_[depthTexture>0?1:0];
|
||||
|
||||
glUseProgram(program);
|
||||
glDepthMask(GL_FALSE);
|
||||
glEnable (GL_BLEND);
|
||||
|
||||
glActiveTexture(GL_TEXTURE0);
|
||||
#ifdef __ANDROID__
|
||||
if(oes_)
|
||||
glBindTexture(GL_TEXTURE_EXTERNAL_OES, texture_id_);
|
||||
else
|
||||
#endif
|
||||
glBindTexture(GL_TEXTURE_2D, texture_id_);
|
||||
|
||||
if(depthTexture>0)
|
||||
{
|
||||
// Texture activate unit 1
|
||||
glActiveTexture(GL_TEXTURE1);
|
||||
// Bind the texture to this unit.
|
||||
glBindTexture(GL_TEXTURE_2D, depthTexture);
|
||||
// Tell the texture uniform sampler to use this texture in the shader by binding to texture unit 1.
|
||||
GLuint depth_texture_handle = glGetUniformLocation(program, "uDepthTexture");
|
||||
glUniform1i(depth_texture_handle, 1);
|
||||
|
||||
GLuint screenScale_handle = glGetUniformLocation(program, "uScreenScale");
|
||||
glUniform2f(screenScale_handle, 1.0f/(float)screenWidth, 1.0f/(float)screenHeight);
|
||||
}
|
||||
|
||||
GLuint screenScale_handle = glGetUniformLocation(program, "uRedUnknown");
|
||||
glUniform1i(screenScale_handle, redUnknown);
|
||||
|
||||
GLuint attributeVertices = glGetAttribLocation(program, "a_Position");
|
||||
GLuint attributeUvs = glGetAttribLocation(program, "a_TexCoord");
|
||||
|
||||
glVertexAttribPointer(attributeVertices, 2, GL_FLOAT, GL_FALSE, 0, BackgroundRenderer_kVerticesDevice);
|
||||
glVertexAttribPointer(attributeUvs, 2, GL_FLOAT, GL_FALSE, 0, transformed_uvs?transformed_uvs:BackgroundRenderer_kTexCoord);
|
||||
|
||||
glEnableVertexAttribArray(attributeVertices);
|
||||
glEnableVertexAttribArray(attributeUvs);
|
||||
|
||||
glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
|
||||
|
||||
glDisableVertexAttribArray(attributeVertices);
|
||||
glDisableVertexAttribArray(attributeUvs);
|
||||
|
||||
glUseProgram(0);
|
||||
glDepthMask(GL_TRUE);
|
||||
glDisable (GL_BLEND);
|
||||
tango_gl::util::CheckGlError("BackgroundRenderer::Draw() error");
|
||||
}
|
||||
|
||||
@@ -0,0 +1,76 @@
|
||||
/*
|
||||
* Copyright 2018 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.
|
||||
*/
|
||||
|
||||
#ifndef C_ARCORE_AUGMENTED_IMAGE_BACKGROUND_RENDERER_H_
|
||||
#define C_ARCORE_AUGMENTED_IMAGE_BACKGROUND_RENDERER_H_
|
||||
|
||||
#ifdef __ANDROID__
|
||||
#include <GLES2/gl2.h>
|
||||
#include <GLES2/gl2ext.h>
|
||||
#else // __APPLE__
|
||||
#include <OpenGLES/ES2/gl.h>
|
||||
#include <OpenGLES/ES2/glext.h>
|
||||
#endif
|
||||
#include <cstdlib>
|
||||
|
||||
#include "util.h"
|
||||
|
||||
static const GLfloat BackgroundRenderer_kVerticesDevice[] = {
|
||||
-1.0f, -1.0f, +1.0f, -1.0f, -1.0f, +1.0f, +1.0f, +1.0f,
|
||||
};
|
||||
//static const GLfloat BackgroundRenderer_kVerticesView[] = {
|
||||
// 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 1.0f, 1.0f,
|
||||
//};
|
||||
static const GLfloat BackgroundRenderer_kVerticesView[] = {
|
||||
0.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f,
|
||||
};
|
||||
static const GLfloat BackgroundRenderer_kTexCoord[] = {
|
||||
1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
|
||||
};
|
||||
|
||||
//android phone
|
||||
//11 10 01 00 // portrait
|
||||
//01 11 00 10 // left
|
||||
//10 00 11 01 // right
|
||||
//00 01 10 11 // down
|
||||
|
||||
|
||||
// This class renders the passthrough camera image into the OpenGL frame.
|
||||
class BackgroundRenderer {
|
||||
public:
|
||||
// Positions of the quad vertices in clip space (X, Y).
|
||||
|
||||
static constexpr int kNumVertices = 4;
|
||||
|
||||
public:
|
||||
BackgroundRenderer() = default;
|
||||
~BackgroundRenderer();
|
||||
|
||||
// Sets up OpenGL state. Must be called on the OpenGL thread and before any
|
||||
// other methods below.
|
||||
void InitializeGlContent(GLuint textureId, bool oes);
|
||||
|
||||
// Draws the background image. This methods must be called for every ArFrame
|
||||
// returned by ArSession_update() to catch display geometry change events.
|
||||
void Draw(const float * transformed_uvs, const GLuint & depthTexture, int screenWidth, int screenHeight, bool redUnknown);
|
||||
|
||||
private:
|
||||
static std::vector<GLuint> shaderPrograms_;
|
||||
GLuint texture_id_;
|
||||
bool oes_ = false;
|
||||
};
|
||||
|
||||
#endif // C_ARCORE_AUGMENTED_IMAGE_BACKGROUND_RENDERER_H_
|
||||
@@ -0,0 +1,131 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef BOUNDING_BOX_DRAWABLE_H_
|
||||
#define BOUNDING_BOX_DRAWABLE_H_
|
||||
|
||||
#include "tango-gl/line.h"
|
||||
|
||||
class BoundingBoxDrawable : public tango_gl::Line
|
||||
{
|
||||
public:
|
||||
BoundingBoxDrawable() :
|
||||
Line(3.0f, GL_LINES)
|
||||
{
|
||||
vec_vertices_.resize(24);
|
||||
}
|
||||
|
||||
void updateVertices(const pcl::PointXYZ & min, const pcl::PointXYZ & max)
|
||||
{
|
||||
int index = 0;
|
||||
vec_vertices_[index].x = min.x;
|
||||
vec_vertices_[index].y = min.y;
|
||||
vec_vertices_[index++].z = min.z;
|
||||
vec_vertices_[index].x = min.x;
|
||||
vec_vertices_[index].y = max.y;
|
||||
vec_vertices_[index++].z = min.z;
|
||||
|
||||
vec_vertices_[index].x = min.x;
|
||||
vec_vertices_[index].y = min.y;
|
||||
vec_vertices_[index++].z = min.z;
|
||||
vec_vertices_[index].x = max.x;
|
||||
vec_vertices_[index].y = min.y;
|
||||
vec_vertices_[index++].z = min.z;
|
||||
|
||||
vec_vertices_[index].x = min.x;
|
||||
vec_vertices_[index].y = min.y;
|
||||
vec_vertices_[index++].z = min.z;
|
||||
vec_vertices_[index].x = min.x;
|
||||
vec_vertices_[index].y = min.y;
|
||||
vec_vertices_[index++].z = max.z;
|
||||
|
||||
vec_vertices_[index].x = max.x;
|
||||
vec_vertices_[index].y = max.y;
|
||||
vec_vertices_[index++].z = max.z;
|
||||
vec_vertices_[index].x = max.x;
|
||||
vec_vertices_[index].y = min.y;
|
||||
vec_vertices_[index++].z = max.z;
|
||||
|
||||
vec_vertices_[index].x = max.x;
|
||||
vec_vertices_[index].y = max.y;
|
||||
vec_vertices_[index++].z = max.z;
|
||||
vec_vertices_[index].x = min.x;
|
||||
vec_vertices_[index].y = max.y;
|
||||
vec_vertices_[index++].z = max.z;
|
||||
|
||||
vec_vertices_[index].x = max.x;
|
||||
vec_vertices_[index].y = max.y;
|
||||
vec_vertices_[index++].z = max.z;
|
||||
vec_vertices_[index].x = max.x;
|
||||
vec_vertices_[index].y = max.y;
|
||||
vec_vertices_[index++].z = min.z;
|
||||
|
||||
vec_vertices_[index].x = max.x;
|
||||
vec_vertices_[index].y = min.y;
|
||||
vec_vertices_[index++].z = min.z;
|
||||
vec_vertices_[index].x = max.x;
|
||||
vec_vertices_[index].y = min.y;
|
||||
vec_vertices_[index++].z = max.z;
|
||||
|
||||
vec_vertices_[index].x = max.x;
|
||||
vec_vertices_[index].y = min.y;
|
||||
vec_vertices_[index++].z = min.z;
|
||||
vec_vertices_[index].x = max.x;
|
||||
vec_vertices_[index].y = max.y;
|
||||
vec_vertices_[index++].z = min.z;
|
||||
|
||||
vec_vertices_[index].x = min.x;
|
||||
vec_vertices_[index].y = max.y;
|
||||
vec_vertices_[index++].z = min.z;
|
||||
vec_vertices_[index].x = max.x;
|
||||
vec_vertices_[index].y = max.y;
|
||||
vec_vertices_[index++].z = min.z;
|
||||
|
||||
vec_vertices_[index].x = min.x;
|
||||
vec_vertices_[index].y = max.y;
|
||||
vec_vertices_[index++].z = min.z;
|
||||
vec_vertices_[index].x = min.x;
|
||||
vec_vertices_[index].y = max.y;
|
||||
vec_vertices_[index++].z = max.z;
|
||||
|
||||
vec_vertices_[index].x = min.x;
|
||||
vec_vertices_[index].y = min.y;
|
||||
vec_vertices_[index++].z = max.z;
|
||||
vec_vertices_[index].x = max.x;
|
||||
vec_vertices_[index].y = min.y;
|
||||
vec_vertices_[index++].z = max.z;
|
||||
|
||||
vec_vertices_[index].x = min.x;
|
||||
vec_vertices_[index].y = min.y;
|
||||
vec_vertices_[index++].z = max.z;
|
||||
vec_vertices_[index].x = min.x;
|
||||
vec_vertices_[index].y = max.y;
|
||||
vec_vertices_[index++].z = max.z;
|
||||
}
|
||||
|
||||
};
|
||||
#endif // TANGO_GL_LINE_H_
|
||||
@@ -0,0 +1,164 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#include <sstream>
|
||||
|
||||
#include "graph_drawable.h"
|
||||
#include "rtabmap/utilite/ULogger.h"
|
||||
#include "util.h"
|
||||
|
||||
#ifdef __ANDROID__
|
||||
#include <GLES2/gl2.h>
|
||||
#else //__APPLE__
|
||||
#include <OpenGLES/ES2/gl.h>
|
||||
#endif
|
||||
|
||||
GraphDrawable::GraphDrawable(
|
||||
GLuint shaderProgram,
|
||||
const std::map<int, rtabmap::Transform> & poses,
|
||||
const std::multimap<int, rtabmap::Link> & links) :
|
||||
vertex_buffers_(0),
|
||||
pose_(1.0f),
|
||||
visible_(true),
|
||||
lineWidth_(3.0f),
|
||||
shader_program_(shaderProgram)
|
||||
{
|
||||
UASSERT(!poses.empty());
|
||||
|
||||
glGenBuffers(1, &vertex_buffers_);
|
||||
|
||||
if(vertex_buffers_)
|
||||
{
|
||||
LOGI("Creating vertex buffer %d", vertex_buffers_);
|
||||
std::vector<float> vertices = std::vector<float>(poses.size()*3);
|
||||
int i=0;
|
||||
std::map<int, int> idsToIndices;
|
||||
for(std::map<int, rtabmap::Transform>::const_iterator iter=poses.begin(); iter!=poses.end(); ++iter)
|
||||
{
|
||||
vertices[i*3] = iter->second.x();
|
||||
vertices[i*3+1] = iter->second.y();
|
||||
vertices[i*3+2] = iter->second.z();
|
||||
idsToIndices.insert(std::make_pair(iter->first, i));
|
||||
++i;
|
||||
}
|
||||
|
||||
glBindBuffer(GL_ARRAY_BUFFER, vertex_buffers_);
|
||||
glBufferData(GL_ARRAY_BUFFER, sizeof(GLfloat) * (int)vertices.size(), (const void *)vertices.data(), GL_STATIC_DRAW);
|
||||
glBindBuffer(GL_ARRAY_BUFFER, 0);
|
||||
|
||||
GLint error = glGetError();
|
||||
if(error != GL_NO_ERROR)
|
||||
{
|
||||
LOGI("OpenGL: Could not allocate point cloud (0x%x)\n", error);
|
||||
vertex_buffers_ = 0;
|
||||
}
|
||||
else if(links.size())
|
||||
{
|
||||
neighborIndices_.resize(links.size() * 2);
|
||||
loopClosureIndices_.resize(links.size() * 2);
|
||||
int oiNeighbors = 0;
|
||||
int oiLoopClosures = 0;
|
||||
for(std::multimap<int, rtabmap::Link>::const_iterator iter=links.begin(); iter!=links.end(); ++iter)
|
||||
{
|
||||
std::map<int, int>::const_iterator jterFrom = idsToIndices.find(iter->second.from());
|
||||
std::map<int, int>::const_iterator jterTo = idsToIndices.find(iter->second.to());
|
||||
if(jterFrom != idsToIndices.end() && jterTo != idsToIndices.end())
|
||||
{
|
||||
if(iter->second.type() == rtabmap::Link::kNeighbor)
|
||||
{
|
||||
neighborIndices_[oiNeighbors++] = (unsigned short)jterFrom->second;
|
||||
neighborIndices_[oiNeighbors++] = (unsigned short)jterTo->second;
|
||||
}
|
||||
else
|
||||
{
|
||||
loopClosureIndices_[oiLoopClosures++] = (unsigned short)jterFrom->second;
|
||||
loopClosureIndices_[oiLoopClosures++] = (unsigned short)jterTo->second;
|
||||
}
|
||||
}
|
||||
}
|
||||
neighborIndices_.resize(oiNeighbors);
|
||||
loopClosureIndices_.resize(oiLoopClosures);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
GraphDrawable::~GraphDrawable()
|
||||
{
|
||||
LOGI("Freeing cloud buffer %d", vertex_buffers_);
|
||||
if (vertex_buffers_)
|
||||
{
|
||||
glDeleteBuffers(1, &vertex_buffers_);
|
||||
tango_gl::util::CheckGlError("GraphDrawable::~GraphDrawable()");
|
||||
vertex_buffers_ = 0;
|
||||
}
|
||||
}
|
||||
|
||||
void GraphDrawable::setPose(const rtabmap::Transform & pose)
|
||||
{
|
||||
UASSERT(!pose.isNull());
|
||||
|
||||
pose_ = glmFromTransform(pose);
|
||||
}
|
||||
|
||||
void GraphDrawable::Render(const glm::mat4 & projectionMatrix, const glm::mat4 & viewMatrix) {
|
||||
|
||||
if(vertex_buffers_ && (neighborIndices_.size() || loopClosureIndices_.size()) && visible_)
|
||||
{
|
||||
glUseProgram(shader_program_);
|
||||
glLineWidth(lineWidth_);
|
||||
|
||||
GLuint mvp_handle_ = glGetUniformLocation(shader_program_, "mvp");
|
||||
glm::mat4 mvp_mat = projectionMatrix * viewMatrix * pose_;
|
||||
glUniformMatrix4fv(mvp_handle_, 1, GL_FALSE, glm::value_ptr(mvp_mat));
|
||||
|
||||
GLuint color_handle = glGetUniformLocation(shader_program_, "color");
|
||||
|
||||
GLint attribute_vertex = glGetAttribLocation(shader_program_, "vertex");
|
||||
|
||||
glEnableVertexAttribArray(attribute_vertex);
|
||||
glBindBuffer(GL_ARRAY_BUFFER, vertex_buffers_);
|
||||
glVertexAttribPointer(attribute_vertex, 3, GL_FLOAT, GL_FALSE, 3*sizeof(GLfloat), 0);
|
||||
|
||||
if(neighborIndices_.size())
|
||||
{
|
||||
glUniform3f(color_handle, 1.0f, 0.0f, 0.0f); // blue for neighbors
|
||||
glDrawElements(GL_LINES, neighborIndices_.size(), GL_UNSIGNED_SHORT, neighborIndices_.data());
|
||||
}
|
||||
if(loopClosureIndices_.size())
|
||||
{
|
||||
glUniform3f(color_handle, 0.0f, 0.0f, 1.0f); // red for loop closures
|
||||
glDrawElements(GL_LINES, loopClosureIndices_.size(), GL_UNSIGNED_SHORT, loopClosureIndices_.data());
|
||||
}
|
||||
|
||||
glDisableVertexAttribArray(0);
|
||||
glBindBuffer(GL_ARRAY_BUFFER, 0);
|
||||
|
||||
glUseProgram(0);
|
||||
tango_gl::util::CheckGlError("GraphDrawable::Render()");
|
||||
}
|
||||
}
|
||||
|
||||
@@ -0,0 +1,68 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef GRAPH_DRAWABLE_H_
|
||||
#define GRAPH_DRAWABLE_H_
|
||||
|
||||
#ifdef __ANDROID__
|
||||
#include <jni.h>
|
||||
#endif
|
||||
#include <tango-gl/util.h>
|
||||
#include <vector>
|
||||
#include <pcl/point_cloud.h>
|
||||
#include <pcl/point_types.h>
|
||||
#include <rtabmap/core/Transform.h>
|
||||
#include <rtabmap/core/Link.h>
|
||||
#include <pcl/Vertices.h>
|
||||
#include "util.h"
|
||||
|
||||
class GraphDrawable {
|
||||
public:
|
||||
GraphDrawable(
|
||||
GLuint shaderProgram,
|
||||
const std::map<int, rtabmap::Transform> & poses,
|
||||
const std::multimap<int, rtabmap::Link> & links);
|
||||
virtual ~GraphDrawable();
|
||||
|
||||
void setPose(const rtabmap::Transform & mapToOdom);
|
||||
void setVisible(bool visible) {visible_=visible;}
|
||||
|
||||
void Render(const glm::mat4 & projectionMatrix, const glm::mat4 & viewMatrix);
|
||||
|
||||
private:
|
||||
// Vertex buffer of the point cloud geometry.
|
||||
GLuint vertex_buffers_;
|
||||
std::vector<GLushort> neighborIndices_;
|
||||
std::vector<GLushort> loopClosureIndices_;
|
||||
glm::mat4 pose_;
|
||||
bool visible_;
|
||||
float lineWidth_;
|
||||
|
||||
GLuint shader_program_;
|
||||
};
|
||||
|
||||
#endif // GRAPH_DRAWABLE_H_
|
||||
@@ -0,0 +1,981 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#define GLM_FORCE_RADIANS
|
||||
|
||||
#include <jni.h>
|
||||
#include <RTABMapApp.h>
|
||||
#include <scene.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
void GetJStringContent(JNIEnv *AEnv, jstring AStr, std::string &ARes) {
|
||||
if (!AStr) {
|
||||
ARes.clear();
|
||||
return;
|
||||
}
|
||||
|
||||
const char *s = AEnv->GetStringUTFChars(AStr,NULL);
|
||||
ARes=s;
|
||||
AEnv->ReleaseStringUTFChars(AStr,s);
|
||||
}
|
||||
|
||||
inline jlong jptr(RTABMapApp *native_computer_vision_application) {
|
||||
return reinterpret_cast<intptr_t>(native_computer_vision_application);
|
||||
}
|
||||
|
||||
inline RTABMapApp *native(jlong ptr) {
|
||||
return reinterpret_cast<RTABMapApp *>(ptr);
|
||||
}
|
||||
|
||||
JNIEXPORT jlong JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_createNativeApplication(
|
||||
JNIEnv* env, jclass, jobject activity)
|
||||
{
|
||||
return jptr(new RTABMapApp(env, activity));
|
||||
}
|
||||
|
||||
JNIEXPORT void Java_com_introlab_rtabmap_RTABMapLib_destroyNativeApplication(
|
||||
JNIEnv *, jclass, jlong native_application) {
|
||||
if(native_application)
|
||||
{
|
||||
delete native(native_application);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setScreenRotation(
|
||||
JNIEnv* env, jclass, jlong native_application, int displayRotation, int cameraRotation)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setScreenRotation(displayRotation, cameraRotation);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
|
||||
JNIEXPORT int JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_openDatabase(
|
||||
JNIEnv* env, jclass, jlong native_application, jstring databasePath, bool databaseInMemory, bool optimize, bool clearDatabase)
|
||||
{
|
||||
std::string databasePathC;
|
||||
GetJStringContent(env,databasePath,databasePathC);
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->openDatabase(databasePathC, databaseInMemory, optimize, clearDatabase);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
JNIEXPORT bool JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_recover(
|
||||
JNIEnv* env, jclass, jlong native_application, jstring from, jstring to)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
std::string toC;
|
||||
GetJStringContent(env,to,toC);
|
||||
std::string fromC;
|
||||
GetJStringContent(env,from,fromC);
|
||||
return native(native_application)->recover(fromC, toC);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
JNIEXPORT bool JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_isBuiltWith(
|
||||
JNIEnv* env, jclass, jlong native_application, int cameraDriver) {
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->isBuiltWith(cameraDriver);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
JNIEXPORT bool JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_startCamera(
|
||||
JNIEnv* env, jclass, jlong native_application, jobject iBinder, jobject context, jobject activity, int driver) {
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->startCamera(env, iBinder, context, activity, driver);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_initGlContent(
|
||||
JNIEnv*, jclass, jlong native_application) {
|
||||
if(native_application)
|
||||
{
|
||||
native(native_application)->InitializeGLContent();
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setupGraphic(
|
||||
JNIEnv*, jclass, jlong native_application, jint width, jint height) {
|
||||
if(native_application)
|
||||
{
|
||||
native(native_application)->SetViewPort(width, height);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
|
||||
JNIEXPORT int JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_render(
|
||||
JNIEnv*, jclass, jlong native_application) {
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->Render();
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_stopCamera(
|
||||
JNIEnv*, jclass, jlong native_application) {
|
||||
if(native_application)
|
||||
{
|
||||
native(native_application)->stopCamera();
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setCamera(
|
||||
JNIEnv*, jclass, jlong native_application, int camera_index) {
|
||||
if(native_application)
|
||||
{
|
||||
using namespace tango_gl;
|
||||
GestureCamera::CameraType cam_type =
|
||||
static_cast<GestureCamera::CameraType>(camera_index);
|
||||
native(native_application)->SetCameraType(cam_type);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_onTouchEvent(
|
||||
JNIEnv*, jclass, jlong native_application, int touch_count, int event, float x0, float y0, float x1,
|
||||
float y1) {
|
||||
if(native_application)
|
||||
{
|
||||
using namespace tango_gl;
|
||||
GestureCamera::TouchEvent touch_event =
|
||||
static_cast<GestureCamera::TouchEvent>(event);
|
||||
native(native_application)->OnTouchEvent(touch_count, touch_event, x0, y0, x1, y1);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setPausedMapping(
|
||||
JNIEnv*, jclass, jlong native_application, bool paused)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setPausedMapping(paused);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setOnlineBlending(
|
||||
JNIEnv*, jclass, jlong native_application, bool enabled)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setOnlineBlending(enabled);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setMapCloudShown(
|
||||
JNIEnv*, jclass, jlong native_application, bool shown)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setMapCloudShown(shown);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setOdomCloudShown(
|
||||
JNIEnv*, jclass, jlong native_application, bool shown)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setOdomCloudShown(shown);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setMeshRendering(
|
||||
JNIEnv*, jclass, jlong native_application, bool enabled, bool withTexture)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setMeshRendering(enabled, withTexture);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setPointSize(
|
||||
JNIEnv*, jclass, jlong native_application, float value)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setPointSize(value);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setFOV(
|
||||
JNIEnv*, jclass, jlong native_application, float fov)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setFOV(fov);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setOrthoCropFactor(
|
||||
JNIEnv*, jclass, jlong native_application, float value)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setOrthoCropFactor(value);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setGridRotation(
|
||||
JNIEnv*, jclass, jlong native_application, float value)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setGridRotation(value);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setLighting(
|
||||
JNIEnv*, jclass, jlong native_application, bool enabled)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setLighting(enabled);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setBackfaceCulling(
|
||||
JNIEnv*, jclass, jlong native_application, bool enabled)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setBackfaceCulling(enabled);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setWireframe(
|
||||
JNIEnv*, jclass, jlong native_application, bool enabled)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setWireframe(enabled);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setLocalizationMode(
|
||||
JNIEnv*, jclass, jlong native_application, bool enabled)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setLocalizationMode(enabled);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setTrajectoryMode(
|
||||
JNIEnv*, jclass, jlong native_application, bool enabled)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setTrajectoryMode(enabled);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setGraphOptimization(
|
||||
JNIEnv*, jclass, jlong native_application, bool enabled)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setGraphOptimization(enabled);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setNodesFiltering(
|
||||
JNIEnv*, jclass, jlong native_application, bool enabled)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setNodesFiltering(enabled);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setGraphVisible(
|
||||
JNIEnv*, jclass, jlong native_application, bool visible)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setGraphVisible(visible);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setGridVisible(
|
||||
JNIEnv*, jclass, jlong native_application, bool visible)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setGridVisible(visible);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setRawScanSaved(
|
||||
JNIEnv*, jclass, jlong native_application, bool enabled)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setRawScanSaved(enabled);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setFullResolution(
|
||||
JNIEnv*, jclass, jlong native_application, bool enabled)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setFullResolution(enabled);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setSmoothing(
|
||||
JNIEnv*, jclass, jlong native_application, bool enabled)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setSmoothing(enabled);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setDepthBleedingError(
|
||||
JNIEnv*, jclass, jlong native_application, float value)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setDepthBleedingError(value);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setDepthFromMotion(
|
||||
JNIEnv*, jclass, jlong native_application, bool enabled)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setDepthFromMotion(enabled);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setCameraColor(
|
||||
JNIEnv*, jclass, jlong native_application, bool enabled)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setCameraColor(enabled);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setAppendMode(
|
||||
JNIEnv*, jclass, jlong native_application, bool enabled)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setAppendMode(enabled);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setUpstreamRelocalizationAccThr(
|
||||
JNIEnv*, jclass, jlong native_application, float value)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setUpstreamRelocalizationAccThr(value);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setDataRecorderMode(
|
||||
JNIEnv*, jclass, jlong native_application, bool enabled)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setDataRecorderMode(enabled);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setMaxCloudDepth(
|
||||
JNIEnv*, jclass, jlong native_application, float value)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setMaxCloudDepth(value);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setMinCloudDepth(
|
||||
JNIEnv*, jclass, jlong native_application, float value)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setMinCloudDepth(value);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setCloudDensityLevel(
|
||||
JNIEnv*, jclass, jlong native_application, int value)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setCloudDensityLevel(value);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setMeshAngleTolerance(
|
||||
JNIEnv*, jclass, jlong native_application, float value)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setMeshAngleTolerance(value);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setMeshTriangleSize(
|
||||
JNIEnv*, jclass, jlong native_application, int value)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setMeshTriangleSize(value);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setClusterRatio(
|
||||
JNIEnv*, jclass, jlong native_application, float value)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setClusterRatio(value);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setMaxGainRadius(
|
||||
JNIEnv*, jclass, jlong native_application, float value)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setMaxGainRadius(value);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setRenderingTextureDecimation(
|
||||
JNIEnv*, jclass, jlong native_application, int value)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setRenderingTextureDecimation(value);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setBackgroundColor(
|
||||
JNIEnv*, jclass, jlong native_application, float value)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setBackgroundColor(value);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
JNIEXPORT jint JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setMappingParameter(
|
||||
JNIEnv* env, jclass, jlong native_application, jstring key, jstring value)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
std::string keyC, valueC;
|
||||
GetJStringContent(env,key,keyC);
|
||||
GetJStringContent(env,value,valueC);
|
||||
return native(native_application)->setMappingParameter(keyC, valueC);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_setGPS(
|
||||
JNIEnv*, jclass, jlong native_application,
|
||||
double stamp,
|
||||
double longitude,
|
||||
double latitude,
|
||||
double altitude,
|
||||
double accuracy,
|
||||
double bearing)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->setGPS(rtabmap::GPS(stamp,
|
||||
longitude,
|
||||
latitude,
|
||||
altitude,
|
||||
accuracy,
|
||||
bearing));
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_addEnvSensor(
|
||||
JNIEnv*, jclass, jlong native_application,
|
||||
int type,
|
||||
float value)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->addEnvSensor(type, value);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_save(
|
||||
JNIEnv* env, jclass, jlong native_application, jstring databasePath)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
std::string databasePathC;
|
||||
GetJStringContent(env,databasePath,databasePathC);
|
||||
return native(native_application)->save(databasePathC);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_cancelProcessing(
|
||||
JNIEnv* env, jclass, jlong native_application)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->cancelProcessing();
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
}
|
||||
}
|
||||
|
||||
JNIEXPORT bool JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_exportMesh(
|
||||
JNIEnv* env, jclass, jlong native_application,
|
||||
float cloudVoxelSize,
|
||||
bool regenerateCloud,
|
||||
bool meshing,
|
||||
int textureSize,
|
||||
int textureCount,
|
||||
int normalK,
|
||||
bool optimized,
|
||||
float optimizedVoxelSize,
|
||||
int optimizedDepth,
|
||||
int optimizedMaxPolygons,
|
||||
float optimizedColorRadius,
|
||||
bool optimizedCleanWhitePolygons,
|
||||
int optimizedMinClusterSize,
|
||||
float optimizedMaxTextureDistance,
|
||||
int optimizedMinTextureClusterSize,
|
||||
bool blockRendering)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->exportMesh(
|
||||
cloudVoxelSize,
|
||||
regenerateCloud,
|
||||
meshing,
|
||||
textureSize,
|
||||
textureCount,
|
||||
normalK,
|
||||
optimized,
|
||||
optimizedVoxelSize,
|
||||
optimizedDepth,
|
||||
optimizedMaxPolygons,
|
||||
optimizedColorRadius,
|
||||
optimizedCleanWhitePolygons,
|
||||
optimizedMinClusterSize,
|
||||
optimizedMaxTextureDistance,
|
||||
optimizedMinTextureClusterSize,
|
||||
0,
|
||||
blockRendering);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
JNIEXPORT bool JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_postExportation(
|
||||
JNIEnv* env, jclass, jlong native_application, bool visualize)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->postExportation(visualize);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
JNIEXPORT bool JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_writeExportedMesh(
|
||||
JNIEnv* env, jclass, jlong native_application, jstring directory, jstring name)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
std::string directoryC;
|
||||
GetJStringContent(env,directory,directoryC);
|
||||
std::string nameC;
|
||||
GetJStringContent(env,name,nameC);
|
||||
return native(native_application)->writeExportedMesh(directoryC, nameC);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
JNIEXPORT int JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_postProcessing(
|
||||
JNIEnv* env, jclass, jlong native_application, int approach)
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
return native(native_application)->postProcessing(approach);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_postOdometryEvent(
|
||||
JNIEnv* env, jclass, jlong native_application,
|
||||
float x, float y, float z, float qx, float qy, float qz, float qw,
|
||||
float rgb_fx, float rgb_fy, float rgb_cx, float rgb_cy,
|
||||
float rgbFrameX, float rgbFrameY, float rgbFrameZ, float rgbFrameQX, float rgbFrameQY, float rgbFrameQZ, float rgbFrameQW,
|
||||
double stamp,
|
||||
jobject yPlane, jobject uPlane, jobject vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
|
||||
jobject points, int pointsLen,
|
||||
float vx, float vy, float vz, float vqx, float vqy, float vqz, float vqw, //view matrix
|
||||
float p00, float p11, float p02, float p12, float p22, float p32, float p23, // projection matrix
|
||||
float t0, float t1, float t2, float t3, float t4, float t5, float t6, float t7) // tex coord
|
||||
{
|
||||
if(native_application)
|
||||
{
|
||||
void *yPtr = env->GetDirectBufferAddress(yPlane);
|
||||
void *uPtr = env->GetDirectBufferAddress(uPlane);
|
||||
void *vPtr = env->GetDirectBufferAddress(vPlane);
|
||||
float *pointsPtr = (float *)env->GetDirectBufferAddress(points);
|
||||
native(native_application)->postOdometryEvent(
|
||||
rtabmap::Transform(x,y,z,qx,qy,qz,qw),
|
||||
rgb_fx,rgb_fy,rgb_cx,rgb_cy,
|
||||
0,0,0,0,
|
||||
rtabmap::Transform(rgbFrameX, rgbFrameY, rgbFrameZ, rgbFrameQX, rgbFrameQY, rgbFrameQZ, rgbFrameQW),
|
||||
rtabmap::Transform(),
|
||||
stamp,
|
||||
0,
|
||||
yPtr, uPtr, vPtr, yPlaneLen, rgbWidth, rgbHeight, rgbFormat,
|
||||
0,0,0,0,0, //depth
|
||||
0,0,0,0,0, //conf
|
||||
pointsPtr, pointsLen, 4,
|
||||
rtabmap::Transform(vx, vy, vz, vqx, vqy, vqz, vqw),
|
||||
p00, p11, p02, p12, p22, p32, p23,
|
||||
t0, t1, t2, t3, t4, t5, t6, t7);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("native_application is null!");
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
JNIEXPORT void JNICALL
|
||||
Java_com_introlab_rtabmap_RTABMapLib_postOdometryEventDepth(
|
||||
JNIEnv* env, jclass, jlong native_application,
|
||||
float x, float y, float z, float qx, float qy, float qz, float qw,
|
||||
float rgb_fx, float rgb_fy, float rgb_cx, float rgb_cy,
|
||||
float depth_fx, float depth_fy, float depth_cx, float depth_cy,
|
||||
float rgbFrameX, float rgbFrameY, float rgbFrameZ, float rgbFrameQX, float rgbFrameQY, float rgbFrameQZ, float rgbFrameQW,
|
||||
float depthFrameX, float depthFrameY, float depthFrameZ, float depthFrameQX, float depthFrameQY, float depthFrameQZ, float depthFrameQW,
|
||||
double rgbStamp,
|
||||
double depthStamp,
|
||||
jobject yPlane, jobject uPlane, jobject vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
|
||||
jobject depth, int depthLen, int depthWidth, int depthHeight, int depthFormat,
|
||||
jobject points, int pointsLen,
|
||||
float vx, float vy, float vz, float vqx, float vqy, float vqz, float vqw, //view matrix
|
||||
float p00, float p11, float p02, float p12, float p22, float p32, float p23, // projection matrix
|
||||
float t0, float t1, float t2, float t3, float t4, float t5, float t6, float t7) // tex coord)
|
||||
{
|
||||
void *yPtr = env->GetDirectBufferAddress(yPlane);
|
||||
void *uPtr = env->GetDirectBufferAddress(uPlane);
|
||||
void *vPtr = env->GetDirectBufferAddress(vPlane);
|
||||
void *depthPtr = env->GetDirectBufferAddress(depth);
|
||||
float *pointsPtr = (float *)env->GetDirectBufferAddress(points);
|
||||
native(native_application)->postOdometryEvent(
|
||||
rtabmap::Transform(x,y,z,qx,qy,qz,qw),
|
||||
rgb_fx,rgb_fy,rgb_cx,rgb_cy,
|
||||
depth_fx,depth_fy,depth_cx,depth_cy,
|
||||
rtabmap::Transform(rgbFrameX, rgbFrameY, rgbFrameZ, rgbFrameQX, rgbFrameQY, rgbFrameQZ, rgbFrameQW),
|
||||
rtabmap::Transform(depthFrameX, depthFrameY, depthFrameZ, depthFrameQX, depthFrameQY, depthFrameQZ, depthFrameQW),
|
||||
rgbStamp,
|
||||
depthStamp,
|
||||
yPtr, uPtr, vPtr, yPlaneLen, rgbWidth, rgbHeight, rgbFormat,
|
||||
depthPtr, depthLen, depthWidth, depthHeight, depthFormat,
|
||||
0,0,0,0,0, // conf
|
||||
pointsPtr, pointsLen, 4,
|
||||
rtabmap::Transform(vx, vy, vz, vqx, vqy, vqz, vqw),
|
||||
p00, p11, p02, p12, p22, p32, p23,
|
||||
t0, t1, t2, t3, t4, t5, t6, t7);
|
||||
}
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,141 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef TANGO_POINT_CLOUD_POINT_CLOUD_DRAWABLE_H_
|
||||
#define TANGO_POINT_CLOUD_POINT_CLOUD_DRAWABLE_H_
|
||||
|
||||
#ifdef __ANDROID__
|
||||
#include <jni.h>
|
||||
#endif
|
||||
|
||||
#include <tango-gl/util.h>
|
||||
#include <vector>
|
||||
#include <pcl/point_cloud.h>
|
||||
#include <pcl/point_types.h>
|
||||
#include <rtabmap/core/Transform.h>
|
||||
#include <pcl/Vertices.h>
|
||||
#include "util.h"
|
||||
|
||||
// PointCloudDrawable is responsible for the point cloud rendering.
|
||||
class PointCloudDrawable {
|
||||
public:
|
||||
static void createShaderPrograms();
|
||||
static void releaseShaderPrograms();
|
||||
|
||||
private:
|
||||
static std::vector<GLuint> shaderPrograms_;
|
||||
|
||||
public:
|
||||
PointCloudDrawable(
|
||||
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
|
||||
const pcl::IndicesPtr & indices,
|
||||
float gainR = 1.0f,
|
||||
float gainG = 1.0f,
|
||||
float gainB = 1.0f);
|
||||
PointCloudDrawable(
|
||||
const rtabmap::Mesh & mesh,
|
||||
bool createWireframe = false);
|
||||
virtual ~PointCloudDrawable();
|
||||
|
||||
void updatePolygons(const std::vector<pcl::Vertices> & polygons, const std::vector<pcl::Vertices> & polygonsLowRes = std::vector<pcl::Vertices>(), bool createWireframe = false);
|
||||
void updateCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud, const pcl::IndicesPtr & indices);
|
||||
void updateMesh(const rtabmap::Mesh & mesh, bool createWireframe = false);
|
||||
void setPose(const rtabmap::Transform & pose);
|
||||
void setVisible(bool visible) {visible_=visible;}
|
||||
void setGains(float gainR, float gainG, float gainB) {gainR_ = gainR; gainG_ = gainG; gainB_ = gainB;}
|
||||
rtabmap::Transform getPose() const {return pose_;}
|
||||
const glm::mat4 & getPoseGl() const {return poseGl_;}
|
||||
bool isVisible() const {return visible_;}
|
||||
bool hasMesh() const {return index_buffers_[0] != 0;}
|
||||
bool hasTexture() const {return texture_ != 0;}
|
||||
float getMinHeight() const {return minHeight_;}
|
||||
const pcl::PointXYZ & aabbMinModel() const {return aabbMinModel_;}
|
||||
const pcl::PointXYZ & aabbMaxModel() const {return aabbMaxModel_;}
|
||||
const pcl::PointXYZ & aabbMinWorld() const {return aabbMinWorld_;}
|
||||
const pcl::PointXYZ & aabbMaxWorld() const {return aabbMaxWorld_;}
|
||||
|
||||
// Update current point cloud data.
|
||||
//
|
||||
// @param projection_mat: projection matrix from current render camera.
|
||||
// @param view_mat: view matrix from current render camera.
|
||||
// @param model_mat: model matrix for this point cloud frame.
|
||||
// @param vertices: all vertices in this point cloud frame.
|
||||
void Render(
|
||||
const glm::mat4 & projectionMatrix,
|
||||
const glm::mat4 & viewMatrix,
|
||||
bool meshRendering = true,
|
||||
float pointSize = 3.0f,
|
||||
bool textureRendering = false,
|
||||
bool lighting = true,
|
||||
float distanceToCamSqr = 0.0f,
|
||||
const GLuint & depthTexture = 0,
|
||||
int screenWidth = 0, // nonnull if depthTexture>0
|
||||
int screenHeight = 0, // nonnull if depthTexture>0
|
||||
float nearClipPlane = 0, // nonnull if depthTexture>0
|
||||
float farClipPlane = 0, // nonnull if depthTexture>0
|
||||
bool packDepthToColorChannel = false,
|
||||
bool wireFrame = false,
|
||||
bool hideSeams = false) const;
|
||||
|
||||
private:
|
||||
template<class PointT>
|
||||
void updateAABBMinMax(const PointT & pt, pcl::PointXYZ & min, pcl::PointXYZ & max)
|
||||
{
|
||||
if(pt.x<min.x) min.x = pt.x;
|
||||
if(pt.y<min.y) min.y = pt.y;
|
||||
if(pt.z<min.z) min.z = pt.z;
|
||||
if(pt.x>max.x) max.x = pt.x;
|
||||
if(pt.y>max.y) max.y = pt.y;
|
||||
if(pt.z>max.z) max.z = pt.z;
|
||||
}
|
||||
void updateAABBWorld(const rtabmap::Transform & pose);
|
||||
|
||||
private:
|
||||
// Vertex buffer of the point cloud geometry.
|
||||
GLuint vertex_buffer_;
|
||||
GLuint texture_;
|
||||
std::vector<GLuint> index_buffers_;
|
||||
std::vector<int> index_buffers_count_;
|
||||
int nPoints_;
|
||||
rtabmap::Transform pose_;
|
||||
glm::mat4 poseGl_;
|
||||
bool visible_;
|
||||
bool hasNormals_;
|
||||
std::vector<unsigned int> organizedToDenseIndices_;
|
||||
float minHeight_; // odom frame
|
||||
|
||||
float gainR_;
|
||||
float gainG_;
|
||||
float gainB_;
|
||||
|
||||
pcl::PointXYZ aabbMinModel_;
|
||||
pcl::PointXYZ aabbMaxModel_;
|
||||
pcl::PointXYZ aabbMinWorld_;
|
||||
pcl::PointXYZ aabbMaxWorld_;
|
||||
};
|
||||
|
||||
#endif // TANGO_POINT_CLOUD_POINT_CLOUD_DRAWABLE_H_
|
||||
@@ -0,0 +1,69 @@
|
||||
/*
|
||||
* 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 "quad_color.h"
|
||||
#include "tango-gl/util.h"
|
||||
|
||||
static const float vertices[] = {-1.0f, -1.0f, 1.0f, -1.0f,
|
||||
-1.0f, 1.0f, 1.0f, 1.0f};
|
||||
|
||||
QuadColor::QuadColor(float size) {
|
||||
SetShader();
|
||||
|
||||
vertices_.resize(8);
|
||||
for(int i=0; i<8; ++i)
|
||||
{
|
||||
vertices_[i] = vertices[i]*size;
|
||||
}
|
||||
}
|
||||
|
||||
QuadColor::QuadColor(
|
||||
float widthLeft,
|
||||
float widthRight,
|
||||
float heightBottom,
|
||||
float heightTop) {
|
||||
SetShader();
|
||||
|
||||
vertices_.resize(8);
|
||||
vertices_[0] = vertices[0]*widthLeft;
|
||||
vertices_[1] = vertices[1]*heightBottom;
|
||||
vertices_[2] = vertices[2]*widthRight;
|
||||
vertices_[3] = vertices[3]*heightBottom;
|
||||
vertices_[4] = vertices[4]*widthLeft;
|
||||
vertices_[5] = vertices[5]*heightTop;
|
||||
vertices_[6] = vertices[6]*widthRight;
|
||||
vertices_[7] = vertices[7]*heightTop;
|
||||
}
|
||||
|
||||
void QuadColor::Render(const glm::mat4& projection_mat,
|
||||
const glm::mat4& view_mat) const {
|
||||
glUseProgram(shader_program_);
|
||||
|
||||
// Calculate MVP matrix and pass it to shader.
|
||||
glm::mat4 model_mat = GetTransformationMatrix();
|
||||
glm::mat4 mvp_mat = projection_mat * view_mat * model_mat;
|
||||
glUniformMatrix4fv(uniform_mvp_mat_, 1, GL_FALSE, glm::value_ptr(mvp_mat));
|
||||
|
||||
glUniform4f(uniform_color_, red_, green_, blue_, alpha_);
|
||||
|
||||
// Vertice binding
|
||||
glEnableVertexAttribArray(attrib_vertices_);
|
||||
glVertexAttribPointer(attrib_vertices_, 2, GL_FLOAT, GL_FALSE, 0, &vertices_[0]);
|
||||
glBindBuffer(GL_ARRAY_BUFFER, 0);
|
||||
|
||||
glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
|
||||
glUseProgram(0);
|
||||
}
|
||||
@@ -0,0 +1,35 @@
|
||||
/*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#ifndef TANGO_GL_QUADCOLOR_H_
|
||||
#define TANGO_GL_QUADCOLOR_H_
|
||||
|
||||
#include "tango-gl/drawable_object.h"
|
||||
|
||||
class QuadColor : public tango_gl::DrawableObject {
|
||||
public:
|
||||
QuadColor(float size);
|
||||
QuadColor(float widthLeft,
|
||||
float widthRight,
|
||||
float heightBottom,
|
||||
float heightTop);
|
||||
QuadColor(const QuadColor& other) = delete;
|
||||
QuadColor& operator=(const QuadColor&) = delete;
|
||||
virtual ~QuadColor() {}
|
||||
|
||||
void Render(const glm::mat4& projection_mat, const glm::mat4& view_mat) const;
|
||||
};
|
||||
#endif // TANGO_GL_QUADCOLOR_H_
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 25 KiB |
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,272 @@
|
||||
/*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#ifndef TANGO_POINT_CLOUD_SCENE_H_
|
||||
#define TANGO_POINT_CLOUD_SCENE_H_
|
||||
|
||||
#ifdef __ANDROID__
|
||||
#include <jni.h>
|
||||
#endif
|
||||
#include <memory>
|
||||
#include <set>
|
||||
|
||||
#include "CameraMobile.h"
|
||||
#include <tango-gl/axis.h>
|
||||
#include <tango-gl/camera.h>
|
||||
#include <tango-gl/color.h>
|
||||
#include <tango-gl/gesture_camera.h>
|
||||
#include <tango-gl/grid.h>
|
||||
#include <tango-gl/frustum.h>
|
||||
#include <tango-gl/trace.h>
|
||||
#include <tango-gl/transform.h>
|
||||
#include <tango-gl/util.h>
|
||||
#include <tango-gl/circle.h>
|
||||
|
||||
#include <rtabmap/core/Transform.h>
|
||||
#include <rtabmap/core/Link.h>
|
||||
|
||||
#include "point_cloud_drawable.h"
|
||||
#include "graph_drawable.h"
|
||||
#include "bounding_box_drawable.h"
|
||||
#include "background_renderer.h"
|
||||
#include "text_drawable.h"
|
||||
#include "quad_color.h"
|
||||
|
||||
#include <pcl/point_cloud.h>
|
||||
#include <pcl/point_types.h>
|
||||
|
||||
// Scene provides OpenGL drawable objects and renders them for visualization.
|
||||
class Scene {
|
||||
public:
|
||||
static const glm::vec3 kHeightOffset;
|
||||
public:
|
||||
// Constructor and destructor.
|
||||
Scene();
|
||||
~Scene();
|
||||
|
||||
// Allocate OpenGL resources for rendering.
|
||||
void InitGLContent();
|
||||
|
||||
// Release non-OpenGL allocated resources.
|
||||
void DeleteResources();
|
||||
|
||||
// Setup GL view port.
|
||||
void SetupViewPort(int w, int h);
|
||||
int getViewPortWidth() const {return screenWidth_;}
|
||||
int getViewPortHeight() const {return screenHeight_;}
|
||||
|
||||
rtabmap::ScreenRotation getScreenRotation() const {return color_camera_to_display_rotation_;}
|
||||
void setScreenRotation(rtabmap::ScreenRotation colorCameraToDisplayRotation) {color_camera_to_display_rotation_ = colorCameraToDisplayRotation;}
|
||||
|
||||
void clear(); // removed all point clouds
|
||||
void clearLines();
|
||||
void clearTexts();
|
||||
void clearQuads();
|
||||
void clearCircles();
|
||||
|
||||
// Render loop.
|
||||
// @param: cur_pose_transformation, latest pose's transformation.
|
||||
// @param: point_cloud_transformation, pose transformation at point cloud
|
||||
// frame's timestamp.
|
||||
// @param: point_cloud_vertices, point cloud's vertices of the current point
|
||||
// frame.
|
||||
int Render(const float * uvsTransformed = 0, glm::mat4 arViewMatrix = glm::mat4(0), glm::mat4 arProjectionMatrix=glm::mat4(0), const rtabmap::Mesh & occlusionMesh=rtabmap::Mesh(), bool mapping=false);
|
||||
|
||||
// Set render camera's viewing angle, first person, third person or top down.
|
||||
//
|
||||
// @param: camera_type, camera type includes first person, third person and
|
||||
// top down
|
||||
void SetCameraType(tango_gl::GestureCamera::CameraType camera_type);
|
||||
tango_gl::GestureCamera::CameraType GetCameraType() const {return gesture_camera_->GetCameraType();}
|
||||
|
||||
void SetCameraPose(const rtabmap::Transform & pose); // opengl camera
|
||||
rtabmap::Transform GetCameraPose() const {return currentPose_!=0?*currentPose_:rtabmap::Transform();}
|
||||
rtabmap::Transform GetOpenGLCameraPose(float * fov = 0) const;
|
||||
|
||||
// Touch event passed from android activity. This function only support two
|
||||
// touches.
|
||||
//
|
||||
// @param: touch_count, total count for touches.
|
||||
// @param: event, touch event of current touch.
|
||||
// @param: x0, normalized touch location for touch 0 on x axis.
|
||||
// @param: y0, normalized touch location for touch 0 on y axis.
|
||||
// @param: x1, normalized touch location for touch 1 on x axis.
|
||||
// @param: y1, normalized touch location for touch 1 on y axis.
|
||||
void OnTouchEvent(int touch_count, tango_gl::GestureCamera::TouchEvent event,
|
||||
float x0, float y0, float x1, float y1);
|
||||
|
||||
void updateGraph(
|
||||
const std::map<int, rtabmap::Transform> & poses,
|
||||
const std::multimap<int, rtabmap::Link> & links);
|
||||
|
||||
void setGraphVisible(bool visible);
|
||||
void setGridVisible(bool visible);
|
||||
void setTraceVisible(bool visible);
|
||||
void setFrustumVisible(bool visible);
|
||||
|
||||
void addMarker(int id, const rtabmap::Transform & pose);
|
||||
void setMarkerPose(int id, const rtabmap::Transform & pose);
|
||||
bool hasMarker(int id) const;
|
||||
void removeMarker(int id);
|
||||
std::set<int> getAddedMarkers() const;
|
||||
|
||||
void addCloud(
|
||||
int id,
|
||||
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
|
||||
const pcl::IndicesPtr & indices,
|
||||
const rtabmap::Transform & pose);
|
||||
void removeCloudOrMesh(int id);
|
||||
void addMesh(
|
||||
int id,
|
||||
const rtabmap::Mesh & mesh,
|
||||
const rtabmap::Transform & pose,
|
||||
bool createWireframe = false);
|
||||
void addLine(
|
||||
int id,
|
||||
const cv::Point3f & pt1,
|
||||
const cv::Point3f & pt2,
|
||||
const tango_gl::Color & color = tango_gl::Color(1.0f, 1.0f, 1.0f));
|
||||
void removeLine(int id);
|
||||
void addText(
|
||||
int id,
|
||||
const std::string & text,
|
||||
const rtabmap::Transform & pose,
|
||||
float size,
|
||||
const tango_gl::Color & color);
|
||||
void removeText(int id);
|
||||
void addQuad(
|
||||
int id,
|
||||
float size,
|
||||
const rtabmap::Transform & pose,
|
||||
const tango_gl::Color & color,
|
||||
float alpha = 1.0f);
|
||||
void addQuad(
|
||||
int id,
|
||||
float widthLeft,
|
||||
float widthRight,
|
||||
float heightBottom,
|
||||
float heightTop,
|
||||
const rtabmap::Transform & pose,
|
||||
const tango_gl::Color & color,
|
||||
float alpha =1.0f);
|
||||
void removeQuad(int id);
|
||||
bool hasQuad(int id) const;
|
||||
void addCircle(
|
||||
int id,
|
||||
float radius,
|
||||
const rtabmap::Transform & pose,
|
||||
const tango_gl::Color & color,
|
||||
float alpha = 1.0f);
|
||||
void removeCircle(int id);
|
||||
bool hasCircle(int id) const;
|
||||
|
||||
void setCloudPose(int id, const rtabmap::Transform & pose);
|
||||
void setCloudVisible(int id, bool visible);
|
||||
bool hasCloud(int id) const;
|
||||
bool hasMesh(int id) const;
|
||||
bool hasTexture(int id) const;
|
||||
std::set<int> getAddedClouds() const;
|
||||
void updateCloudPolygons(int id, const std::vector<pcl::Vertices> & polygons);
|
||||
void updateMesh(int id, const rtabmap::Mesh & mesh);
|
||||
void updateGains(int id, float gainR, float gainG, float gainB);
|
||||
|
||||
void setBlending(bool enabled) {blending_ = enabled;}
|
||||
void setMapRendering(bool enabled) {mapRendering_ = enabled;}
|
||||
void setMeshRendering(bool enabled, bool withTexture) {meshRendering_ = enabled; meshRenderingTexture_ = withTexture;}
|
||||
void setPointSize(float size) {pointSize_ = size;}
|
||||
void setFOV(float angle);
|
||||
void setOrthoCropFactor(float value);
|
||||
void setGridRotation(float angleDeg);
|
||||
void setLighting(bool enabled) {lighting_ = enabled;}
|
||||
void setBackfaceCulling(bool enabled) {backfaceCulling_ = enabled;}
|
||||
void setWireframe(bool enabled) {wireFrame_ = enabled;}
|
||||
void setTextureColorSeamsHidden(bool hidden) {textureColorSeamsHidden_ = hidden;}
|
||||
void setBackgroundColor(float r, float g, float b) {r_=r; g_=g; b_=b;} // 0.0f <> 1.0f
|
||||
void setGridColor(float r, float g, float b);
|
||||
|
||||
bool isBlending() const {return blending_;}
|
||||
bool isMapRendering() const {return mapRendering_;}
|
||||
bool isMeshRendering() const {return meshRendering_;}
|
||||
bool isMeshTexturing() const {return meshRendering_ && meshRenderingTexture_;}
|
||||
float getPointSize() const {return pointSize_;}
|
||||
bool isLighting() const {return lighting_;}
|
||||
bool isBackfaceCulling() const {return backfaceCulling_;}
|
||||
bool isWireframe() const {return wireFrame_;}
|
||||
|
||||
BackgroundRenderer * background_renderer_;
|
||||
|
||||
private:
|
||||
// Camera object that allows user to use touch input to interact with.
|
||||
tango_gl::GestureCamera* gesture_camera_;
|
||||
|
||||
// Device axis (in device frame of reference).
|
||||
tango_gl::Axis* axis_;
|
||||
|
||||
// Device frustum.
|
||||
tango_gl::Frustum* frustum_;
|
||||
|
||||
// Ground grid.
|
||||
tango_gl::Grid* grid_;
|
||||
|
||||
// Bounding box
|
||||
BoundingBoxDrawable * box_;
|
||||
|
||||
// Trace of pose data.
|
||||
tango_gl::Trace* trace_;
|
||||
GraphDrawable * graph_;
|
||||
bool graphVisible_;
|
||||
bool gridVisible_;
|
||||
bool traceVisible_;
|
||||
bool frustumVisible_;
|
||||
|
||||
std::map<int, tango_gl::Axis*> markers_;
|
||||
|
||||
rtabmap::ScreenRotation color_camera_to_display_rotation_;
|
||||
|
||||
std::map<int, PointCloudDrawable*> pointClouds_;
|
||||
std::map<int, tango_gl::Line*> lines_;
|
||||
std::map<int, TextDrawable*> texts_;
|
||||
std::map<int, QuadColor*> quads_;
|
||||
std::map<int, tango_gl::Circle*> circles_;
|
||||
|
||||
rtabmap::Transform * currentPose_;
|
||||
|
||||
// Shader to display point cloud.
|
||||
GLuint graph_shader_program_;
|
||||
|
||||
bool blending_;
|
||||
bool mapRendering_;
|
||||
bool meshRendering_;
|
||||
bool meshRenderingTexture_;
|
||||
float pointSize_;
|
||||
bool boundingBoxRendering_;
|
||||
bool lighting_;
|
||||
bool backfaceCulling_;
|
||||
bool wireFrame_;
|
||||
bool textureColorSeamsHidden_;
|
||||
float r_;
|
||||
float g_;
|
||||
float b_;
|
||||
GLuint fboId_;
|
||||
GLuint rboId_;
|
||||
GLuint depthTexture_; // 0=objects+occlusion
|
||||
GLsizei screenWidth_;
|
||||
GLsizei screenHeight_;
|
||||
bool doubleTapOn_;
|
||||
cv::Point2f doubleTapPos_;
|
||||
};
|
||||
|
||||
#endif // TANGO_POINT_CLOUD_SCENE_H_
|
||||
@@ -0,0 +1,75 @@
|
||||
/*
|
||||
* 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/axis.h"
|
||||
#include "tango-gl/shaders.h"
|
||||
|
||||
namespace tango_gl {
|
||||
|
||||
static const float float_vertices[] = {0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
|
||||
0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f,
|
||||
0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f};
|
||||
|
||||
static const float float_colors[] = {
|
||||
1.0f, 0.0f, 0.0f, 1.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 1.0f, 0.0f, 1.0f,
|
||||
0.0f, 1.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 1.0f, 0.0f, 0.0f, 1.0f, 1.0f};
|
||||
|
||||
Axis::Axis() : Line(3.0f, GL_LINES) {
|
||||
// Implement SetShader here, not using the dedault one.
|
||||
shader_program_ =
|
||||
util::CreateProgram(shaders::GetColorVertexShader().c_str(),
|
||||
shaders::GetBasicFragmentShader().c_str());
|
||||
if (!shader_program_) {
|
||||
LOGE("Could not create program.");
|
||||
}
|
||||
uniform_mvp_mat_ = glGetUniformLocation(shader_program_, "mvp");
|
||||
attrib_colors_ = glGetAttribLocation(shader_program_, "color");
|
||||
attrib_vertices_ = glGetAttribLocation(shader_program_, "vertex");
|
||||
|
||||
size_t size = sizeof(float_vertices) / (sizeof(float) * 3);
|
||||
for (size_t i = 0; i < size; i++) {
|
||||
vec_vertices_.push_back(glm::vec3(float_vertices[i * 3],
|
||||
float_vertices[i * 3 + 1],
|
||||
float_vertices[i * 3 + 2]));
|
||||
vec_colors_.push_back(
|
||||
glm::vec4(float_colors[i * 4], float_colors[i * 4 + 1],
|
||||
float_colors[i * 4 + 2], float_colors[i * 4 + 3]));
|
||||
}
|
||||
}
|
||||
|
||||
void Axis::Render(const glm::mat4& projection_mat,
|
||||
const glm::mat4& view_mat) const {
|
||||
glUseProgram(shader_program_);
|
||||
glLineWidth(line_width_);
|
||||
glm::mat4 model_mat = GetTransformationMatrix();
|
||||
glm::mat4 mvp_mat = projection_mat * view_mat * model_mat;
|
||||
glUniformMatrix4fv(uniform_mvp_mat_, 1, GL_FALSE, glm::value_ptr(mvp_mat));
|
||||
|
||||
glEnableVertexAttribArray(attrib_vertices_);
|
||||
glVertexAttribPointer(attrib_vertices_, 3, GL_FLOAT, GL_FALSE,
|
||||
sizeof(glm::vec3), &vec_vertices_[0]);
|
||||
|
||||
glEnableVertexAttribArray(attrib_colors_);
|
||||
glVertexAttribPointer(attrib_colors_, 4, GL_FLOAT, GL_FALSE,
|
||||
sizeof(glm::vec4), &vec_colors_[0]);
|
||||
|
||||
glDrawArrays(render_mode_, 0, vec_vertices_.size());
|
||||
|
||||
glDisableVertexAttribArray(attrib_vertices_);
|
||||
glDisableVertexAttribArray(attrib_colors_);
|
||||
glUseProgram(0);
|
||||
}
|
||||
} // namespace tango_gl
|
||||
@@ -0,0 +1,149 @@
|
||||
/*
|
||||
* 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/band.h"
|
||||
#include "tango-gl/util.h"
|
||||
|
||||
namespace tango_gl {
|
||||
|
||||
// Set band resolution to 0.01m(1cm) when using UpdateVertexArray()
|
||||
static const float kMinDistanceSquared = 0.0001f;
|
||||
|
||||
Band::Band(const unsigned int max_length)
|
||||
: band_width_(0.2), max_length_(max_length) {
|
||||
SetShader();
|
||||
vertices_v_.reserve(max_length);
|
||||
pivot_left = glm::vec3(0, 0, 0);
|
||||
pivot_right = glm::vec3(0, 0, 0);
|
||||
}
|
||||
|
||||
void Band::SetWidth(const float width) {
|
||||
band_width_ = width;
|
||||
}
|
||||
|
||||
void Band::UpdateVertexArray(const glm::mat4 m, BandMode mode) {
|
||||
// First 2 vertices of a band + 3 arrow head vertices.
|
||||
bool need_to_initialize = (vertices_v_.size() < 5);
|
||||
|
||||
bool sufficient_delta = false;
|
||||
if (!need_to_initialize) {
|
||||
// Band head is the first two vertices after arrow head.
|
||||
glm::vec3 band_front = 0.5f * (vertices_v_[vertices_v_.size() - 4] +
|
||||
vertices_v_[vertices_v_.size() - 5]);
|
||||
sufficient_delta = kMinDistanceSquared <
|
||||
util::DistanceSquared(band_front, util::GetTranslationFromMatrix(m));
|
||||
}
|
||||
|
||||
if (need_to_initialize || sufficient_delta) {
|
||||
glm::vec3 left = glm::vec3(-band_width_ * 0.5f, 0, 0);
|
||||
glm::vec3 right = glm::vec3(band_width_ * 0.5f, 0, 0);
|
||||
glm::vec3 arrow_left = glm::vec3(-band_width_ * 0.75f, 0, 0);
|
||||
glm::vec3 arrow_right = glm::vec3(band_width_ * 0.75f, 0, 0);
|
||||
glm::vec3 arrow_front = glm::vec3(0, 0, -band_width_ * 0.75f);
|
||||
|
||||
// If keep right pivot point, or normal mode,
|
||||
// then only update left pivot point.
|
||||
if (mode == BandMode::kNormal || mode == BandMode::kKeepRight) {
|
||||
pivot_left = util::ApplyTransform(m, left);
|
||||
}
|
||||
// If keep left pivot point, or normal mode,
|
||||
// then only update right pivot point.
|
||||
if (mode == BandMode::kNormal || mode == BandMode::kKeepLeft) {
|
||||
pivot_right = util::ApplyTransform(m, right);
|
||||
}
|
||||
|
||||
glm::mat4 head_m = m;
|
||||
|
||||
if (mode != BandMode::kNormal) {
|
||||
glm::vec3 up = glm::vec3(0, 1.0f, 0);
|
||||
glm::vec3 position = 0.5f * (pivot_left + pivot_right);
|
||||
glm::vec3 heading = glm::cross(up, pivot_right-pivot_left);
|
||||
head_m = glm::inverse(glm::lookAt(glm::vec3(0, 0, 0), heading, up));
|
||||
head_m[3][0] = position.x;
|
||||
head_m[3][1] = position.y;
|
||||
head_m[3][2] = position.z;
|
||||
}
|
||||
|
||||
if (need_to_initialize) {
|
||||
vertices_v_.resize(5);
|
||||
} else {
|
||||
vertices_v_.resize(vertices_v_.size() + 2);
|
||||
}
|
||||
|
||||
size_t insertion_start = vertices_v_.size() - 5;
|
||||
vertices_v_[insertion_start + 0] = pivot_left;
|
||||
vertices_v_[insertion_start + 1] = pivot_right;
|
||||
vertices_v_[insertion_start + 2] = util::ApplyTransform(head_m, arrow_left);
|
||||
vertices_v_[insertion_start + 3] = util::ApplyTransform(head_m, arrow_right);
|
||||
vertices_v_[insertion_start + 4] = util::ApplyTransform(head_m, arrow_front);
|
||||
|
||||
if (vertices_v_.size() > max_length_) {
|
||||
vertices_v_.erase(vertices_v_.begin(), vertices_v_.begin() + 2);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void Band::UpdateVertexArray(const glm::mat4 m) {
|
||||
// Defualt to call update with normal mode.
|
||||
UpdateVertexArray(m, BandMode::kNormal);
|
||||
}
|
||||
|
||||
void Band::SetVertexArray(const std::vector<glm::vec3>& v,
|
||||
const glm::vec3& up) {
|
||||
vertices_v_.clear();
|
||||
vertices_v_.reserve(2 * v.size());
|
||||
if (v.size() < 2)
|
||||
return;
|
||||
|
||||
for (size_t i = 0; i < v.size() - 1; ++i) {
|
||||
glm::vec3 gl_p_world_a = v[i];
|
||||
glm::vec3 gl_p_world_b = v[i + 1];
|
||||
glm::vec3 dir = glm::normalize(gl_p_world_b - gl_p_world_a);
|
||||
glm::vec3 left = glm::cross(up, dir);
|
||||
glm::normalize(left);
|
||||
|
||||
vertices_v_.push_back(gl_p_world_a + (band_width_ / 2.0f * left));
|
||||
vertices_v_.push_back(gl_p_world_a - (band_width_ / 2.0f * left));
|
||||
|
||||
// Cap the end of the path.
|
||||
if (i == v.size() - 2) {
|
||||
vertices_v_.push_back(gl_p_world_b + (band_width_ / 2.0f * left));
|
||||
vertices_v_.push_back(gl_p_world_b - (band_width_ / 2.0f * left));
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void Band::ClearVertexArray() { vertices_v_.clear(); }
|
||||
|
||||
void Band::Render(const glm::mat4& projection_mat,
|
||||
const glm::mat4& view_mat) const {
|
||||
glUseProgram(shader_program_);
|
||||
glm::mat4 model_mat = GetTransformationMatrix();
|
||||
glm::mat4 mvp_mat = projection_mat * view_mat * model_mat;
|
||||
glUniformMatrix4fv(uniform_mvp_mat_, 1, GL_FALSE, glm::value_ptr(mvp_mat));
|
||||
|
||||
glUniform4f(uniform_color_, red_, green_, blue_, alpha_);
|
||||
|
||||
glEnableVertexAttribArray(attrib_vertices_);
|
||||
glVertexAttribPointer(attrib_vertices_, 3, GL_FLOAT, GL_FALSE,
|
||||
sizeof(glm::vec3), &vertices_v_[0]);
|
||||
glDrawArrays(GL_TRIANGLE_STRIP, 0, vertices_v_.size());
|
||||
glDisableVertexAttribArray(attrib_vertices_);
|
||||
glUseProgram(0);
|
||||
}
|
||||
|
||||
} // namespace tango_gl
|
||||
@@ -0,0 +1,62 @@
|
||||
#include "tango-gl/bounding_box.h"
|
||||
|
||||
namespace tango_gl {
|
||||
BoundingBox::BoundingBox(const std::vector<float>& vertices) {
|
||||
// Set min and max to the first vertice.
|
||||
bounding_min_ = glm::vec3(vertices[0], vertices[1], vertices[2]);
|
||||
bounding_max_ = bounding_min_;
|
||||
size_t vertices_count = vertices.size() / 3;
|
||||
for (size_t i = 1; i < vertices_count; i += 3) {
|
||||
bounding_min_.x = std::min(vertices[i * 3], bounding_min_.x);
|
||||
bounding_min_.y = std::min(vertices[i * 3 + 1], bounding_min_.y);
|
||||
bounding_min_.z = std::min(vertices[i * 3 + 2], bounding_min_.z);
|
||||
|
||||
bounding_max_.x = std::max(vertices[i * 3], bounding_max_.x);
|
||||
bounding_max_.y = std::max(vertices[i * 3 + 1], bounding_max_.y);
|
||||
bounding_max_.z = std::max(vertices[i * 3 + 2], bounding_max_.z);
|
||||
}
|
||||
}
|
||||
|
||||
bool BoundingBox::IsIntersecting(const Segment& segment,
|
||||
const glm::quat& rotation,
|
||||
const glm::mat4& transformation) {
|
||||
// The current bounding box.
|
||||
glm::vec3 min, max;
|
||||
|
||||
// If the mesh has been rotated, we need to derive a new bounding box
|
||||
// based on the original one, if it just been translated or scaled,
|
||||
// we can still use the original one with current model matrix applied.
|
||||
if (rotation == glm::quat(1.0f, 0.0f, 0.0f, 0.0f)) {
|
||||
min = util::ApplyTransform(transformation, bounding_min_);
|
||||
max = util::ApplyTransform(transformation, bounding_max_);
|
||||
} else {
|
||||
std::vector<glm::vec3> box;
|
||||
// Derive 8 vertices of the new bounding box from original min and max.
|
||||
box.push_back(bounding_min_);
|
||||
box.push_back(bounding_max_);
|
||||
|
||||
box.push_back(glm::vec3(bounding_min_.x, bounding_max_.y, bounding_max_.z));
|
||||
box.push_back(glm::vec3(bounding_max_.x, bounding_min_.y, bounding_min_.z));
|
||||
|
||||
box.push_back(glm::vec3(bounding_min_.x, bounding_min_.y, bounding_max_.z));
|
||||
box.push_back(glm::vec3(bounding_max_.x, bounding_max_.y, bounding_min_.z));
|
||||
|
||||
box.push_back(glm::vec3(bounding_max_.x, bounding_min_.y, bounding_max_.z));
|
||||
box.push_back(glm::vec3(bounding_min_.x, bounding_max_.y, bounding_min_.z));
|
||||
|
||||
min = util::ApplyTransform(transformation, bounding_min_);
|
||||
max = min;
|
||||
for (size_t i = 1; i < box.size(); i++) {
|
||||
glm::vec3 temp = util::ApplyTransform(transformation, box[i]);
|
||||
min.x = std::min(temp.x, min.x);
|
||||
min.y = std::min(temp.y, min.y);
|
||||
min.z = std::min(temp.z, min.z);
|
||||
|
||||
max.x = std::max(temp.x, max.x);
|
||||
max.y = std::max(temp.y, max.y);
|
||||
max.z = std::max(temp.z, max.z);
|
||||
}
|
||||
}
|
||||
return util::SegmentAABBIntersect(min, max, segment.start, segment.end);
|
||||
}
|
||||
} // namespace tango_gl
|
||||
@@ -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
|
||||
@@ -0,0 +1,36 @@
|
||||
/*
|
||||
* 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/circle.h"
|
||||
|
||||
namespace tango_gl {
|
||||
Circle::Circle(float radius, int resolution) : Mesh(GL_TRIANGLE_FAN){
|
||||
SetShader();
|
||||
std::vector<GLfloat> vertices;
|
||||
vertices.reserve(3 * (resolution + 2));
|
||||
vertices.push_back(0);
|
||||
vertices.push_back(0);
|
||||
vertices.push_back(0);
|
||||
float delta_theta = M_PI * 2.0f / static_cast<float>(resolution);
|
||||
for (int i = resolution; i >= 0; i--) {
|
||||
float theta = delta_theta * static_cast<float>(i);
|
||||
vertices.push_back(cos(theta) * radius);
|
||||
vertices.push_back(sin(theta) * radius);
|
||||
vertices.push_back(0);
|
||||
}
|
||||
SetVertices(vertices);
|
||||
}
|
||||
} // namespace tango_gl
|
||||
@@ -0,0 +1,52 @@
|
||||
/*
|
||||
* 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/conversions.h"
|
||||
|
||||
namespace tango_gl {
|
||||
namespace conversions {
|
||||
|
||||
glm::mat4 opengl_world_T_tango_world() {
|
||||
// Note glm is column-wise.
|
||||
return glm::mat4(1.0f, 0.0f, 0.0f, 0.0f,
|
||||
0.0f, 0.0f, -1.0f, 0.0f,
|
||||
0.0f, 1.0f, 0.0f, 0.0f,
|
||||
0.0f, 0.0f, 0.0f, 1.0f);
|
||||
}
|
||||
|
||||
glm::mat4 color_camera_T_opengl_camera() {
|
||||
// Note glm is column-wise.
|
||||
return glm::mat4(1.0f, 0.0f, 0.0f, 0.0f,
|
||||
0.0f, -1.0f, 0.0f, 0.0f,
|
||||
0.0f, 0.0f, -1.0f, 0.0f,
|
||||
0.0f, 0.0f, 0.0f, 1.0f);
|
||||
}
|
||||
|
||||
glm::mat4 depth_camera_T_opengl_camera() {
|
||||
// Note glm is column-wise.
|
||||
return glm::mat4(1.0f, 0.0f, 0.0f, 0.0f, 0.0f, -1.0f, 0.0f, 0.0f, 0.0f, 0.0f,
|
||||
-1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f);
|
||||
}
|
||||
|
||||
glm::quat QuatTangoToGl(const glm::quat& tango_q_frame) {
|
||||
const float kSqrt2Over2 = std::sqrt(2.0) / 2.0f;
|
||||
// Tango frame is a -90 degree rotation about +X from the GL frame.
|
||||
glm::quat gl_q_tango = glm::quat(kSqrt2Over2, -kSqrt2Over2, 0.0f, 0.0f);
|
||||
return gl_q_tango * tango_q_frame;
|
||||
}
|
||||
|
||||
} // namespace gl_tango_conversions
|
||||
} // namespace tango_gl
|
||||
@@ -0,0 +1,54 @@
|
||||
/*
|
||||
* 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/cube.h"
|
||||
|
||||
namespace tango_gl {
|
||||
|
||||
static const GLfloat const_vertices[] = {
|
||||
-1.0f, 1.0f, 1.0f, -1.0f, -1.0f, 1.0f, 1.0f, 1.0f, 1.0f, -1.0f, -1.0f,
|
||||
1.0f, 1.0f, -1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f,
|
||||
-1.0f, 1.0f, 1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 1.0f, 1.0f, -1.0f, -1.0f,
|
||||
1.0f, 1.0f, -1.0f, 1.0f, 1.0f, -1.0f, 1.0f, -1.0f, -1.0f, -1.0f, 1.0f,
|
||||
-1.0f, 1.0f, -1.0f, -1.0f, -1.0f, -1.0f, -1.0f, -1.0f, 1.0f, -1.0f, -1.0f,
|
||||
1.0f, -1.0f, -1.0f, -1.0f, -1.0f, -1.0f, 1.0f, 1.0f, -1.0f, -1.0f, -1.0f,
|
||||
-1.0f, -1.0f, 1.0f, -1.0f, 1.0f, 1.0f, -1.0f, 1.0f, -1.0f, -1.0f, 1.0f,
|
||||
1.0f, 1.0f, 1.0f, -1.0f, -1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f,
|
||||
1.0f, -1.0f, 1.0f, -1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, -1.0f, -1.0f,
|
||||
1.0f, -1.0f, 1.0f, -1.0f, -1.0f, 1.0f, -1.0f, -1.0f, -1.0f};
|
||||
|
||||
static const GLfloat const_normals[] = {
|
||||
0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
|
||||
1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 1.0f, 0.0f, 0.0f, 1.0f,
|
||||
0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
|
||||
1.0f, 0.0f, 0.0f, 0.0f, 0.0f, -1.0f, 0.0f, 0.0f, -1.0f, 0.0f, 0.0f,
|
||||
-1.0f, 0.0f, 0.0f, -1.0f, 0.0f, 0.0f, -1.0f, 0.0f, 0.0f, -1.0f, -1.0f,
|
||||
0.0f, 0.0f, -1.0f, 0.0f, 0.0f, -1.0f, 0.0f, 0.0f, -1.0f, 0.0f, 0.0f,
|
||||
-1.0f, 0.0f, 0.0f, -1.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f,
|
||||
0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
|
||||
1.0f, 0.0f, 0.0f, -1.0f, 0.0f, 0.0f, -1.0f, 0.0f, 0.0f, -1.0f, 0.0f,
|
||||
0.0f, -1.0f, 0.0f, 0.0f, -1.0f, 0.0f, 0.0f, -1.0f, 0.0f};
|
||||
|
||||
Cube::Cube() {
|
||||
SetShader(true);
|
||||
std::vector<GLfloat> vertices(
|
||||
const_vertices,
|
||||
const_vertices + sizeof(const_vertices) / sizeof(GLfloat));
|
||||
std::vector<GLfloat> normals(
|
||||
const_normals, const_normals + sizeof(const_normals) / sizeof(GLfloat));
|
||||
SetVertices(vertices, normals);
|
||||
}
|
||||
} // namespace tango_gl
|
||||
@@ -0,0 +1,66 @@
|
||||
/*
|
||||
* 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/drawable_object.h"
|
||||
#include "tango-gl/shaders.h"
|
||||
|
||||
namespace tango_gl {
|
||||
|
||||
void DrawableObject::SetShader() {
|
||||
shader_program_ =
|
||||
util::CreateProgram(shaders::GetBasicVertexShader().c_str(),
|
||||
shaders::GetBasicFragmentShader().c_str());
|
||||
if (!shader_program_) {
|
||||
LOGE("Could not create program.");
|
||||
}
|
||||
uniform_mvp_mat_ = glGetUniformLocation(shader_program_, "mvp");
|
||||
attrib_vertices_ = glGetAttribLocation(shader_program_, "vertex");
|
||||
uniform_color_ = glGetUniformLocation(shader_program_, "color");
|
||||
}
|
||||
|
||||
void DrawableObject::DeleteGlResources() {
|
||||
if (shader_program_) {
|
||||
glDeleteShader(shader_program_);
|
||||
}
|
||||
}
|
||||
|
||||
void DrawableObject::SetColor(float red, float green, float blue) {
|
||||
red_ = red;
|
||||
green_ = green;
|
||||
blue_ = blue;
|
||||
}
|
||||
void DrawableObject::SetColor(const Color& color) {
|
||||
SetColor(color.r, color.g, color.b);
|
||||
}
|
||||
|
||||
void DrawableObject::SetAlpha(const float alpha) { alpha_ = alpha; }
|
||||
|
||||
void DrawableObject::SetVertices(const std::vector<GLfloat>& vertices) {
|
||||
vertices_ = vertices;
|
||||
}
|
||||
|
||||
void DrawableObject::SetVertices(const std::vector<GLfloat>& vertices,
|
||||
const std::vector<GLushort>& indices) {
|
||||
vertices_ = vertices;
|
||||
indices_ = indices;
|
||||
}
|
||||
|
||||
void DrawableObject::SetVertices(const std::vector<GLfloat>& vertices,
|
||||
const std::vector<GLfloat>& normals) {
|
||||
vertices_ = vertices;
|
||||
normals_ = normals;
|
||||
}
|
||||
} // namespace tango_gl
|
||||
@@ -0,0 +1,38 @@
|
||||
/*
|
||||
* 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/frustum.h"
|
||||
|
||||
namespace tango_gl {
|
||||
|
||||
static const float float_vertices[] = {
|
||||
0.0f, 0.0f, 0.0f, -1.0f, 1.0f, -1.0f,
|
||||
0.0f, 0.0f, 0.0f, 1.0f, 1.0f, -1.0f,
|
||||
0.0f, 0.0f, 0.0f, -1.0f, -1.0f, -1.0f,
|
||||
0.0f, 0.0f, 0.0f, 1.0f, -1.0f, -1.0f,
|
||||
-1.0f, 1.0f, -1.0f, 1.0f, 1.0f, -1.0f,
|
||||
1.0f, 1.0f, -1.0f, 1.0f, -1.0f, -1.0f,
|
||||
1.0f, -1.0f, -1.0f, -1.0f, -1.0f, -1.0f,
|
||||
-1.0f, -1.0f, -1.0f, -1.0f, 1.0f, -1.0f};
|
||||
|
||||
Frustum::Frustum() : Line(3.0f, GL_LINES) {
|
||||
SetShader();
|
||||
size_t size = sizeof(float_vertices) / sizeof(float);
|
||||
for (size_t i = 0; i < size; i += 3) {
|
||||
vec_vertices_.push_back(glm::vec3(float_vertices[i], float_vertices[i + 1],
|
||||
float_vertices[i + 2]));
|
||||
}
|
||||
}
|
||||
} // namespace tango_gl
|
||||
@@ -0,0 +1,254 @@
|
||||
/*
|
||||
* 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/gesture_camera.h"
|
||||
#include "tango-gl/util.h"
|
||||
#include "glm/gtx/quaternion.hpp"
|
||||
|
||||
namespace {
|
||||
// Render camera observation distance in third person camera mode.
|
||||
const float kThirdPersonCameraDist = 7.0f;
|
||||
|
||||
// Render camera observation distance in third person camera mode.
|
||||
const float kThirdPersonFollowCameraDist = 2.0f;
|
||||
|
||||
// Render camera observation distance in top down camera mode.
|
||||
const float kTopDownCameraDist = 5.0f;
|
||||
|
||||
// Zoom in speed.
|
||||
const float kZoomSpeed = 10.0f;
|
||||
|
||||
// Move speed
|
||||
const float kMoveSpeed = 10.0f;
|
||||
|
||||
// Rotation speed
|
||||
const float kRotationSpeed = 2.0f;
|
||||
|
||||
// Min/max clamp value of camera observation distance.
|
||||
const float kCamViewMinDist = .1f;
|
||||
const float kCamViewMaxDist = 100.f;
|
||||
|
||||
// FOV set up values.
|
||||
// Third and top down camera's FOV is 65 degrees.
|
||||
// First person camera's FOV is 85 degrees.
|
||||
const float kHighestFov = 120.0f;
|
||||
const float kHighFov = 85.0f;
|
||||
const float kLowFov = 65.0f;
|
||||
const float kLowestFov = 40.0f;
|
||||
}
|
||||
|
||||
namespace tango_gl {
|
||||
|
||||
GestureCamera::GestureCamera() :
|
||||
cam_cur_target_rot_(1,0,0,0),
|
||||
start_touch_dist_(0.0f),
|
||||
cur_touch_dist_(0.0f)
|
||||
{
|
||||
cam_parent_transform_ = new Transform();
|
||||
SetParent(cam_parent_transform_);
|
||||
}
|
||||
|
||||
GestureCamera::~GestureCamera() { delete cam_parent_transform_; }
|
||||
|
||||
void GestureCamera::OnTouchEvent(int touch_count, TouchEvent event, float x0,
|
||||
float y0, float x1, float y1) {
|
||||
|
||||
if (camera_type_!=kFirstPerson && touch_count == 1) {
|
||||
switch (event) {
|
||||
case kTouch0Down: {
|
||||
cam_start_angle_ = cam_cur_angle_;
|
||||
|
||||
touch0_start_position_.x = x0;
|
||||
touch0_start_position_.y = y0;
|
||||
break;
|
||||
}
|
||||
case kTouchMove: {
|
||||
glm::vec2 offset;
|
||||
|
||||
float rotation_x = (touch0_start_position_.y - y0) * kRotationSpeed;
|
||||
float rotation_y = (touch0_start_position_.x - x0) * kRotationSpeed;
|
||||
|
||||
if(camera_type_!=kTopOrtho)
|
||||
cam_cur_angle_.x = cam_start_angle_.x + rotation_x;
|
||||
cam_cur_angle_.y = cam_start_angle_.y + rotation_y;
|
||||
|
||||
StartCameraToCurrentTransform();
|
||||
|
||||
break;
|
||||
}
|
||||
default: { break; }
|
||||
}
|
||||
}
|
||||
if (touch_count == 2) {
|
||||
switch (event) {
|
||||
case kTouch1Down: {
|
||||
float abs_x = x0 - x1;
|
||||
float abs_y = y0 - y1;
|
||||
start_touch_dist_ = std::sqrt(abs_x * abs_x + abs_y * abs_y);
|
||||
cam_start_dist_ = GetPosition().z;
|
||||
cam_start_fov_ = this->getFOV();
|
||||
|
||||
// center touch
|
||||
touch0_start_position_.x = (x0+x1)/2.0f;
|
||||
touch0_start_position_.y = (y0+y1)/2.0f;
|
||||
break;
|
||||
}
|
||||
case kTouchMove: {
|
||||
float abs_x = x0 - x1;
|
||||
float abs_y = y0 - y1;
|
||||
float dist = start_touch_dist_ - std::sqrt(abs_x * abs_x + abs_y * abs_y);
|
||||
|
||||
if(camera_type_ == kFirstPerson)
|
||||
{
|
||||
this->SetFieldOfView(tango_gl::util::Clamp(cam_start_fov_ + dist * kZoomSpeed*10.0f, kLowestFov, kHighestFov));
|
||||
}
|
||||
else
|
||||
{
|
||||
cam_cur_dist_ = tango_gl::util::Clamp(cam_start_dist_ + dist * kZoomSpeed,
|
||||
kCamViewMinDist, kCamViewMaxDist);
|
||||
|
||||
this->SetOrthoMode(camera_type_ == kTopOrtho);
|
||||
if(camera_type_ == kTopOrtho)
|
||||
{
|
||||
this->SetOrthoScale(cam_cur_dist_);
|
||||
}
|
||||
|
||||
glm::vec2 touch_center_position((x0+x1)/2.0f, (y0+y1)/2.0f);
|
||||
glm::vec2 offset;
|
||||
offset.x = (touch_center_position.x - touch0_start_position_.x) * kMoveSpeed;
|
||||
offset.y = (touch_center_position.y - touch0_start_position_.y) * kMoveSpeed;
|
||||
touch0_start_position_ = touch_center_position;
|
||||
|
||||
StartCameraToCurrentTransform();
|
||||
|
||||
anchor_offset_ += glm::rotate(cam_parent_transform_->GetRotation(), glm::vec3(-offset.x, offset.y, 0));
|
||||
}
|
||||
break;
|
||||
}
|
||||
default: { break; }
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Segment GestureCamera::GetSegmentFromTouch(float normalized_x,
|
||||
float normalized_y,
|
||||
float touch_range) {
|
||||
float screen_height = touch_range * (2.0f * glm::tan(field_of_view_ * 0.5f));
|
||||
float screen_width = screen_height * aspect_ratio_;
|
||||
// normalized_x and normalized_x are from OnTouchEvent, top-left corner of the
|
||||
// screen
|
||||
// is [0, 0], transform it to opengl frame.
|
||||
normalized_x = normalized_x - 0.5f;
|
||||
normalized_y = 0.5f - normalized_y;
|
||||
glm::vec3 start =
|
||||
util::ApplyTransform(GetTransformationMatrix(), glm::vec3(0, 0, 0));
|
||||
glm::vec3 end = util::ApplyTransform(GetTransformationMatrix(),
|
||||
glm::vec3(normalized_x * screen_width, normalized_y * screen_height,
|
||||
-touch_range));
|
||||
Segment segment(start, end);
|
||||
return segment;
|
||||
}
|
||||
|
||||
void GestureCamera::SetAnchorPosition(const glm::vec3& pos, const glm::quat & rotation) {
|
||||
// Anchor position
|
||||
cam_parent_transform_->SetPosition(pos+anchor_offset_);
|
||||
|
||||
// Anchor rotation
|
||||
if(camera_type_ == kThirdPersonFollow)
|
||||
{
|
||||
cam_cur_target_rot_ = rotation;
|
||||
cam_cur_target_rot_.x = 0;
|
||||
cam_cur_target_rot_.z = 0;
|
||||
cam_cur_target_rot_ = glm::normalize(cam_cur_target_rot_);
|
||||
StartCameraToCurrentTransform();
|
||||
}
|
||||
}
|
||||
|
||||
void GestureCamera::SetCameraType(CameraType camera_index) {
|
||||
camera_type_ = camera_index;
|
||||
switch (camera_index) {
|
||||
case kFirstPerson:
|
||||
SetOrthoMode(false);
|
||||
SetFieldOfView(kLowestFov);
|
||||
SetNearFarClipPlanes(0.25, 25);
|
||||
SetPosition(glm::vec3(0.0f, 0.0f, 0.0f));
|
||||
SetRotation(glm::quat(1.0f, 0.0f, 0.0f, 0.0f));
|
||||
cam_cur_dist_ = 0.0f;
|
||||
anchor_offset_ = glm::vec3(0.0f,0.0f,0.0f);
|
||||
cam_cur_angle_.x = 0.0f;
|
||||
cam_cur_angle_.y = 0.0f;
|
||||
cam_cur_target_rot_ = glm::quat(1,0,0,0);
|
||||
cam_parent_transform_->SetPosition(glm::vec3(0.0f, 0.0f, 0.0f));
|
||||
StartCameraToCurrentTransform();
|
||||
break;
|
||||
case kThirdPerson:
|
||||
case kThirdPersonFollow:
|
||||
SetOrthoMode(false);
|
||||
SetFieldOfView(kLowFov);
|
||||
SetNearFarClipPlanes(1, 50);
|
||||
SetPosition(glm::vec3(0.0f, 0.0f, 0.0f));
|
||||
SetRotation(glm::quat(1.0f, 0.0f, 0.0f, 0.0f));
|
||||
cam_cur_dist_ = camera_index==kThirdPersonFollow?kThirdPersonFollowCameraDist:kThirdPersonCameraDist;
|
||||
anchor_offset_ = glm::vec3(0.0f,0.0f,0.0f);
|
||||
cam_cur_angle_.x = -M_PI / 12.0f;
|
||||
cam_cur_angle_.y = kThirdPersonFollow?0:M_PI / 2.0f;
|
||||
cam_cur_target_rot_ = glm::quat(1,0,0,0);
|
||||
StartCameraToCurrentTransform();
|
||||
break;
|
||||
case kTopDown:
|
||||
SetPosition(glm::vec3(0.0f, 0.0f, 0.0f));
|
||||
SetRotation(glm::quat(1.0f, 0.0f, 0.0f, 0.0f));
|
||||
SetOrthoMode(false);
|
||||
SetFieldOfView(kLowFov);
|
||||
SetNearFarClipPlanes(1, 50);
|
||||
cam_cur_dist_ = kTopDownCameraDist;
|
||||
anchor_offset_ = glm::vec3(0.0f,0.0f,0.0f);
|
||||
cam_cur_angle_.x = -M_PI / 2.0f;
|
||||
cam_cur_angle_.y = 0.0f;
|
||||
cam_cur_target_rot_ = glm::quat(1,0,0,0);
|
||||
StartCameraToCurrentTransform();
|
||||
break;
|
||||
case kTopOrtho:
|
||||
SetPosition(glm::vec3(0.0f, 0.0f, 0.0f));
|
||||
SetRotation(glm::quat(1.0f, 0.0f, 0.0f, 0.0f));
|
||||
SetOrthoMode(true);
|
||||
SetOrthoScale(kTopDownCameraDist);
|
||||
SetOrthoCropFactor(-1.0f);
|
||||
SetFieldOfView(kLowFov);
|
||||
SetNearFarClipPlanes(1, 50);
|
||||
cam_cur_dist_ = kTopDownCameraDist;
|
||||
anchor_offset_ = glm::vec3(0.0f,0.0f,0.0f);
|
||||
cam_cur_angle_.x = -M_PI / 2.0f;
|
||||
cam_cur_angle_.y = 0.0f;
|
||||
cam_cur_target_rot_ = glm::quat(1,0,0,0);
|
||||
StartCameraToCurrentTransform();
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void GestureCamera::StartCameraToCurrentTransform()
|
||||
{
|
||||
//Anchor rotation
|
||||
glm::quat parent_cam_rot = glm::rotate(cam_cur_target_rot_, cam_cur_angle_.y, glm::vec3(0, 1, 0));
|
||||
parent_cam_rot = glm::rotate(parent_cam_rot, cam_cur_angle_.x, glm::vec3(1, 0, 0));
|
||||
cam_parent_transform_->SetRotation(parent_cam_rot);
|
||||
|
||||
//Camera position
|
||||
SetPosition(glm::vec3(0, 0, cam_cur_dist_));
|
||||
}
|
||||
} // namespace tango_gl
|
||||
@@ -0,0 +1,59 @@
|
||||
|
||||
/*
|
||||
* Copyright 2014 Google Inc. All Rights Reserved.
|
||||
* Distributed under the Project Tango Preview Development Kit (PDK) Agreement.
|
||||
* CONFIDENTIAL. AUTHORIZED USE ONLY. DO NOT REDISTRIBUTE.
|
||||
*/
|
||||
|
||||
#include "tango-gl/goal_marker.h"
|
||||
|
||||
namespace tango_gl {
|
||||
|
||||
static const GLfloat const_vertices[] = {
|
||||
-4.5298f, -0.2676f, 0.0, -4.3209f, -1.3857f, 0.0, -3.7242f,
|
||||
-11.1445f, 0.0, -5.6799f, -8.9811f, 0.0, -4.4540f, 0.8673f,
|
||||
0.0, -7.8376f, -6.4508f, 0.0, -9.5223f, -3.0538f, 0.0,
|
||||
-9.9826f, -0.5898f, 0.0, -9.8157f, 1.9113f, 0.0, -9.0320f,
|
||||
4.2923f, 0.0, -7.6808f, 6.4036f, 0.0, -5.8469f, 8.1125f,
|
||||
0.0, -3.6457f, 9.3117f, 0.0, -4.0984f, 1.9477f, 0.0,
|
||||
-1.2155f, 9.9259f, 0.0, -3.4853f, 2.9057f, 0.0, 1.2912f,
|
||||
9.9163f, 0.0, -2.6532f, 3.6812f, 0.0, 3.7167f, 9.2837f,
|
||||
0.0, -1.6543f, 4.2254f, 0.0, 5.9087f, 8.0677f, 0.0,
|
||||
-0.5515f, 4.5040f, 0.0, 7.7294f, 6.3448f, 0.0, 0.5859f,
|
||||
4.4997f, 0.0, 9.0645f, 4.2232f, 0.0, 1.6865f, 4.2126f,
|
||||
0.0, 9.8300f, 1.8363f, 0.0, 2.6812f, 3.6609f, 0.0,
|
||||
9.9778f, -0.6660f, 0.0, 3.5074f, 2.8791f, 0.0, 9.4987f,
|
||||
-3.1264f, 0.0, 4.1132f, 1.9164f, 0.0, 7.7964f, -6.5204f,
|
||||
0.0, 4.4605f, 0.8333f, 0.0, 5.6245f, -9.0444f, 0.0,
|
||||
4.5276f, -0.3022f, 0.0, 3.6572f, -11.1925f, 0.0, 4.3102f,
|
||||
-1.4187f, 0.0, 1.5165f, -13.5960f, 0.0, 3.8220f, -2.4460f,
|
||||
0.0, -0.0382f, -16.4245f, 0.0, 3.0936f, -3.3197f, 0.0,
|
||||
-1.5902f, -13.5657f, 0.0, 2.1709f, -3.9847f, 0.0, -3.8405f,
|
||||
-2.4168f, 0.0, -3.1189f, -3.2959f, 0.0, -2.2012f, -3.9680f,
|
||||
0.0, -1.1452f, -4.3908f, 0.0, -0.0173f, -4.5377f, 0.0,
|
||||
1.1117f, -4.3994f, 0.0};
|
||||
|
||||
static const GLushort const_indices[] = {
|
||||
1, 2, 3, 1, 3, 4, 5, 1, 4, 4, 6, 7, 5, 4, 7, 7, 8, 9, 9,
|
||||
10, 11, 7, 9, 11, 5, 7, 11, 5, 11, 12, 5, 12, 13, 14, 5, 13, 14, 13,
|
||||
15, 16, 14, 15, 16, 15, 17, 18, 16, 17, 18, 17, 19, 20, 18, 19, 20, 19, 21,
|
||||
22, 20, 21, 22, 21, 23, 24, 22, 23, 24, 23, 25, 26, 24, 25, 26, 25, 27, 28,
|
||||
26, 27, 28, 27, 29, 30, 28, 29, 30, 29, 31, 32, 30, 31, 32, 31, 33, 34, 32,
|
||||
33, 34, 33, 35, 36, 34, 35, 36, 35, 37, 38, 36, 37, 38, 37, 39, 40, 38, 39,
|
||||
40, 39, 41, 42, 40, 41, 42, 41, 43, 44, 42, 43, 44, 43, 3, 3, 2, 45, 3,
|
||||
45, 46, 3, 46, 47, 3, 47, 48, 3, 48, 49, 3, 49, 50, 44, 3, 50};
|
||||
|
||||
GoalMarker::GoalMarker() {
|
||||
SetShader();
|
||||
std::vector<GLfloat> vertices(
|
||||
const_vertices,
|
||||
const_vertices + sizeof(const_vertices) / sizeof(GLfloat));
|
||||
std::vector<GLushort> indices(
|
||||
const_indices, const_indices + sizeof(const_indices) / sizeof(GLushort));
|
||||
// Change indices so they are zero-indexed.
|
||||
for (size_t i = 0; i < indices.size(); ++i) {
|
||||
indices[i] = indices[i] - 1;
|
||||
}
|
||||
SetVertices(vertices, indices);
|
||||
}
|
||||
} // namespace tango_gl
|
||||
@@ -0,0 +1,47 @@
|
||||
/*
|
||||
* 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/grid.h"
|
||||
|
||||
namespace tango_gl {
|
||||
|
||||
// Initialize Grid with x and y grid count,
|
||||
// qx, quantity in x
|
||||
// qy, quantity in y.
|
||||
Grid::Grid(float density, int qx, int qy) : Line(1.0f, GL_LINES) {
|
||||
SetShader();
|
||||
|
||||
// 3 float in 1 vertex, 2 vertices form a line.
|
||||
// Horizontal line and vertical line forms the grid.
|
||||
float width = density * qx / 2;
|
||||
float height = density * qy / 2;
|
||||
|
||||
// Horizontal line.
|
||||
for (int i = 0; i < (qy + 1); i++) {
|
||||
for (int j = 0; j < (qx + 1); j++) {
|
||||
vec_vertices_.push_back(glm::vec3(-width + j*density, 0.0f, -height + i * density));
|
||||
vec_vertices_.push_back(glm::vec3(-width+ + (j+1)*density, 0.0f, -height + i * density));
|
||||
}
|
||||
}
|
||||
|
||||
for (int i = 0; i < (qx + 1); i++) {
|
||||
for (int j = 0; j < (qy + 1); j++) {
|
||||
vec_vertices_.push_back(glm::vec3(-width + i * density, 0.0f, -height + j*density));
|
||||
vec_vertices_.push_back(glm::vec3(-width + i * density, 0.0f, -height + (j+1)*density));
|
||||
}
|
||||
}
|
||||
}
|
||||
} // namespace tango_gl
|
||||
@@ -0,0 +1,32 @@
|
||||
/*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#ifndef TANGO_GL_AXIS_H_
|
||||
#define TANGO_GL_AXIS_H_
|
||||
|
||||
#include "tango-gl/line.h"
|
||||
|
||||
namespace tango_gl {
|
||||
class Axis : public Line {
|
||||
public:
|
||||
Axis();
|
||||
void Render(const glm::mat4& projection_mat, const glm::mat4& view_mat) const;
|
||||
private:
|
||||
GLuint attrib_colors_;
|
||||
std::vector<glm::vec4> vec_colors_;
|
||||
};
|
||||
} // namespace tango_gl
|
||||
#endif // TANGO_GL_AXIS_H_
|
||||
@@ -0,0 +1,55 @@
|
||||
/*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#ifndef TANGO_GL_BAND_H_
|
||||
#define TANGO_GL_BAND_H_
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <vector>
|
||||
|
||||
#include "tango-gl/drawable_object.h"
|
||||
|
||||
namespace tango_gl {
|
||||
class Band : public DrawableObject {
|
||||
public:
|
||||
enum BandMode {
|
||||
kNormal = 0,
|
||||
kKeepLeft = 1,
|
||||
kKeepRight = 2
|
||||
};
|
||||
|
||||
Band(const unsigned int max_legnth);
|
||||
|
||||
void SetWidth(const float width);
|
||||
// Render a Band with arrow head, pass in the mode for rendering,
|
||||
// kKeepLeft is left turn, kKeepRight is right turn,
|
||||
// when making a turn, vertices only get updated in one side to avoid overlapping.
|
||||
void UpdateVertexArray(const glm::mat4 m, BandMode mode);
|
||||
void UpdateVertexArray(const glm::mat4 m);
|
||||
void SetVertexArray(const std::vector<glm::vec3>& v, const glm::vec3& up);
|
||||
void ClearVertexArray();
|
||||
void Render(const glm::mat4& projection_mat, const glm::mat4& view_mat) const;
|
||||
|
||||
private:
|
||||
float band_width_;
|
||||
unsigned int max_length_;
|
||||
std::vector<glm::vec3> vertices_v_;
|
||||
// Current band head's left and right position in world frame.
|
||||
glm::vec3 pivot_left;
|
||||
glm::vec3 pivot_right;
|
||||
};
|
||||
} // namespace tango_gl
|
||||
#endif // TANGO_GL_BAND_H_
|
||||
@@ -0,0 +1,42 @@
|
||||
/*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#ifndef TANGO_GL_BOUNDING_BOX_H_
|
||||
#define TANGO_GL_BOUNDING_BOX_H_
|
||||
|
||||
#include <vector>
|
||||
|
||||
#include "tango-gl/segment.h"
|
||||
#include "tango-gl/util.h"
|
||||
|
||||
namespace tango_gl {
|
||||
class BoundingBox {
|
||||
public:
|
||||
BoundingBox()
|
||||
: bounding_min_(glm::vec3(0, 0, 0)), bounding_max_(glm::vec3(0, 0, 0)) {}
|
||||
BoundingBox(const std::vector<float>& vertices);
|
||||
BoundingBox(const glm::vec3& min, const glm::vec3& max)
|
||||
: bounding_min_(min), bounding_max_(max) {}
|
||||
bool IsIntersecting(const Segment& segment, const glm::quat& rotation,
|
||||
const glm::mat4& transformation);
|
||||
|
||||
private:
|
||||
// Axis-aligned bounding box minimum and maximum point.
|
||||
glm::vec3 bounding_min_;
|
||||
glm::vec3 bounding_max_;
|
||||
};
|
||||
} // namespace tango_gl
|
||||
#endif // TANGO_GL_BOUNDING_BOX_H_
|
||||
@@ -0,0 +1,69 @@
|
||||
/*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#ifndef TANGO_GL_CAMERA_H_
|
||||
#define TANGO_GL_CAMERA_H_
|
||||
|
||||
#include "tango-gl/transform.h"
|
||||
|
||||
namespace tango_gl {
|
||||
class Camera : public Transform {
|
||||
public:
|
||||
Camera();
|
||||
Camera(const Camera& other) = delete;
|
||||
Camera& operator=(const Camera&) = delete;
|
||||
~Camera();
|
||||
|
||||
void SetWindowSize(const float width, const float height);
|
||||
void SetFieldOfView(const float fov);
|
||||
void SetOrthoMode(bool enabled) {ortho_ = enabled;}
|
||||
void SetOrthoScale(float scale) {orthoScale_ = scale;}
|
||||
void SetOrthoCropFactor(float value) {orthoCropFactor_ = value;}
|
||||
void SetNearFarClipPlanes(const float near, const float far);
|
||||
|
||||
glm::mat4 GetViewMatrix();
|
||||
glm::mat4 GetProjectionMatrix();
|
||||
float getNearClipPlane() const {return near_clip_plane_;}
|
||||
float getFarClipPlane() const {return far_clip_plane_;}
|
||||
|
||||
/**
|
||||
* Create an OpenGL perspective matrix from window size, camera intrinsics, and clip settings.
|
||||
*
|
||||
* @param width - The width of the camera image.
|
||||
* @param height - The height of the camera image.
|
||||
* @param fx - The x-axis focal length of the camera.
|
||||
* @param fy - The y-axis focal length of the camera.
|
||||
* @param cx - The x-coordinate principal point in pixels.
|
||||
* @param cy - The y-coordinate principal point in pixels.
|
||||
* @param near - The desired near z-clipping plane.
|
||||
* @param far - The desired far z-clipping plane.
|
||||
*/
|
||||
static glm::mat4 ProjectionMatrixForCameraIntrinsics(float width, float height,
|
||||
float fx, float fy,
|
||||
float cx, float cy,
|
||||
float near, float far);
|
||||
protected:
|
||||
float field_of_view_;
|
||||
float aspect_ratio_;
|
||||
float width_;
|
||||
float height_;
|
||||
float near_clip_plane_, far_clip_plane_;
|
||||
bool ortho_;
|
||||
float orthoScale_;
|
||||
float orthoCropFactor_;
|
||||
};
|
||||
} // namespace tango_gl
|
||||
#endif // TANGO_GL_CAMERA_H_
|
||||
@@ -0,0 +1,28 @@
|
||||
/*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#ifndef TANGO_GL_CIRCLE_H_
|
||||
#define TANGO_GL_CIRCLE_H_
|
||||
|
||||
#include "tango-gl/mesh.h"
|
||||
|
||||
namespace tango_gl {
|
||||
class Circle : public Mesh {
|
||||
public:
|
||||
Circle(float radius, int resolution);
|
||||
};
|
||||
} // namespace tango_gl
|
||||
#endif // TANGO_GL_CIRCLE_H_
|
||||
@@ -0,0 +1,33 @@
|
||||
/*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#ifndef TANGO_GL_COLOR_H_
|
||||
#define TANGO_GL_COLOR_H_
|
||||
|
||||
namespace tango_gl {
|
||||
class Color {
|
||||
public:
|
||||
Color() : r(0), g(0), b(0) {}
|
||||
Color(float red, float green, float blue) : r(red), g(green), b(blue) {}
|
||||
Color(const Color&) = default;
|
||||
Color& operator=(const Color&) = default;
|
||||
|
||||
float r;
|
||||
float g;
|
||||
float b;
|
||||
};
|
||||
} // namespace tango_gl
|
||||
#endif // TANGO_GL_COLOR_H_
|
||||
@@ -0,0 +1,132 @@
|
||||
/*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#ifndef TANGO_GL_GL_TANGO_CONVERSIONS_H_
|
||||
#define TANGO_GL_GL_TANGO_CONVERSIONS_H_
|
||||
|
||||
#define GLM_FORCE_RADIANS
|
||||
|
||||
#include "glm/glm.hpp"
|
||||
#include "glm/gtc/matrix_transform.hpp"
|
||||
#include "glm/gtc/quaternion.hpp"
|
||||
|
||||
namespace tango_gl {
|
||||
namespace conversions {
|
||||
|
||||
/**
|
||||
* @brief Creates a glm::vec3 from double[3] = {x, y, z}. This is designed to
|
||||
* work with the TangoPoseData.translation field.
|
||||
*/
|
||||
inline glm::vec3 Vec3FromArray(const double* array) {
|
||||
return glm::vec3(array[0], array[1], array[2]);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Creates a glm::quat from double[4] = {x, y, z, w}. This is designed to
|
||||
* work with the TangoPoseData.orientation field.
|
||||
*/
|
||||
inline glm::quat QuatFromArray(const double* array) {
|
||||
// Note GLM expects arguments in order {w, x, y, z}.
|
||||
return glm::quat(array[3], array[0], array[1], array[2]);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Creates a glm::mat4 rigid-frame transformation matrix from two arrays.
|
||||
* This is designed for the TangoPoseData translation and orientation fields.
|
||||
* @param A_p_B Position [x, y, z] of B_origin from A_origin, expressed in A.
|
||||
* @param A_q_B The quaternion representation [x, y, z, w] of the rotation
|
||||
* matrix A_R_B.
|
||||
* @return The transformation matrix A_T_B.
|
||||
*/
|
||||
inline glm::mat4 TransformFromArrays(const double* A_p_B, const double* A_q_B) {
|
||||
glm::vec3 glm_A_p_B = Vec3FromArray(A_p_B);
|
||||
glm::quat glm_A_q_B = QuatFromArray(A_q_B);
|
||||
return glm::translate(glm::mat4(1.0f), glm_A_p_B) * glm::mat4_cast(glm_A_q_B);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Creates a glm::mat4 rigid-frame transformation matrix from glm::vec3 and glm::quat.
|
||||
* This is designed for the TangoPoseData translation and orientation fields.
|
||||
* @param A_p_B A position vector of B_origin from A_origin, expressed in A.
|
||||
* @param A_q_B A quaternion representation of the rotation.
|
||||
* matrix A_R_B.
|
||||
* @return The transformation matrix A_T_B.
|
||||
*/
|
||||
inline glm::mat4 TransformFromVecAndQuat(const glm::vec3& A_p_B, const glm::quat& A_q_B) {
|
||||
return glm::translate(glm::mat4(1.0f), A_p_B) * glm::mat4_cast(A_q_B);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Convert (re-express, or rotate) a vector from the Tango ADF (or start-
|
||||
* of-service) frame convention [right, forward, up] to the typical OpenGl world
|
||||
* frame convention [right, up, backward]. Note this assumes the two frames are
|
||||
* coincident, and it doesn't know about any additional offsets between a
|
||||
* particular OpenGl scene and the Tango service frames.
|
||||
* @param tango_vec A vector expressed in the Tango ADF frame convention.
|
||||
* @return The same vector expressed using the Opengl frame convention.
|
||||
*/
|
||||
inline glm::vec3 Vec3TangoToGl(const glm::vec3& tango_vec) {
|
||||
return glm::vec3(tango_vec.x, tango_vec.z, -tango_vec.y);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Convert (re-express, or rotate) a vector from the typical OpenGl world
|
||||
* frame convention [right, up, backward] to the Tango ADF (or start-of-service)
|
||||
* frame convention [right, forward, up]. Note this assumes the two frames are
|
||||
* coincident, and it doesn't know about any additional offsets between a
|
||||
* particular OpenGl scene and the Tango service frames.
|
||||
* @param gl_vec A vector expressed in the Opengl world frame convention.
|
||||
* @return The same vector expressed using the Tango ADF frame convention.
|
||||
*/
|
||||
inline glm::vec3 Vec3GlToTango(const glm::vec3& gl_vec) {
|
||||
return glm::vec3(gl_vec.x, -gl_vec.z, gl_vec.y);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Given a quaternion representing the rotation matrix tango_R_any,
|
||||
* returns the quaternion representing gl_R_any, where "any" is an arbitrary
|
||||
* frame. Note the gl base frame is rotated by 90-degrees about +X from the
|
||||
* Tango ADF/start-of-service frame, so this is equivalent to applying such a
|
||||
* rotation to the quaternion.
|
||||
* @param tango_q_any A quaternion representing rotation matrix tango_R_any.
|
||||
* @return The quaternion representing gl_R_any.
|
||||
*/
|
||||
glm::quat QuatTangoToGl(const glm::quat& tango_q_any);
|
||||
|
||||
/**
|
||||
* Get the fixed transformation matrix relating the opengl frame convention
|
||||
* (with Y-up, X-right) and the tango frame convention for the start-of-service
|
||||
* and ADF frames (with Z-up, X-right), termed "world" here.
|
||||
*/
|
||||
glm::mat4 opengl_world_T_tango_world();
|
||||
|
||||
/**
|
||||
* Get the fixed transformation matrix relating the frame convention of the
|
||||
* device's color camera frame (with Z-forward, X-right) and the opengl camera
|
||||
* frame (with Z-backward, X-right).
|
||||
*/
|
||||
glm::mat4 color_camera_T_opengl_camera();
|
||||
|
||||
/**
|
||||
* Get the fixed transformation matrix relating the frame convention of the
|
||||
* device's depth camera frame (with Z-forward, X-right) and the opengl camera
|
||||
* frame (with Z-backward, X-right).
|
||||
*/
|
||||
glm::mat4 depth_camera_T_opengl_camera();
|
||||
|
||||
} // namespace conversions
|
||||
} // namespace tango_gl
|
||||
#endif // TANGO_GL_GL_TANGO_CONVERSIONS_H_
|
||||
@@ -0,0 +1,28 @@
|
||||
/*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#ifndef TANGO_GL_CUBE_H_
|
||||
#define TANGO_GL_CUBE_H_
|
||||
|
||||
#include "tango-gl/mesh.h"
|
||||
|
||||
namespace tango_gl {
|
||||
class Cube : public Mesh {
|
||||
public:
|
||||
Cube();
|
||||
};
|
||||
} // namespace tango_gl
|
||||
#endif // TANGO_GL_CUBE_H_
|
||||
@@ -0,0 +1,63 @@
|
||||
/*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#ifndef TANGO_GL_DRAWABLE_OBJECT_H_
|
||||
#define TANGO_GL_DRAWABLE_OBJECT_H_
|
||||
|
||||
#include <vector>
|
||||
|
||||
#include "tango-gl/color.h"
|
||||
#include "tango-gl/transform.h"
|
||||
#include "tango-gl/util.h"
|
||||
|
||||
namespace tango_gl {
|
||||
class DrawableObject : public Transform {
|
||||
public:
|
||||
DrawableObject() : red_(0), green_(0), blue_(0), alpha_(1.0f) {};
|
||||
DrawableObject(const DrawableObject& other) = delete;
|
||||
const DrawableObject& operator=(const DrawableObject&) = delete;
|
||||
|
||||
void DeleteGlResources();
|
||||
void SetShader();
|
||||
void SetColor(const Color& color);
|
||||
void SetColor(const float red, const float green, const float blue);
|
||||
void SetAlpha(const float alpha);
|
||||
void SetVertices(const std::vector<GLfloat>& vertices);
|
||||
void SetVertices(const std::vector<GLfloat>& vertices,
|
||||
const std::vector<GLushort>& indices);
|
||||
void SetVertices(const std::vector<GLfloat>& vertices,
|
||||
const std::vector<GLfloat>& normals);
|
||||
virtual void Render(const glm::mat4& projection_mat,
|
||||
const glm::mat4& view_mat) const = 0;
|
||||
|
||||
protected:
|
||||
float red_;
|
||||
float green_;
|
||||
float blue_;
|
||||
float alpha_;
|
||||
std::vector<GLushort> indices_;
|
||||
std::vector<GLfloat> vertices_;
|
||||
std::vector<GLfloat> normals_;
|
||||
|
||||
GLenum render_mode_;
|
||||
GLuint shader_program_;
|
||||
GLuint uniform_color_;
|
||||
GLuint uniform_mvp_mat_;
|
||||
GLuint attrib_vertices_;
|
||||
GLuint attrib_normals_;
|
||||
};
|
||||
} // namespace tango_gl
|
||||
#endif // TANGO_GL_DRAWABLE_OBJECT_H_
|
||||
@@ -0,0 +1,28 @@
|
||||
/*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#ifndef TANGO_GL_FRUSTUM_H_
|
||||
#define TANGO_GL_FRUSTUM_H_
|
||||
|
||||
#include "tango-gl/line.h"
|
||||
|
||||
namespace tango_gl {
|
||||
class Frustum : public Line {
|
||||
public:
|
||||
Frustum();
|
||||
};
|
||||
} // namespace tango_gl
|
||||
#endif // TANGO_GL_FRUSTUM_H_
|
||||
@@ -0,0 +1,94 @@
|
||||
/*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#ifndef TANGO_GL_GESTURE_CAMERA_H_
|
||||
#define TANGO_GL_GESTURE_CAMERA_H_
|
||||
|
||||
#include "tango-gl/camera.h"
|
||||
#include "tango-gl/segment.h"
|
||||
#include "tango-gl/transform.h"
|
||||
#include "tango-gl/util.h"
|
||||
|
||||
namespace tango_gl {
|
||||
class GestureCamera : public Camera {
|
||||
public:
|
||||
enum CameraType {
|
||||
kFirstPerson = 0,
|
||||
kThirdPersonFollow = 1,
|
||||
kTopDown = 2,
|
||||
kTopOrtho = 3,
|
||||
kThirdPerson = 4
|
||||
};
|
||||
|
||||
enum TouchEvent {
|
||||
kTouch0Down = 0,
|
||||
kTouch0Up = 1,
|
||||
kTouchMove = 2,
|
||||
kTouch1Down = 5,
|
||||
kTouch1Up = 6,
|
||||
kTouchNone = -1
|
||||
};
|
||||
|
||||
GestureCamera();
|
||||
~GestureCamera();
|
||||
|
||||
void OnTouchEvent(int touch_count, TouchEvent event, float x0, float y0,
|
||||
float x1, float y1);
|
||||
|
||||
// Get the ray in opengl world frame given the 2d touch position on screen,
|
||||
// normalized touch_x and normalized touch_y should be the same value get from
|
||||
// OnTouchEvent, x0 and y0, touch_range is the depth of the touch in
|
||||
// camera frame.
|
||||
Segment GetSegmentFromTouch(float normalized_x, float normalized_y,
|
||||
float touch_range);
|
||||
|
||||
void SetAnchorPosition(const glm::vec3& pos, const glm::quat & rotation);
|
||||
void SetAnchorOffset(const glm::vec3& pos) {anchor_offset_ = pos;}
|
||||
const glm::vec3& GetAnchorOffset() const {return anchor_offset_;}
|
||||
|
||||
void SetCameraDistance(float cameraDistance) {cam_cur_dist_ = cameraDistance;}
|
||||
float GetCameraDistance() const {return cam_cur_dist_;}
|
||||
|
||||
// Set camera type, set render camera's parent position and rotation.
|
||||
void SetCameraType(CameraType camera_index);
|
||||
|
||||
CameraType GetCameraType() const { return camera_type_; }
|
||||
float getFOV() const {return field_of_view_ * RADIAN_2_DEGREE;}
|
||||
|
||||
private:
|
||||
void StartCameraToCurrentTransform();
|
||||
|
||||
// Render camera's parent transformation.
|
||||
Transform* cam_parent_transform_;
|
||||
|
||||
CameraType camera_type_;
|
||||
|
||||
glm::vec2 cam_start_angle_;
|
||||
glm::vec2 cam_cur_angle_;
|
||||
glm::quat cam_cur_target_rot_;
|
||||
|
||||
float cam_start_dist_;
|
||||
float cam_start_fov_;
|
||||
float cam_cur_dist_;
|
||||
glm::vec3 anchor_offset_;
|
||||
|
||||
float start_touch_dist_;
|
||||
float cur_touch_dist_;
|
||||
|
||||
glm::vec2 touch0_start_position_;
|
||||
};
|
||||
} // namespace tango_gl
|
||||
#endif // TANGO_GL_GESTURE_CAMERA_H_
|
||||
@@ -0,0 +1,18 @@
|
||||
/*
|
||||
* Copyright 2014 Google Inc. All Rights Reserved.
|
||||
* Distributed under the Project Tango Preview Development Kit (PDK) Agreement.
|
||||
* CONFIDENTIAL. AUTHORIZED USE ONLY. DO NOT REDISTRIBUTE.
|
||||
*/
|
||||
|
||||
#ifndef TANGO_GL_GOAL_MARKER_H_
|
||||
#define TANGO_GL_GOAL_MARKER_H_
|
||||
|
||||
#include <tango-gl/mesh.h>
|
||||
|
||||
namespace tango_gl {
|
||||
class GoalMarker : public Mesh {
|
||||
public:
|
||||
GoalMarker();
|
||||
};
|
||||
} // namespace tango_gl
|
||||
#endif // TANGO_GL_GOAL_MARKER_H_
|
||||
@@ -0,0 +1,28 @@
|
||||
/*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#ifndef TANGO_GL_GRID_H_
|
||||
#define TANGO_GL_GRID_H_
|
||||
|
||||
#include "tango-gl/line.h"
|
||||
|
||||
namespace tango_gl {
|
||||
class Grid : public Line {
|
||||
public:
|
||||
Grid(float density = 1.0f, int qx = 50, int qy = 50);
|
||||
};
|
||||
} // namespace tango_gl
|
||||
#endif // TANGO_GL_GRID_H_
|
||||
@@ -0,0 +1,37 @@
|
||||
/*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#ifndef TANGO_GL_LINE_H_
|
||||
#define TANGO_GL_LINE_H_
|
||||
|
||||
#include "tango-gl/drawable_object.h"
|
||||
|
||||
namespace tango_gl {
|
||||
class Line : public DrawableObject {
|
||||
public:
|
||||
Line(float line_width, GLenum render_mode);
|
||||
void SetLineWidth(const float pixels);
|
||||
void Render(const glm::mat4& projection_mat, const glm::mat4& view_mat) const;
|
||||
void UpdateLineVertices(const std::vector<glm::vec3>& vec_vertices) {
|
||||
vec_vertices_ = vec_vertices;
|
||||
}
|
||||
|
||||
protected:
|
||||
float line_width_;
|
||||
std::vector<glm::vec3> vec_vertices_;
|
||||
};
|
||||
} // namespace tango_gl
|
||||
#endif // TANGO_GL_LINE_H_
|
||||
@@ -0,0 +1,45 @@
|
||||
/*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#ifndef TANGO_GL_MESH_H_
|
||||
#define TANGO_GL_MESH_H_
|
||||
|
||||
#include "tango-gl/bounding_box.h"
|
||||
#include "tango-gl/drawable_object.h"
|
||||
#include "tango-gl/segment.h"
|
||||
|
||||
namespace tango_gl {
|
||||
class Mesh : public DrawableObject {
|
||||
public:
|
||||
Mesh();
|
||||
Mesh(GLenum render_mode);
|
||||
void SetShader();
|
||||
void SetShader(bool is_lighting_on);
|
||||
void SetBoundingBox();
|
||||
void SetLightDirection(const glm::vec3& light_direction);
|
||||
void Render(const glm::mat4& projection_mat, const glm::mat4& view_mat) const;
|
||||
bool IsIntersecting(const Segment& segment);
|
||||
|
||||
protected:
|
||||
BoundingBox* bounding_box_;
|
||||
bool is_lighting_on_;
|
||||
bool is_bounding_box_on_;
|
||||
glm::vec3 light_direction_;
|
||||
GLuint uniform_mv_mat_;
|
||||
GLuint uniform_light_vec_;
|
||||
};
|
||||
} // namespace tango_gl
|
||||
#endif // TANGO_GL_MESH_H_
|
||||
@@ -0,0 +1,61 @@
|
||||
/*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#ifndef TANGO_GL_OBJ_LOADER_H
|
||||
#define TANGO_GL_OBJ_LOADER_H
|
||||
|
||||
#include <vector>
|
||||
|
||||
#include "tango-gl/util.h"
|
||||
|
||||
namespace tango_gl {
|
||||
namespace obj_loader {
|
||||
// Load standard .obj file into vertices, indices or normals vectors,
|
||||
// OBJ file can be exported from 3D tools like 3ds Max or Blender.
|
||||
// A readable file with only vertices should look like
|
||||
// "v 1.00 2.00 3.00
|
||||
// ...
|
||||
// f 1 2 3
|
||||
// f 1 2 3 4
|
||||
// ..."
|
||||
//
|
||||
// If exported with normals, file should look like
|
||||
// "v 1.00 2.00 3.00
|
||||
// ...
|
||||
// f 1//1 2//3 3//4
|
||||
// f 1//1 2//3 3//4 4//6
|
||||
// ...
|
||||
// vn 1.00 2.00 3.00
|
||||
// ..."
|
||||
// this can be used with Mesh:
|
||||
//
|
||||
// std::vector<GLfloat> vertices;
|
||||
// std::vector<GLushort> indices;
|
||||
// std::vector<GLfloat> normals;
|
||||
// tango_gl::obj_loader::LoadOBJData("/sdcard/model.obj", vertices, indices);
|
||||
// mesh->SetVertices(vertices, indices);
|
||||
// or
|
||||
// tango_gl::obj_loader::LoadOBJData("/sdcard/model.obj", vertices, normals);
|
||||
// mesh->SetVertices(vertices, normals);
|
||||
|
||||
bool LoadOBJData(const char* path, std::vector<GLfloat>& vertices,
|
||||
std::vector<GLushort>& indices);
|
||||
|
||||
bool LoadOBJData(const char* path, std::vector<GLfloat>& vertices,
|
||||
std::vector<GLfloat>& normals);
|
||||
} // namespace obj_loader
|
||||
} // namespace tango_gl
|
||||
#endif // TANGO_GL_OBJ_LOADER
|
||||
@@ -0,0 +1,44 @@
|
||||
/*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#ifndef TANGO_GL_QUAD_H_
|
||||
#define TANGO_GL_QUAD_H_
|
||||
|
||||
#include "tango-gl/drawable_object.h"
|
||||
|
||||
namespace tango_gl {
|
||||
class Quad : public DrawableObject {
|
||||
public:
|
||||
Quad();
|
||||
Quad(const Quad& other) = delete;
|
||||
Quad& operator=(const Quad&) = delete;
|
||||
~Quad();
|
||||
|
||||
void Render(const glm::mat4& projection_mat, const glm::mat4& view_mat) const;
|
||||
void SetTextureId(GLuint texture_id);
|
||||
|
||||
private:
|
||||
GLuint vertex_buffer_;
|
||||
GLuint shader_program_;
|
||||
GLuint attrib_vertices_;
|
||||
GLuint texture_coords_;
|
||||
GLuint texture_handle;
|
||||
GLuint uniform_mvp_mat_;
|
||||
|
||||
GLuint texture_id_;
|
||||
};
|
||||
} // namespace tango_gl
|
||||
#endif // TANGO_GL_QUAD_H_
|
||||
@@ -0,0 +1,35 @@
|
||||
/*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#ifndef TANGO_GL_SEGMENT_H_
|
||||
#define TANGO_GL_SEGMENT_H_
|
||||
|
||||
#include "glm/glm.hpp"
|
||||
|
||||
namespace tango_gl {
|
||||
class Segment {
|
||||
public:
|
||||
Segment() : start(glm::vec3(0, 0, 0)), end(glm::vec3(0, 0, 0)) {}
|
||||
Segment(const glm::vec3& segment_start, const glm::vec3& segment_end)
|
||||
: start(segment_start), end(segment_end) {}
|
||||
Segment(const Segment&) = default;
|
||||
Segment& operator=(const Segment&) = default;
|
||||
|
||||
glm::vec3 start;
|
||||
glm::vec3 end;
|
||||
};
|
||||
} // namespace tango_gl
|
||||
#endif // TANGO_GL_SEGMENT_H_
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user