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Added measuring tool

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matlabbe
2025-02-17 20:20:19 -08:00
parent 994fad982f
commit 26d1238c8a
20 changed files with 1878 additions and 114 deletions
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30
app/android/jni/CMakeLists.txt
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@@ -114,7 +114,35 @@ add_definitions(${PCL_DEFINITIONS})
INCLUDE_DIRECTORIES(${INCLUDE_DIRS}) INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
add_library(NativeRTABMap SHARED ${sources}) ####################################
# 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} target_link_libraries(NativeRTABMap ${LIBRARIES}
android android
log log

5
app/android/jni/CameraMobile.cpp
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@@ -108,8 +108,9 @@ void CameraMobile::close()
dataReady_.release(); dataReady_.release();
} }
void CameraMobile::resetOrigin() void CameraMobile::resetOrigin(const rtabmap::Transform & offset)
{ {
manualOriginOffset_ = offset;
originUpdate_ = true; originUpdate_ = true;
} }
@@ -193,7 +194,7 @@ void CameraMobile::poseReceived(const Transform & pose, double deviceStamp)
previousAnchorPose_.setNull(); previousAnchorPose_.setNull();
previousAnchorLinearVelocity_.clear(); previousAnchorLinearVelocity_.clear();
previousAnchorStamp_ = 0.0; previousAnchorStamp_ = 0.0;
originOffset_ = pose.translation().inverse(); originOffset_ = manualOriginOffset_.isNull() ? pose.translation().inverse() : manualOriginOffset_;
originUpdate_ = false; originUpdate_ = false;
} }

3
app/android/jni/CameraMobile.h
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@@ -99,7 +99,7 @@ public:
void update(const SensorData & data, const Transform & pose, const glm::mat4 & viewMatrix, const glm::mat4 & projectionMatrix, const float * texCoord); void update(const SensorData & data, const Transform & pose, const glm::mat4 & viewMatrix, const glm::mat4 & projectionMatrix, const float * texCoord);
void updateOnRender(); void updateOnRender();
void resetOrigin(); void resetOrigin(const rtabmap::Transform & offset = rtabmap::Transform());
virtual bool isCalibrated() const; virtual bool isCalibrated() const;
virtual bool odomProvided() const { return true; } virtual bool odomProvided() const { return true; }
@@ -150,6 +150,7 @@ private:
EnvSensors lastEnvSensors_; EnvSensors lastEnvSensors_;
Transform originOffset_; Transform originOffset_;
bool originUpdate_; bool originUpdate_;
rtabmap::Transform manualOriginOffset_;
float upstreamRelocalizationAccThr_; float upstreamRelocalizationAccThr_;
rtabmap::Transform previousAnchorPose_; rtabmap::Transform previousAnchorPose_;
std::vector<float> previousAnchorLinearVelocity_; std::vector<float> previousAnchorLinearVelocity_;

65
app/android/jni/Measure.h Normal file
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@@ -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_ */

650
app/android/jni/RTABMapApp.cpp
View File

@@ -132,6 +132,7 @@ rtabmap::ParametersMap RTABMapApp::getRtabmapParameters()
parameters.insert(mappingParameters_.begin(), mappingParameters_.end()); parameters.insert(mappingParameters_.begin(), mappingParameters_.end());
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpDetectorStrategy(), "5")); // GFTT/FREAK
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpMaxFeatures(), std::string("200"))); parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpMaxFeatures(), std::string("200")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kGFTTQualityLevel(), std::string("0.0001"))); parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kGFTTQualityLevel(), std::string("0.0001")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemImagePreDecimation(), std::string(cameraColor_&&fullResolution_?"2":"1"))); parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemImagePreDecimation(), std::string(cameraColor_&&fullResolution_?"2":"1")));
@@ -264,13 +265,43 @@ RTABMapApp::RTABMapApp() :
lastPoseEventTime_(0.0), lastPoseEventTime_(0.0),
visualizingMesh_(false), visualizingMesh_(false),
exportedMeshUpdated_(false), exportedMeshUpdated_(false),
optMesh_(new pcl::TextureMesh), measuresUpdated_(false),
targetPoint_(new pcl::PointCloud<pcl::PointXYZRGB>),
quadSample_(new pcl::PointCloud<pcl::PointXYZ>),
quadSamplePolygons_(2),
metricSystem_(true),
snapAxisThr_(0.95),
markerDetection_(false),
measuringMode_(0),
addMeasureClicked_(false),
teleportClicked_(false),
removeMeasureClicked_(false),
optTextureMesh_(new pcl::TextureMesh),
optRefId_(0), optRefId_(0),
optRefPose_(0), optRefPose_(0),
mapToOdom_(rtabmap::Transform::getIdentity()) mapToOdom_(rtabmap::Transform::getIdentity())
{ {
mappingParameters_.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpDetectorStrategy(), "5")); // GFTT/FREAK pcl::PointXYZRGB ptWhite;
ptWhite.r = ptWhite.g = ptWhite.b = 255;
targetPoint_->push_back(ptWhite);
snapAxes_.push_back(cv::Vec3f(1,0,0));
snapAxes_.push_back(cv::Vec3f(0,1,0));
snapAxes_.push_back(cv::Vec3f(0,0,1));
float quadSize = 0.05f;
quadSample_->push_back(pcl::PointXYZ(-quadSize, -quadSize, 0.0f));
quadSample_->push_back(pcl::PointXYZ(quadSize, -quadSize, 0.0f));
quadSample_->push_back(pcl::PointXYZ(quadSize, quadSize, 0.0f));
quadSample_->push_back(pcl::PointXYZ(-quadSize, quadSize, 0.0f));
quadSamplePolygons_[0].vertices.resize(3);
quadSamplePolygons_[0].vertices[0] = 0;
quadSamplePolygons_[0].vertices[1] = 1;
quadSamplePolygons_[0].vertices[2] = 2;
quadSamplePolygons_[1].vertices.resize(3);
quadSamplePolygons_[1].vertices[0] = 0;
quadSamplePolygons_[1].vertices[1] = 2;
quadSamplePolygons_[1].vertices[2] = 3;
#ifdef __ANDROID__ #ifdef __ANDROID__
env->GetJavaVM(&jvm); env->GetJavaVM(&jvm);
@@ -278,19 +309,6 @@ RTABMapApp::RTABMapApp() :
#endif #endif
LOGI("RTABMapApp::RTABMapApp()"); LOGI("RTABMapApp::RTABMapApp()");
createdMeshes_.clear();
rawPoses_.clear();
clearSceneOnNextRender_ = true;
openingDatabase_ = false;
exporting_ = false;
postProcessing_=false;
totalPoints_ = 0;
totalPolygons_ = 0;
lastDrawnCloudsCount_ = 0;
renderingTime_ = 0.0f;
lastPostRenderEventTime_ = 0.0;
lastPoseEventTime_ = 0.0;
bufferedStatsData_.clear();
#ifdef __ANDROID__ #ifdef __ANDROID__
progressionStatus_.setJavaObjects(jvm, RTABMapActivity); progressionStatus_.setJavaObjects(jvm, RTABMapActivity);
#endif #endif
@@ -404,13 +422,16 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
lastPoseEventTime_ = 0.0; lastPoseEventTime_ = 0.0;
bufferedStatsData_.clear(); bufferedStatsData_.clear();
graphOptimization_ = true; graphOptimization_ = true;
measuresUpdated_ = !measures_.empty();
measures_.clear();
this->registerToEventsManager(); this->registerToEventsManager();
int status = 0; int status = 0;
// Open visualization while we load (if there is an optimized mesh saved in database) // Open visualization while we load (if there is an optimized mesh saved in database)
optMesh_.reset(new pcl::TextureMesh); optTextureMesh_.reset(new pcl::TextureMesh);
optMesh_ = rtabmap::Mesh();
optTexture_ = cv::Mat(); optTexture_ = cv::Mat();
optRefId_ = 0; optRefId_ = 0;
if(optRefPose_) if(optRefPose_)
@@ -418,6 +439,7 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
delete optRefPose_; delete optRefPose_;
optRefPose_ = 0; optRefPose_ = 0;
} }
visualizingMesh_ = false;
cv::Mat cloudMat; cv::Mat cloudMat;
std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > polygons; std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > polygons;
#if PCL_VERSION_COMPARE(>=, 1, 8, 0) #if PCL_VERSION_COMPARE(>=, 1, 8, 0)
@@ -436,19 +458,20 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
if(!cloudMat.empty()) if(!cloudMat.empty())
{ {
LOGI("Open: Found optimized mesh! Visualizing it."); LOGI("Open: Found optimized mesh! Visualizing it.");
optMesh_ = rtabmap::util3d::assembleTextureMesh(cloudMat, polygons, texCoords, textures, true); optTextureMesh_ = rtabmap::util3d::assembleTextureMesh(cloudMat, polygons, texCoords, textures, true);
optMesh_ = rtabmap::Mesh();
optTexture_ = textures; optTexture_ = textures;
if(!optTexture_.empty()) if(!optTexture_.empty())
{ {
LOGI("Open: Texture mesh: %dx%d.", optTexture_.cols, optTexture_.rows); LOGI("Open: Texture mesh: %dx%d.", optTexture_.cols, optTexture_.rows);
status=3; status=3;
} }
else if(optMesh_->tex_polygons.size()) else if(optTextureMesh_->tex_polygons.size())
{ {
LOGI("Open: Polygon mesh"); LOGI("Open: Polygon mesh");
status=2; status=2;
} }
else if(!optMesh_->cloud.data.empty()) else if(!optTextureMesh_->cloud.data.empty())
{ {
LOGI("Open: Point cloud"); LOGI("Open: Point cloud");
status=1; status=1;
@@ -976,6 +999,11 @@ bool RTABMapApp::startCamera()
LOGI("Cloud density level %d", cloudDensityLevel_); LOGI("Cloud density level %d", cloudDensityLevel_);
LOGI("Start camera thread"); LOGI("Start camera thread");
if(visualizingMesh_)
{
// We are measuring!
main_scene_.setMapRendering(false);
}
cameraJustInitialized_ = true; cameraJustInitialized_ = true;
if(useExternalLidar_) if(useExternalLidar_)
{ {
@@ -1330,7 +1358,8 @@ int RTABMapApp::Render()
#ifdef DEBUG_RENDERING_PERFORMANCE #ifdef DEBUG_RENDERING_PERFORMANCE
LOGD("Camera updateOnRender %fs", time.ticks()); LOGD("Camera updateOnRender %fs", time.ticks());
#endif #endif
if(main_scene_.background_renderer_ == 0 && camera_->getTextureId() != 0) // We detect if we are in measuring mode if rtabmap is not running
if(main_scene_.background_renderer_ == 0 && camera_->getTextureId() != 0 && !(rtabmapThread_ == 0 || !rtabmapThread_->isRunning()))
{ {
main_scene_.background_renderer_ = new BackgroundRenderer(); main_scene_.background_renderer_ = new BackgroundRenderer();
main_scene_.background_renderer_->InitializeGlContent(((rtabmap::CameraMobile*)camera_)->getTextureId(), cameraDriver_ <= 2); main_scene_.background_renderer_->InitializeGlContent(((rtabmap::CameraMobile*)camera_)->getTextureId(), cameraDriver_ <= 2);
@@ -1424,40 +1453,158 @@ int RTABMapApp::Render()
{ {
main_scene_.clear(); main_scene_.clear();
exportedMeshUpdated_ = false; exportedMeshUpdated_ = false;
measuresUpdated_ = measures_.size()>0;
} }
if(!main_scene_.hasCloud(g_optMeshId)) if(!main_scene_.hasCloud(g_optMeshId))
{ {
LOGI("Adding optimized mesh to opengl (%d points, %d polygons, %d tex_coords, materials=%d texture=%dx%d)...", LOGI("Adding optimized mesh to opengl (%d points, %d polygons, %d tex_coords, materials=%d texture=%dx%d)...",
optMesh_->cloud.point_step==0?0:(int)optMesh_->cloud.data.size()/optMesh_->cloud.point_step, optTextureMesh_->cloud.point_step==0?0:(int)optTextureMesh_->cloud.data.size()/optTextureMesh_->cloud.point_step,
optMesh_->tex_polygons.size()!=1?0:(int)optMesh_->tex_polygons[0].size(), optTextureMesh_->tex_polygons.size()!=1?0:(int)optTextureMesh_->tex_polygons[0].size(),
optMesh_->tex_coordinates.size()!=1?0:(int)optMesh_->tex_coordinates[0].size(), optTextureMesh_->tex_coordinates.size()!=1?0:(int)optTextureMesh_->tex_coordinates[0].size(),
(int)optMesh_->tex_materials.size(), (int)optTextureMesh_->tex_materials.size(),
optTexture_.cols, optTexture_.rows); optTexture_.cols, optTexture_.rows);
if(optMesh_->tex_polygons.size() && optMesh_->tex_polygons[0].size()) if(optTextureMesh_->tex_polygons.size() && optTextureMesh_->tex_polygons[0].size())
{ {
rtabmap::Mesh mesh; optMesh_ = rtabmap::Mesh();
mesh.gains[0] = mesh.gains[1] = mesh.gains[2] = 1.0; optMesh_.gains[0] = optMesh_.gains[1] = optMesh_.gains[2] = 1.0;
mesh.cloud.reset(new pcl::PointCloud<pcl::PointXYZRGB>); optMesh_.cloud.reset(new pcl::PointCloud<pcl::PointXYZRGB>);
mesh.normals.reset(new pcl::PointCloud<pcl::Normal>); optMesh_.normals.reset(new pcl::PointCloud<pcl::Normal>);
pcl::fromPCLPointCloud2(optMesh_->cloud, *mesh.cloud); pcl::fromPCLPointCloud2(optTextureMesh_->cloud, *optMesh_.cloud);
pcl::fromPCLPointCloud2(optMesh_->cloud, *mesh.normals); pcl::fromPCLPointCloud2(optTextureMesh_->cloud, *optMesh_.normals);
mesh.polygons = optMesh_->tex_polygons[0]; optMesh_.polygons = optTextureMesh_->tex_polygons[0];
mesh.pose.setIdentity(); if(optTextureMesh_->tex_coordinates.size())
if(optMesh_->tex_coordinates.size())
{ {
mesh.texCoords = optMesh_->tex_coordinates[0]; optMesh_.texCoords = optTextureMesh_->tex_coordinates[0];
mesh.texture = optTexture_; optMesh_.texture = optTexture_;
} }
main_scene_.addMesh(g_optMeshId, mesh, rtabmap::opengl_world_T_rtabmap_world, true); main_scene_.addMesh(g_optMeshId, optMesh_, rtabmap::opengl_world_T_rtabmap_world, true);
} }
else else
{ {
pcl::IndicesPtr indices(new std::vector<int>); // null pcl::IndicesPtr indices(new std::vector<int>); // null
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>); pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::fromPCLPointCloud2(optMesh_->cloud, *cloud); pcl::fromPCLPointCloud2(optTextureMesh_->cloud, *cloud);
main_scene_.addCloud(g_optMeshId, cloud, indices, rtabmap::opengl_world_T_rtabmap_world); main_scene_.addCloud(g_optMeshId, cloud, indices, rtabmap::opengl_world_T_rtabmap_world);
} }
if(!measures_.empty())
{
measuresUpdated_ = true;
}
} }
if(camera_ != 0 && (rtabmapThread_ == 0 || !rtabmapThread_->isRunning()))
{
updateMeasuringState();
}
else
{
main_scene_.removeLine(55555);
main_scene_.removeQuad(55555);
main_scene_.removeQuad(55556);
main_scene_.removeText(55555);
main_scene_.removeCloudOrMesh(-99999);
measuringTmpPts_.clear();
measuringTmpNormals_.clear();
}
if(measuresUpdated_)
{
std::list<Measure> measures = measures_;
measuresUpdated_ = false;
main_scene_.clearLines();
main_scene_.clearTexts();
main_scene_.clearQuads();
int lineId = 0;
int textId = 0;
int quadId = 0;
float sphereRadius = 0.02f;
float textSize=0.05f;
float quadSize=0.05f;
float quadAlpha = 0.3f;
tango_gl::Color color(1.0f, 0.0f, 1.0f);
tango_gl::Color xColor(1.0f, 0.0f, 0.0f);
tango_gl::Color yColor(0.0f, 1.0f, 0.0f);
tango_gl::Color zColor(0.0f, 0.0f, 1.0f);
float restrictiveSnapThr = 0.9999;
for(std::list<Measure>::iterator iter=measures.begin(); iter!=measures.end(); ++iter)
{
// Determinate color based on current snap axes
tango_gl::Color quadColor = color;
bool sameNormal = false;
if(iter->n1().dot(iter->n2()) > 0.99) // Same normal, plane to plane
{
sameNormal = true;
Eigen::Vector3f n(iter->n1()[0], iter->n1()[1], iter->n1()[2]);
float n1ProdX = n.dot(Eigen::Vector3f(snapAxes_[0][0], snapAxes_[0][1], snapAxes_[0][2]));
float n1ProdY = n.dot(Eigen::Vector3f(snapAxes_[1][0], snapAxes_[1][1], snapAxes_[1][2]));
float n1ProdZ = n.dot(Eigen::Vector3f(snapAxes_[2][0], snapAxes_[2][1], snapAxes_[2][2]));
if(fabs(n1ProdX) > restrictiveSnapThr)
{
quadColor = xColor;
}
else if(fabs(n1ProdY) > restrictiveSnapThr)
{
quadColor = yColor;
}
else if(fabs(n1ProdZ) > restrictiveSnapThr)
{
quadColor = zColor;
}
}
const Measure & m = *iter;
LOGI("dist=%f, %f,%f,%f -> %f,%f,%f", m.length(),
m.pt1().x, m.pt1().y, m.pt1().z,
m.pt2().x, m.pt2().y, m.pt2().z);
cv::Point3f pt1 = rtabmap::util3d::transformPoint(m.pt1(), rtabmap::opengl_world_T_rtabmap_world);
cv::Point3f pt2 = rtabmap::util3d::transformPoint(m.pt2(), rtabmap::opengl_world_T_rtabmap_world);
main_scene_.addLine(++lineId, pt1, pt2, quadColor);
if (fabs(iter->n1()[2]) < 0.00001 && sameNormal)
{
// Add a line so that in orthogonal view, we can see better where the lines are starting/finishing
cv::Point3f n = cv::Vec3f(0,0,1).cross(iter->n1());
n = rtabmap::util3d::transformPoint(n, rtabmap::opengl_world_T_rtabmap_world) * (quadSize/2);
cv::Point3f pa = pt1 + n;
cv::Point3f pb = pt1 - n;
main_scene_.addLine(++lineId, pa, pb, quadColor);
cv::Point3f pc = pt2 + n;
cv::Point3f pd = pt2 - n;
main_scene_.addLine(++lineId, pc, pd, quadColor);
}
float diff = m.length();
std::string text = uFormat("%0.2f m", diff);
if(!metricSystem_)
{
static const double METERS_PER_FOOT = 0.3048;
static double INCHES_PER_FOOT = 12.0;
double lengthInFeet = diff / METERS_PER_FOOT;
int feet = (int)lengthInFeet;
float inches = (lengthInFeet - feet) * INCHES_PER_FOOT;
if(feet > 0)
{
text = uFormat("%d' %0.1f\"", feet, inches);
}
else
{
text = uFormat("%0.1f\"", inches);
}
}
main_scene_.addText(++textId, text, rtabmap::Transform((pt1.x+pt2.x)/2.0f, (pt1.y+pt2.y)/2.0f, (pt1.z+pt2.z)/2.0f, 0, 0,0), textSize, quadColor);
cv::Vec3f n1 = rtabmap::util3d::transformPoint(m.n1(), rtabmap::opengl_world_T_rtabmap_world);
cv::Vec3f n2 = rtabmap::util3d::transformPoint(m.n2(), rtabmap::opengl_world_T_rtabmap_world);
Eigen::Quaternionf q1, q2;
q1.setFromTwoVectors(Eigen::Vector3f(0,0,1), Eigen::Vector3f(n1[0],n1[1],n1[2]));
q2.setFromTwoVectors(Eigen::Vector3f(0,0,1), Eigen::Vector3f(n2[0],n2[1],n2[2]));
main_scene_.addQuad(++quadId, quadSize, rtabmap::Transform(pt1.x, pt1.y, pt1.z, q1.x(), q1.y(), q1.z(), q1.w()), quadColor, quadAlpha);
main_scene_.addQuad(++quadId, quadSize, rtabmap::Transform(pt2.x, pt2.y, pt2.z, q2.x(), q2.y(), q2.z(), q2.w()), quadColor, quadAlpha);
}
}
if(!openingDatabase_) if(!openingDatabase_)
{ {
@@ -1576,7 +1723,8 @@ int RTABMapApp::Render()
if(main_scene_.hasCloud(g_optMeshId)) if(main_scene_.hasCloud(g_optMeshId))
{ {
main_scene_.clear(); main_scene_.clear();
optMesh_.reset(new pcl::TextureMesh); optTextureMesh_.reset(new pcl::TextureMesh);
optMesh_ = rtabmap::Mesh();
optTexture_ = cv::Mat(); optTexture_ = cv::Mat();
} }
@@ -1639,6 +1787,8 @@ int RTABMapApp::Render()
lastPostRenderEventTime_ = 0.0; lastPostRenderEventTime_ = 0.0;
lastPoseEventTime_ = 0.0; lastPoseEventTime_ = 0.0;
bufferedStatsData_.clear(); bufferedStatsData_.clear();
measuresUpdated_ = !measures_.empty();
measures_.clear();
} }
// Did we lose OpenGL context? If so, recreate the context; // Did we lose OpenGL context? If so, recreate the context;
@@ -2270,6 +2420,358 @@ int RTABMapApp::Render()
} }
} }
void RTABMapApp::updateMeasuringState()
{
rtabmap::Transform openglCam = main_scene_.GetOpenGLCameraPose();
rtabmap::Transform rtabmapCam = rtabmap::rtabmap_world_T_opengl_world * openglCam * rtabmap::opengl_world_T_rtabmap_world;
Eigen::Vector3f origin(openglCam.x(), openglCam.y(), openglCam.z());
Eigen::Vector3f rtabmapOrigin(rtabmapCam.x(), rtabmapCam.y(), rtabmapCam.z());
rtabmap::Transform v = openglCam.rotation() * rtabmap::Transform(0,0,-1,0,0,0);
Eigen::Vector3f dir(v.x(), v.y(), v.z());
v = rtabmapCam.rotation() * rtabmap::Transform(1,0,0,0,0,0);
Eigen::Vector3f rtabmapDir(v.x(), v.y(), v.z());
float textSize=0.05f;
tango_gl::Color color(1.0f, 0.0f, 1.0f);
tango_gl::Color xColor(1.0f, 0.0f, 0.0f); // in rtabmap world
tango_gl::Color yColor(0.0f, 1.0f, 0.0f); // in rtabmap world
tango_gl::Color zColor(0.0f, 0.0f, 1.0f); // in rtabmap world
float quadSize=0.05f;
float quadAlpha = 0.3f;
if(removeMeasureClicked_)
{
if(!measuringTmpPts_.empty())
{
main_scene_.removeLine(55555);
main_scene_.removeText(55555);
main_scene_.removeQuad(55555);
main_scene_.removeQuad(55556);
measuringTmpPts_.clear();
measuringTmpNormals_.clear();
}
else
{
bool removed = false;
for(std::list<Measure>::iterator iter=measures_.begin(); iter!=measures_.end() && !removed; ++iter)
{
const Measure & m = *iter;
for(int i=0; i<2;++i)
{
// intersecting the quad?
cv::Point3f pt = i==0?m.pt1():m.pt2();
cv::Point3f n = i==0?m.n1():m.n2();
pt = rtabmap::util3d::transformPoint(pt, rtabmap::opengl_world_T_rtabmap_world);
n = rtabmap::util3d::transformPoint(n, rtabmap::opengl_world_T_rtabmap_world);
Eigen::Quaternionf q;
q.setFromTwoVectors(Eigen::Vector3f(0,0,-1), Eigen::Vector3f(n.x,n.y,n.z));
float dTmp;
Eigen::Vector3f nTmp;
int indexTmp;
if(rtabmap::util3d::intersectRayMesh(
origin,
dir,
*rtabmap::util3d::transformPointCloud(quadSample_, rtabmap::Transform(pt.x, pt.y, pt.z, q.x(), q.y(), q.z(), q.w())),
quadSamplePolygons_,
false,
dTmp,
nTmp,
indexTmp))
{
measures_.erase(iter);
removed = true;
break;
}
}
}
measuresUpdated_ |= removed;
}
}
float distance =0.0f;
Eigen::Vector3f n;
int index;
if(rtabmap::util3d::intersectRayMesh(
rtabmapOrigin,
rtabmapDir,
*optMesh_.cloud,
optMesh_.polygons,
true,
distance,
n,
index))
{
Eigen::Vector3f intersectionPt = origin + dir*distance;
cv::Point3f pt(intersectionPt[0], intersectionPt[1], intersectionPt[2]);
cv::Point3f normal(n[0], n[1], n[2]); // rtabmap world
cv::Point3f normalGl = rtabmap::util3d::transformPoint(normal, rtabmap::opengl_world_T_rtabmap_world); // opengl world
tango_gl::Color quadColor = color;
float normalProdX = n.dot(Eigen::Vector3f(snapAxes_[0][0], snapAxes_[0][1], snapAxes_[0][2]));
float normalProdY = n.dot(Eigen::Vector3f(snapAxes_[1][0], snapAxes_[1][1], snapAxes_[1][2]));
float normalProdZ = n.dot(Eigen::Vector3f(snapAxes_[2][0], snapAxes_[2][1], snapAxes_[2][2]));
if(fabs(normal.x) > fabs(normal.z) && fabs(normal.y) > fabs(normal.z))
{
if(fabs(normalProdX) > snapAxisThr_)
{
normal.x = snapAxes_[0][0] * (normalProdX>0?1:-1);
normal.y = snapAxes_[0][1] * (normalProdX>0?1:-1);
normal.z = snapAxes_[0][2] * (normalProdX>0?1:-1);
quadColor = xColor;
}
else if(fabs(normalProdY) > snapAxisThr_)
{
normal.x = snapAxes_[1][0] * (normalProdY>0?1:-1);
normal.y = snapAxes_[1][1] * (normalProdY>0?1:-1);
normal.z = snapAxes_[1][2] * (normalProdY>0?1:-1);
quadColor = yColor;
}
else if(measuringMode_ == 0)
{
// We force to be aligned with xy plane
normal.z = 0;
float n = cv::norm(normal);
normal.x/=n;
normal.y/=n;
normal.z/=n;
}
}
else if(fabs(normalProdZ) > snapAxisThr_)
{
normal.x = snapAxes_[2][0] * (normalProdZ>0?1:-1);
normal.y = snapAxes_[2][1] * (normalProdZ>0?1:-1);
normal.z = snapAxes_[2][2] * (normalProdZ>0?1:-1);
quadColor = zColor;
}
normalGl = rtabmap::util3d::transformPoint(normal, rtabmap::opengl_world_T_rtabmap_world);
if(teleportClicked_)
{
camera_->resetOrigin(rtabmap::Transform(-pt.z, -pt.x, pt.y-Scene::kHeightOffset.y,0,0,0));
}
else if(addMeasureClicked_) // Add measure
{
if((measuringMode_ == 1 || measuringTmpPts_.size()==1))
{
if(measuringMode_ == 1) // Height single click
{
measuringTmpPts_.clear();
measuringTmpNormals_.clear();
normal.x=0;
normal.y=0;
normal.z=1;
normalGl = rtabmap::util3d::transformPoint(normal, rtabmap::opengl_world_T_rtabmap_world);
measuringTmpPts_.push_back(pt);
measuringTmpNormals_.push_back(normalGl);
pt.y = 0;
measuringTmpPts_.push_back(pt);
measuringTmpNormals_.push_back(normalGl);
}
else if(measuringMode_ == 0 || measuringMode_ == 2) // Plane to Plane or point to point
{
if(measuringMode_ == 0)
{
normalGl = measuringTmpNormals_.front();
// project point on line
float n = (pt-measuringTmpPts_.front()).dot(measuringTmpNormals_.front());
pt = measuringTmpPts_.front() + (measuringTmpNormals_.front() * n);
}
measuringTmpPts_.push_back(pt);
measuringTmpNormals_.push_back(normalGl);
}
// Add measure!
const cv::Point3f & pt1 = measuringTmpPts_.at(0);
const cv::Point3f & pt2 = measuringTmpPts_.at(1);
const cv::Vec3f & n1 = measuringTmpNormals_.at(0);
const cv::Vec3f & n2 = measuringTmpNormals_.at(1);
Measure measure(
rtabmap::util3d::transformPoint(pt1, rtabmap::rtabmap_world_T_opengl_world),
rtabmap::util3d::transformPoint(pt2, rtabmap::rtabmap_world_T_opengl_world),
rtabmap::util3d::transformPoint(n1, rtabmap::rtabmap_world_T_opengl_world),
rtabmap::util3d::transformPoint(n2, rtabmap::rtabmap_world_T_opengl_world));
if(measure.length()>=0.01f)
{
measures_.push_back(measure);
main_scene_.removeLine(55555);
main_scene_.removeText(55555);
main_scene_.removeQuad(55555);
main_scene_.removeQuad(55556);
measuringTmpPts_.clear();
measuringTmpNormals_.clear();
measuresUpdated_ = true;
}
}
else
{
measuringTmpPts_.clear();
measuringTmpNormals_.clear();
// init the first point
measuringTmpPts_.push_back(pt);
measuringTmpNormals_.push_back(normalGl);
}
}
else if(measuringMode_ >= 0)
{
// move action
if(measuringMode_ == 0 && measuringTmpNormals_.size()==1)
{
normalGl = measuringTmpNormals_.front();
normal = rtabmap::util3d::transformPoint(normalGl, rtabmap::rtabmap_world_T_opengl_world);
n = Eigen::Vector3f(normal.x, normal.y, normal.z);
float normalProdX = n.dot(Eigen::Vector3f(snapAxes_[0][0], snapAxes_[0][1], snapAxes_[0][2]));
float normalProdY = n.dot(Eigen::Vector3f(snapAxes_[1][0], snapAxes_[1][1], snapAxes_[1][2]));
float normalProdZ = n.dot(Eigen::Vector3f(snapAxes_[2][0], snapAxes_[2][1], snapAxes_[2][2]));
if(fabs(normalProdX) > snapAxisThr_)
{
quadColor = xColor;
}
else if(fabs(normalProdY) > snapAxisThr_)
{
quadColor = yColor;
}
else if(fabs(normalProdZ) > snapAxisThr_)
{
quadColor = zColor;
}
else
{
quadColor = color;
}
}
float quadWidthLeft = 0.05;
float quadWidthRight = quadWidthLeft;
float quadHeightBottom = quadWidthLeft;
float quadHeightTop = quadWidthLeft;
cv::Point3f pt2 = pt;
// project point on line
if(measuringMode_ == 0 && measuringTmpPts_.size() == 1)
{
cv::Point3f v = pt2-measuringTmpPts_.front();
float n = v.dot(measuringTmpNormals_.front());
pt2 = measuringTmpPts_.front() + (measuringTmpNormals_.front() * n);
v = rtabmap::util3d::transformPoint(v, rtabmap::rtabmap_world_T_opengl_world);
if(!(fabs(normal.z) > fabs(normal.x) && fabs(normal.z) > fabs(normal.y)))
{
quadHeightTop = v.z>quadSize?v.z:quadSize;
quadHeightBottom = -v.z>quadSize?-v.z:quadSize;
if(fabs(normal.x) > fabs(normal.y))
{
cv::Point3f y = cv::Point3f(0,0,1).cross(normal);
float n = v.dot(y);
quadWidthRight = n>quadSize?n:quadSize;
quadWidthLeft = n<-quadSize?fabs(n):quadSize;
if(normal.x>0)
{
quadWidthLeft = n>quadSize?n:quadSize;
quadWidthRight = n<-quadSize?fabs(n):quadSize;
float tmp =quadHeightTop;
quadHeightTop= quadHeightBottom;
quadHeightBottom = tmp;
}
}
else
{
cv::Point3f x = normal.cross(cv::Point3f(0,0,1));
float n = v.dot(x);
quadWidthRight = n<-quadSize?fabs(n):quadSize;
quadWidthLeft = n>quadSize?n:quadSize;
}
}
else
{
if(normal.z>0)
{
quadHeightBottom = v.x<-quadSize?fabs(v.x):quadSize;
quadHeightTop = v.x>quadSize?v.x:quadSize;
quadWidthRight = v.y<-quadSize?fabs(v.y):quadSize;
quadWidthLeft = v.y>quadSize?v.y:quadSize;
}
else
{
quadHeightTop = v.x<-quadSize?fabs(v.x):quadSize;
quadHeightBottom = v.x>quadSize?v.x:quadSize;
quadWidthRight = v.y<-quadSize?fabs(v.y):quadSize;
quadWidthLeft = v.y>quadSize?v.y:quadSize;
}
}
/*std::string text = uFormat("%0.1f %0.1f %0.1f [%0.2f %0.2f %0.2f %0.2f]", v.x, v.y, v.z,
quadWidthLeft,
quadWidthRight,
quadHeightBottom,
quadHeightTop);
main_scene_.addText(55555, text, rtabmap::Transform(pt.x, pt.y, pt.z, 0,0,0), textSize, color);*/
}
Eigen::Quaternionf q;
q.setFromTwoVectors(Eigen::Vector3f(0,0,1), Eigen::Vector3f(normalGl.x,normalGl.y,normalGl.z));
if(measuringTmpPts_.size() == 1 && measuringMode_ != 1)
{
const cv::Point3f & pt1 = measuringTmpPts_.at(0);
main_scene_.addLine(55555, pt1, pt2, quadColor);
main_scene_.addQuad(55555,
quadSize,
rtabmap::Transform(
measuringTmpPts_.front().x,
measuringTmpPts_.front().y,
measuringTmpPts_.front().z,
q.x(),q.y(), q.z(), q.w()), quadColor, quadAlpha);
main_scene_.addQuad(55556,
quadWidthLeft,
quadWidthRight,
quadHeightBottom,
quadHeightTop,
rtabmap::Transform(pt2.x, pt2.y, pt2.z, q.x(),q.y(), q.z(), q.w()), quadColor, quadAlpha);
}
else
{
main_scene_.addQuad(55555,
quadWidthLeft,
quadWidthRight,
quadHeightBottom,
quadHeightTop,
rtabmap::Transform(pt2.x, pt2.y, pt2.z, q.x(),q.y(), q.z(), q.w()), quadColor, quadAlpha);
}
}
}
else
{
main_scene_.removeText(55555);
main_scene_.removeQuad(55555);
main_scene_.removeQuad(55556);
}
Eigen::Vector3f target = origin+dir*(distance<100.0f?distance:0.5f);
rtabmap::Transform pose(target[0], target[1], target[2], 0,0,0);
if(main_scene_.hasCloud(-99999))
{
main_scene_.setCloudPose(-99999, pose);
}
else
{
main_scene_.addCloud(-99999, targetPoint_, pcl::IndicesPtr(), pose);
}
// reset states
removeMeasureClicked_ = false;
addMeasureClicked_ = false;
teleportClicked_ = false;
}
void RTABMapApp::SetCameraType( void RTABMapApp::SetCameraType(
tango_gl::GestureCamera::CameraType camera_type) { tango_gl::GestureCamera::CameraType camera_type) {
main_scene_.SetCameraType(camera_type); main_scene_.SetCameraType(camera_type);
@@ -2337,6 +2839,15 @@ void RTABMapApp::setOrthoCropFactor(float value)
} }
void RTABMapApp::setGridRotation(float value) void RTABMapApp::setGridRotation(float value)
{ {
// Update measuring snap axes
rtabmap::Transform rotation(0,0, value * DEGREE_2_RADIANS);
renderingMutex_.lock();
snapAxes_[0] = rtabmap::util3d::transformPoint(cv::Vec3f(1,0,0), rotation);
snapAxes_[1] = rtabmap::util3d::transformPoint(cv::Vec3f(0,1,0), rotation);
measuresUpdated_ = true;
renderingMutex_.unlock();
// Update grid
main_scene_.setGridRotation(value); main_scene_.setGridRotation(value);
} }
void RTABMapApp::setLighting(bool enabled) void RTABMapApp::setLighting(bool enabled)
@@ -3492,7 +4003,8 @@ bool RTABMapApp::exportMesh(
bool RTABMapApp::postExportation(bool visualize) bool RTABMapApp::postExportation(bool visualize)
{ {
LOGI("postExportation(visualize=%d)", visualize?1:0); LOGI("postExportation(visualize=%d)", visualize?1:0);
optMesh_.reset(new pcl::TextureMesh); optTextureMesh_.reset(new pcl::TextureMesh);
optMesh_= rtabmap::Mesh();
optTexture_ = cv::Mat(); optTexture_ = cv::Mat();
exportedMeshUpdated_ = false; exportedMeshUpdated_ = false;
@@ -3513,8 +4025,9 @@ bool RTABMapApp::postExportation(bool visualize)
if(!cloudMat.empty()) if(!cloudMat.empty())
{ {
LOGI("postExportation: Found optimized mesh! Visualizing it."); LOGI("postExportation: Found optimized mesh! Visualizing it.");
optMesh_ = rtabmap::util3d::assembleTextureMesh(cloudMat, polygons, texCoords, textures, true); optTextureMesh_ = rtabmap::util3d::assembleTextureMesh(cloudMat, polygons, texCoords, textures, true);
optTexture_ = textures; optMesh_ = rtabmap::Mesh();
optTexture_ = textures;
boost::mutex::scoped_lock lock(renderingMutex_); boost::mutex::scoped_lock lock(renderingMutex_);
visualizingMesh_ = true; visualizingMesh_ = true;
@@ -3799,6 +4312,57 @@ int RTABMapApp::postProcessing(int approach)
return returnedValue; return returnedValue;
} }
void RTABMapApp::clearMeasures()
{
boost::mutex::scoped_lock lockRender(renderingMutex_);
measures_.clear();
measuresUpdated_ = true;
}
void RTABMapApp::setMeasuringMode(int mode)
{
if(visualizingMesh_)
{
measuringMode_ = mode;
}
}
void RTABMapApp::addMeasureButtonClicked()
{
if(visualizingMesh_)
{
boost::mutex::scoped_lock lock(renderingMutex_);
addMeasureClicked_ = true;
}
}
void RTABMapApp::teleportButtonClicked()
{
if(visualizingMesh_)
{
boost::mutex::scoped_lock lock(renderingMutex_);
teleportClicked_ = true;
}
}
void RTABMapApp::removeMeasure()
{
if(visualizingMesh_)
{
boost::mutex::scoped_lock lock(renderingMutex_);
removeMeasureClicked_ = true;
}
}
void RTABMapApp::setMetricSystem(bool enabled)
{
metricSystem_ = enabled;
if(measures_.size())
{
measuresUpdated_ = true;
}
}
void RTABMapApp::postOdometryEvent( void RTABMapApp::postOdometryEvent(
rtabmap::Transform pose, rtabmap::Transform pose,
float rgb_fx, float rgb_fy, float rgb_cx, float rgb_cy, float rgb_fx, float rgb_fy, float rgb_cx, float rgb_cy,

30
app/android/jni/RTABMapApp.h
View File

@@ -48,6 +48,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/pcl_base.h> #include <pcl/pcl_base.h>
#include <pcl/TextureMesh.h> #include <pcl/TextureMesh.h>
#include "Measure.h"
// RTABMapApp handles the application lifecycle and resources. // RTABMapApp handles the application lifecycle and resources.
class RTABMapApp : public UEventsHandler { class RTABMapApp : public UEventsHandler {
@@ -84,7 +85,7 @@ class RTABMapApp : public UEventsHandler {
#ifdef __ANDROID__ #ifdef __ANDROID__
bool startCamera(JNIEnv* env, jobject iBinder, jobject context, jobject activity, int driver); bool startCamera(JNIEnv* env, jobject iBinder, jobject context, jobject activity, int driver);
#else // __APPLE__ #else // __APPLE__
bool startCamera(); bool startCamera();
#endif #endif
// Allocate OpenGL resources for rendering, mainly for initializing the Scene. // Allocate OpenGL resources for rendering, mainly for initializing the Scene.
void InitializeGLContent(); void InitializeGLContent();
@@ -180,6 +181,13 @@ class RTABMapApp : public UEventsHandler {
bool postExportation(bool visualize); bool postExportation(bool visualize);
bool writeExportedMesh(const std::string & directory, const std::string & name); bool writeExportedMesh(const std::string & directory, const std::string & name);
int postProcessing(int approach); 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 postOdometryEvent( void postOdometryEvent(
rtabmap::Transform pose, rtabmap::Transform pose,
@@ -203,6 +211,7 @@ class RTABMapApp : public UEventsHandler {
private: private:
int updateMeshDecimation(int width, int height); int updateMeshDecimation(int width, int height);
rtabmap::ParametersMap getRtabmapParameters(); rtabmap::ParametersMap getRtabmapParameters();
void updateMeasuringState();
bool smoothMesh(int id, rtabmap::Mesh & mesh); bool smoothMesh(int id, rtabmap::Mesh & mesh);
void gainCompensation(bool full = false); void gainCompensation(bool full = false);
std::vector<pcl::Vertices> filterOrganizedPolygons(const std::vector<pcl::Vertices> & polygons, int cloudSize) const; std::vector<pcl::Vertices> filterOrganizedPolygons(const std::vector<pcl::Vertices> & polygons, int cloudSize) const;
@@ -264,11 +273,26 @@ class RTABMapApp : public UEventsHandler {
bool visualizingMesh_; bool visualizingMesh_;
bool exportedMeshUpdated_; bool exportedMeshUpdated_;
pcl::TextureMesh::Ptr optMesh_; pcl::TextureMesh::Ptr optTextureMesh_;
cv::Mat optTexture_; cv::Mat optTexture_;
rtabmap::Mesh optMesh_;
int optRefId_; int optRefId_;
rtabmap::Transform * optRefPose_; // App crashes when loading native library if not dynamic rtabmap::Transform * optRefPose_; // App crashes when loading native library if not dynamic
std::list<Measure> measures_; // In opengl frame
bool measuresUpdated_;
bool metricSystem_;
float snapAxisThr_;
std::vector<cv::Vec3f> snapAxes_;
bool markerDetection_;
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 // main_scene_ includes all drawable object for visualizing Tango device's
// movement and point cloud. // movement and point cloud.
Scene main_scene_; Scene main_scene_;

69
app/android/jni/quad_color.cpp Normal file
View File

@@ -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);
}

35
app/android/jni/quad_color.h Normal file
View File

@@ -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_

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app/android/jni/resources/text_atlas.png Normal file
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222
app/android/jni/scene.cpp
View File

@@ -36,7 +36,7 @@
// add an offset in z to our origin. We'll set this offset to 1.3 meters based // add an offset in z to our origin. We'll set this offset to 1.3 meters based
// on the average height of a human standing with a Tango device. This allows us // on the average height of a human standing with a Tango device. This allows us
// to place a grid roughly on the ground for most users. // to place a grid roughly on the ground for most users.
const glm::vec3 kHeightOffset = glm::vec3(0.0f, -1.3f, 0.0f); const glm::vec3 Scene::kHeightOffset = glm::vec3(0.0f, -1.3f, 0.0f);
// Color of the motion tracking trajectory. // Color of the motion tracking trajectory.
const tango_gl::Color kTraceColor(0.66f, 0.66f, 0.66f); const tango_gl::Color kTraceColor(0.66f, 0.66f, 0.66f);
@@ -124,6 +124,7 @@ void Scene::InitGLContent()
UASSERT(axis_ == 0); UASSERT(axis_ == 0);
TextDrawable::createShaderProgram();
axis_ = new tango_gl::Axis(); axis_ = new tango_gl::Axis();
frustum_ = new tango_gl::Frustum(); frustum_ = new tango_gl::Frustum();
@@ -166,6 +167,7 @@ void Scene::DeleteResources() {
background_renderer_ = 0; background_renderer_ = 0;
} }
TextDrawable::releaseShaderProgram();
PointCloudDrawable::releaseShaderPrograms(); PointCloudDrawable::releaseShaderPrograms();
if (graph_shader_program_) { if (graph_shader_program_) {
@@ -198,6 +200,9 @@ void Scene::clear()
{ {
delete iter->second; delete iter->second;
} }
clearLines();
clearQuads();
clearTexts();
if(trace_) if(trace_)
{ {
trace_->ClearVertexArray(); trace_->ClearVertexArray();
@@ -215,6 +220,31 @@ void Scene::clear()
} }
} }
void Scene::clearLines()
{
for(std::map<int, tango_gl::Line*>::iterator iter=lines_.begin(); iter!=lines_.end(); ++iter)
{
delete iter->second;
}
lines_.clear();
}
void Scene::clearTexts()
{
for(std::map<int, TextDrawable*>::iterator iter=texts_.begin(); iter!=texts_.end(); ++iter)
{
delete iter->second;
}
texts_.clear();
}
void Scene::clearQuads()
{
for(std::map<int, QuadColor*>::iterator iter=quads_.begin(); iter!=quads_.end(); ++iter)
{
delete iter->second;
}
quads_.clear();
}
//Should only be called in OpenGL thread! //Should only be called in OpenGL thread!
void Scene::SetupViewPort(int w, int h) { void Scene::SetupViewPort(int w, int h) {
if (h == 0) { if (h == 0) {
@@ -631,6 +661,15 @@ int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat
cloud->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_, meshRenderingTexture_, lighting_, distanceToCameraSqr, onlineBlending?depthTexture_:0, screenWidth_, screenHeight_, gesture_camera_->getNearClipPlane(), gesture_camera_->getFarClipPlane(), false, wireFrame_); cloud->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_, meshRenderingTexture_, lighting_, distanceToCameraSqr, onlineBlending?depthTexture_:0, screenWidth_, screenHeight_, gesture_camera_->getNearClipPlane(), gesture_camera_->getFarClipPlane(), false, wireFrame_);
} }
if(quads_.find(55556)!=quads_.end())
{
glEnable(GL_BLEND);
glDisable(GL_CULL_FACE);
const QuadColor * quad = quads_.at(55556);
quad->Render(projectionMatrix, viewMatrix);
glEnable(GL_CULL_FACE);
}
if(onlineBlending) if(onlineBlending)
{ {
@@ -643,6 +682,47 @@ int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat
glDepthMask(GL_TRUE); glDepthMask(GL_TRUE);
} }
///////
glDisable (GL_DEPTH_TEST);
if(lines_.size())
{
for(std::map<int, tango_gl::Line*>::const_iterator iter=lines_.begin(); iter!=lines_.end(); ++iter)
{
const tango_gl::Line * line = iter->second;
line->Render(projectionMatrix, viewMatrix);
}
}
if(quads_.size())
{
glEnable(GL_BLEND);
glDisable(GL_CULL_FACE);
for(std::map<int, QuadColor*>::const_iterator iter=quads_.begin(); iter!=quads_.end(); ++iter)
{
if(iter->first!=55556)
{
const QuadColor * quad = iter->second;
quad->Render(projectionMatrix, viewMatrix);
}
}
}
if(texts_.size())
{
glDisable(GL_CULL_FACE);
glEnable(GL_BLEND);
glm::mat4 viewMatrixRotInv = viewMatrix;
viewMatrixRotInv[3][0] = 0;
viewMatrixRotInv[3][1] = 0;
viewMatrixRotInv[3][2] = 0;
viewMatrixRotInv = glm::inverse(viewMatrixRotInv);
for(std::map<int, TextDrawable*>::const_iterator iter=texts_.begin(); iter!=texts_.end(); ++iter)
{
const TextDrawable * text = iter->second;
text->Render(projectionMatrix, viewMatrix, viewMatrixRotInv);
}
}
//draw markers on foreground //draw markers on foreground
for(std::map<int, tango_gl::Axis*>::const_iterator iter=markers_.begin(); iter!=markers_.end(); ++iter) for(std::map<int, tango_gl::Axis*>::const_iterator iter=markers_.begin(); iter!=markers_.end(); ++iter)
{ {
@@ -800,12 +880,7 @@ void Scene::addCloud(
const rtabmap::Transform & pose) const rtabmap::Transform & pose)
{ {
LOGI("add cloud %d (%d points %d indices)", id, (int)cloud->size(), indices.get()?(int)indices->size():0); LOGI("add cloud %d (%d points %d indices)", id, (int)cloud->size(), indices.get()?(int)indices->size():0);
std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id); removeCloudOrMesh(id);
if(iter != pointClouds_.end())
{
delete iter->second;
pointClouds_.erase(iter);
}
//create //create
PointCloudDrawable * drawable = new PointCloudDrawable(cloud, indices); PointCloudDrawable * drawable = new PointCloudDrawable(cloud, indices);
@@ -813,6 +888,16 @@ void Scene::addCloud(
pointClouds_.insert(std::make_pair(id, drawable)); pointClouds_.insert(std::make_pair(id, drawable));
} }
void Scene::removeCloudOrMesh(int id)
{
std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
if(iter != pointClouds_.end())
{
delete iter->second;
pointClouds_.erase(iter);
}
}
void Scene::addMesh( void Scene::addMesh(
int id, int id,
const rtabmap::Mesh & mesh, const rtabmap::Mesh & mesh,
@@ -820,12 +905,7 @@ void Scene::addMesh(
bool createWireframe) bool createWireframe)
{ {
LOGI("add mesh %d", id); LOGI("add mesh %d", id);
std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id); removeCloudOrMesh(id);
if(iter != pointClouds_.end())
{
delete iter->second;
pointClouds_.erase(iter);
}
//create //create
PointCloudDrawable * drawable = new PointCloudDrawable(mesh, createWireframe); PointCloudDrawable * drawable = new PointCloudDrawable(mesh, createWireframe);
@@ -885,6 +965,122 @@ void Scene::addMesh(
} }
} }
void Scene::addLine(
int id,
const cv::Point3f & pt1,
const cv::Point3f & pt2,
const tango_gl::Color & color)
{
LOGI("add line %d", id);
removeLine(id);
//create
tango_gl::Line * line = new tango_gl::Line(2.0f, GL_LINES);
line->SetShader();
std::vector<glm::vec3> vertices(2);
vertices[0].x = pt1.x;
vertices[0].y = pt1.y;
vertices[0].z = pt1.z;
vertices[1].x = pt2.x;
vertices[1].y = pt2.y;
vertices[1].z = pt2.z;
line->UpdateLineVertices(vertices);
line->SetColor(color);
lines_.insert(std::make_pair(id, line));
}
void Scene::removeLine(int id)
{
std::map<int, tango_gl::Line*>::iterator iter=lines_.find(id);
if(iter != lines_.end())
{
delete iter->second;
lines_.erase(iter);
}
}
void Scene::addText(
int id,
const std::string & text,
const rtabmap::Transform & pose,
float size,
const tango_gl::Color & color)
{
LOGI("add text %d", id);
removeText(id);
//create
TextDrawable * textD = new TextDrawable(text, pose, size, color);
texts_.insert(std::make_pair(id, textD));
}
void Scene::removeText(int id)
{
std::map<int, TextDrawable*>::iterator iter=texts_.find(id);
if(iter != texts_.end())
{
delete iter->second;
texts_.erase(iter);
}
}
void Scene::addQuad(
int id,
float size,
const rtabmap::Transform & pose,
const tango_gl::Color & color,
float alpha)
{
//LOGI("add quad %d", id);
std::map<int, QuadColor*>::iterator iter=quads_.find(id);
if(iter != quads_.end())
{
delete iter->second;
quads_.erase(iter);
}
//create
QuadColor * quad = new QuadColor(size);
quad->SetTransformationMatrix(glmFromTransform(pose));
quad->SetColor(color);
quad->SetAlpha(alpha);
quads_.insert(std::make_pair(id, quad));
}
void Scene::addQuad(
int id,
float widthLeft,
float widthRight,
float heightBottom,
float heightTop,
const rtabmap::Transform & pose,
const tango_gl::Color & color,
float alpha)
{
//LOGI("add quad %d", id);
removeQuad(id);
//create
QuadColor * quad = new QuadColor(widthLeft, widthRight, heightBottom, heightTop);
quad->SetTransformationMatrix(glmFromTransform(pose));
quad->SetColor(color);
quad->SetAlpha(alpha);
quads_.insert(std::make_pair(id, quad));
}
void Scene::removeQuad(int id)
{
std::map<int, QuadColor*>::iterator iter=quads_.find(id);
if(iter != quads_.end())
{
delete iter->second;
quads_.erase(iter);
}
}
bool Scene::hasQuad(int id) const
{
return quads_.find(id) != quads_.end();
}
void Scene::setCloudPose(int id, const rtabmap::Transform & pose) void Scene::setCloudPose(int id, const rtabmap::Transform & pose)
{ {

41
app/android/jni/scene.h
View File

@@ -41,12 +41,16 @@
#include "graph_drawable.h" #include "graph_drawable.h"
#include "bounding_box_drawable.h" #include "bounding_box_drawable.h"
#include "background_renderer.h" #include "background_renderer.h"
#include "text_drawable.h"
#include "quad_color.h"
#include <pcl/point_cloud.h> #include <pcl/point_cloud.h>
#include <pcl/point_types.h> #include <pcl/point_types.h>
// Scene provides OpenGL drawable objects and renders them for visualization. // Scene provides OpenGL drawable objects and renders them for visualization.
class Scene { class Scene {
public:
static const glm::vec3 kHeightOffset;
public: public:
// Constructor and destructor. // Constructor and destructor.
Scene(); Scene();
@@ -67,6 +71,9 @@ class Scene {
void setScreenRotation(rtabmap::ScreenRotation colorCameraToDisplayRotation) {color_camera_to_display_rotation_ = colorCameraToDisplayRotation;} void setScreenRotation(rtabmap::ScreenRotation colorCameraToDisplayRotation) {color_camera_to_display_rotation_ = colorCameraToDisplayRotation;}
void clear(); // removed all point clouds void clear(); // removed all point clouds
void clearLines();
void clearTexts();
void clearQuads();
// Render loop. // Render loop.
// @param: cur_pose_transformation, latest pose's transformation. // @param: cur_pose_transformation, latest pose's transformation.
@@ -119,11 +126,42 @@ class Scene {
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud, const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const pcl::IndicesPtr & indices, const pcl::IndicesPtr & indices,
const rtabmap::Transform & pose); const rtabmap::Transform & pose);
void removeCloudOrMesh(int id);
void addMesh( void addMesh(
int id, int id,
const rtabmap::Mesh & mesh, const rtabmap::Mesh & mesh,
const rtabmap::Transform & pose, const rtabmap::Transform & pose,
bool createWireframe = false); 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 setCloudPose(int id, const rtabmap::Transform & pose); void setCloudPose(int id, const rtabmap::Transform & pose);
void setCloudVisible(int id, bool visible); void setCloudVisible(int id, bool visible);
@@ -188,6 +226,9 @@ class Scene {
rtabmap::ScreenRotation color_camera_to_display_rotation_; rtabmap::ScreenRotation color_camera_to_display_rotation_;
std::map<int, PointCloudDrawable*> pointClouds_; std::map<int, PointCloudDrawable*> pointClouds_;
std::map<int, tango_gl::Line*> lines_;
std::map<int, TextDrawable*> texts_;
std::map<int, QuadColor*> quads_;
rtabmap::Transform * currentPose_; rtabmap::Transform * currentPose_;

366
app/android/jni/text_drawable.cpp Normal file
View File

@@ -0,0 +1,366 @@
/*
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.
*/
#ifdef __ANDROID__
#include <jni.h>
#endif
#include <tango-gl/util.h>
#include <vector>
#include <rtabmap/core/Transform.h>
#include "util.h"
#include "text_drawable.h"
#include "text_atlas_png.h"
#include <rtabmap/utilite/UConversion.h>
const std::string kTextVertexShader =
"uniform mat4 uMVPMatrix;"
"attribute vec4 vPosition;"
"attribute vec2 a_texCoord;"
"varying vec2 v_texCoord;"
"void main() {"
" gl_Position = uMVPMatrix * vPosition;"
" v_texCoord = a_texCoord;"
"}";
const std::string kTextFragmentShader =
"precision mediump float;"
"uniform vec3 uColor;"
"varying vec2 v_texCoord;"
"uniform sampler2D s_texture;"
"void main() {"
" gl_FragColor = texture2D( s_texture, v_texCoord );"
" gl_FragColor.rgb = uColor;"
"}";
const int RI_TEXT_TEXTURE_SIZE = 512; // 512
const float RI_TEXT_HEIGHT_BASE = 32.0f;
const char RI_TEXT_START = ' ';
const char RI_TEXT_STOP = '~'+1;
GLuint TextDrawable::textProgram_ = 0;
GLuint TextDrawable::textTextureId_ = 0;
float TextDrawable::textUVWidth_ = 0;
float TextDrawable::textUVHeight_ = 0;
float TextDrawable::textHeight_ = 0;
std::vector<float> TextDrawable::textCharacterWidths_;
void TextDrawable::createShaderProgram()
{
releaseShaderProgram();
// hard-coded with text_atlas.png resource
textCharacterWidths_.resize(95);
textCharacterWidths_[0]=8;
textCharacterWidths_[1]=9.000000;
textCharacterWidths_[2]=10.000000;
textCharacterWidths_[3]=19.000000;
textCharacterWidths_[4]=18.000000;
textCharacterWidths_[5]=24.000000;
textCharacterWidths_[6]=21.000000;
textCharacterWidths_[7]=5.000000;
textCharacterWidths_[8]=11.000000;
textCharacterWidths_[9]=11.000000;
textCharacterWidths_[10]=15.000000;
textCharacterWidths_[11]=17.000000;
textCharacterWidths_[12]=8.000000;
textCharacterWidths_[13]=12.000000;
textCharacterWidths_[14]=9.000000;
textCharacterWidths_[15]=12.000000;
textCharacterWidths_[16]=18.000000;
textCharacterWidths_[17]=18.000000;
textCharacterWidths_[18]=18.000000;
textCharacterWidths_[19]=18.000000;
textCharacterWidths_[20]=18.000000;
textCharacterWidths_[21]=18.000000;
textCharacterWidths_[22]=18.000000;
textCharacterWidths_[23]=18.000000;
textCharacterWidths_[24]=18.000000;
textCharacterWidths_[25]=18.000000;
textCharacterWidths_[26]=9.000000;
textCharacterWidths_[27]=8.000000;
textCharacterWidths_[28]=16.000000;
textCharacterWidths_[29]=18.000000;
textCharacterWidths_[30]=17.000000;
textCharacterWidths_[31]=16.000000;
textCharacterWidths_[32]=29.000000;
textCharacterWidths_[33]=22.000000;
textCharacterWidths_[34]=20.000000;
textCharacterWidths_[35]=21.000000;
textCharacterWidths_[36]=21.000000;
textCharacterWidths_[37]=18.000000;
textCharacterWidths_[38]=18.000000;
textCharacterWidths_[39]=22.000000;
textCharacterWidths_[40]=23.000000;
textCharacterWidths_[41]=9.000000;
textCharacterWidths_[42]=18.000000;
textCharacterWidths_[43]=20.000000;
textCharacterWidths_[44]=17.000000;
textCharacterWidths_[45]=28.000000;
textCharacterWidths_[46]=23.000000;
textCharacterWidths_[47]=22.000000;
textCharacterWidths_[48]=21.000000;
textCharacterWidths_[49]=22.000000;
textCharacterWidths_[50]=20.000000;
textCharacterWidths_[51]=20.000000;
textCharacterWidths_[52]=20.000000;
textCharacterWidths_[53]=21.000000;
textCharacterWidths_[54]=21.000000;
textCharacterWidths_[55]=28.000000;
textCharacterWidths_[56]=20.000000;
textCharacterWidths_[57]=20.000000;
textCharacterWidths_[58]=19.000000;
textCharacterWidths_[59]=9.000000;
textCharacterWidths_[60]=14.000000;
textCharacterWidths_[61]=9.000000;
textCharacterWidths_[62]=14.000000;
textCharacterWidths_[63]=14.000000;
textCharacterWidths_[64]=11.000000;
textCharacterWidths_[65]=17.000000;
textCharacterWidths_[66]=18.000000;
textCharacterWidths_[67]=17.000000;
textCharacterWidths_[68]=18.000000;
textCharacterWidths_[69]=17.000000;
textCharacterWidths_[70]=11.000000;
textCharacterWidths_[71]=18.000000;
textCharacterWidths_[72]=18.000000;
textCharacterWidths_[73]=8.000000;
textCharacterWidths_[74]=8.000000;
textCharacterWidths_[75]=17.000000;
textCharacterWidths_[76]=8.000000;
textCharacterWidths_[77]=28.000000;
textCharacterWidths_[78]=18.000000;
textCharacterWidths_[79]=18.000000;
textCharacterWidths_[80]=18.000000;
textCharacterWidths_[81]=18.000000;
textCharacterWidths_[82]=12.000000;
textCharacterWidths_[83]=16.000000;
textCharacterWidths_[84]=11.000000;
textCharacterWidths_[85]=18.000000;
textCharacterWidths_[86]=16.000000;
textCharacterWidths_[87]=24.000000;
textCharacterWidths_[88]=16.000000;
textCharacterWidths_[89]=16.000000;
textCharacterWidths_[90]=16.000000;
textCharacterWidths_[91]=11.000000;
textCharacterWidths_[92]=8.000000;
textCharacterWidths_[93]=11.000000;
textCharacterWidths_[94]=21.000000;
textUVWidth_=0.062500;
textUVHeight_=0.082031;
textHeight_=42.000000;
textProgram_ = tango_gl::util::CreateProgram(kTextVertexShader.c_str(), kTextFragmentShader.c_str());
UASSERT(textProgram_ != 0);
glGenTextures(1, &textTextureId_);
UASSERT(textTextureId_);
// gen texture from image
glBindTexture(GL_TEXTURE_2D, textTextureId_);
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);
std::vector<char> data = uHex2Bytes(rtabmap::TEXT_ATLAS_PNG);
cv::Mat rgbImage = cv::imdecode(data, cv::IMREAD_UNCHANGED);
glPixelStorei(GL_UNPACK_ALIGNMENT, 4);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, rgbImage.cols, rgbImage.rows, 0, GL_RGBA, GL_UNSIGNED_BYTE, rgbImage.data);
GLint error = glGetError();
UASSERT(error == GL_NO_ERROR);
}
void TextDrawable::releaseShaderProgram()
{
if(textProgram_)
{
glDeleteShader(textProgram_);
textProgram_ = 0;
}
}
TextDrawable::TextDrawable(
const std::string & text,
const rtabmap::Transform & pose,
float textSize, // meters
const tango_gl::Color & color) :
poseGl_(glmFromTransform(pose)),
color_(color)
{
if(textProgram_ > 0)
{
vertexBuffer_ = std::vector<float>(text.size() * 12);
textureBuffer_ = std::vector<float>(text.size() * 8);
drawListBuffer_ = std::vector<unsigned short>(text.size() * 6);
int index_vecs = 0;
int index_indices = 0;
int index_uvs = 0;
float x=0.0f;
float y=0.0f;
float uniformscale = textSize/textHeight_;
for(unsigned int i=0; i<text.size(); ++i)
{
// get ascii value
char c = text[i];
int c_val = (int)c;
int indx = c_val-RI_TEXT_START;
if(indx<0 || indx>=textCharacterWidths_.size()) {
// unknown character, we will add a space for it to be save.
indx = 0;
}
int colCount = RI_TEXT_TEXTURE_SIZE/(int)RI_TEXT_HEIGHT_BASE;
// Calculate the uv parts
int row = indx / colCount;
int col = indx % colCount;
float v = row * textUVHeight_;
float v2 = v + textUVHeight_;
float u = col * textUVWidth_;
float u2 = u + textCharacterWidths_[indx]/(float)RI_TEXT_TEXTURE_SIZE;
// Creating the triangle information
std::vector<float> vec(12);
std::vector<float> uv(8);
vec[0] = x;
vec[1] = y + (textHeight_ * uniformscale);
vec[2] = 0;
vec[3] = x;
vec[4] = y;
vec[5] = 0;
vec[6] = x + (textCharacterWidths_[indx] * uniformscale);
vec[7] = y;
vec[8] = 0;
vec[9] = x + (textCharacterWidths_[indx] * uniformscale);
vec[10] = y + (textHeight_ * uniformscale);
vec[11] = 0;
// 0.001f = texture bleeding hack/fix
uv[0] = u+0.001f;
uv[1] = v+0.001f;
uv[2] = u+0.001f;
uv[3] = v2-0.001f;
uv[4] = u2-0.001f;
uv[5] = v2-0.001f;
uv[6] = u2-0.001f;
uv[7] = v+0.001f;
unsigned short inds[6] = {0, 1, 2, 0, 2, 3};
// We need a base value because the object has indices related to
// that object and not to this collection so basicly we need to
// translate the indices to align with the vertexlocation in ou
// vecs array of vectors.
short base = (short) (index_vecs / 3);
// We should add the vec, translating the indices to our saved vector
for(int i=0;i<vec.size();i++)
{
vertexBuffer_[index_vecs] = vec[i];
index_vecs++;
}
// We should add the uvs
for(int i=0;i<uv.size();i++)
{
textureBuffer_[index_uvs] = uv[i];
index_uvs++;
}
// We handle the indices
for(int j=0;j<6;j++)
{
drawListBuffer_[index_indices] = (unsigned short) (base + inds[j]);
index_indices++;
}
// Calculate the new position
x += (textCharacterWidths_[indx] * uniformscale);
}
}
}
void TextDrawable::Render(
const glm::mat4 & projectionMatrix,
const glm::mat4 & viewMatrix,
const glm::mat4 & viewMatrixRotInv) const
{
glUseProgram(textProgram_);
// get handle to vertex shader's vPosition member
int mPositionHandle = glGetAttribLocation(textProgram_, "vPosition");
// Enable a handle to the triangle vertices
glEnableVertexAttribArray(mPositionHandle);
// Prepare the background coordinate data
glVertexAttribPointer(mPositionHandle, 3, GL_FLOAT, false, 0, &vertexBuffer_[0]);
int mTexCoordLoc = glGetAttribLocation(textProgram_, "a_texCoord" );
// Prepare the texturecoordinates
glVertexAttribPointer ( mTexCoordLoc, 2, GL_FLOAT, false, 0, &textureBuffer_[0]);
glEnableVertexAttribArray ( mPositionHandle );
glEnableVertexAttribArray ( mTexCoordLoc );
// get handle to shape's transformation matrix
int mtrxhandle = glGetUniformLocation(textProgram_, "uMVPMatrix");
// Apply the projection and view transformation
//glUniformMatrix4fv(mtrxhandle, 1, false, m, 0);
glm::mat4 mvp_mat = projectionMatrix * viewMatrix * poseGl_ * viewMatrixRotInv;//glm::toMat4(gesture_camera_->GetParent()->GetRotation());
glUniformMatrix4fv(mtrxhandle, 1, GL_FALSE, glm::value_ptr(mvp_mat));
// get handle to color value
int colorhandle = glGetUniformLocation(textProgram_, "uColor");
glUniform3f(colorhandle, color_.r, color_.g, color_.b);
int mSamplerLoc = glGetUniformLocation (textProgram_, "s_texture" );
// Texture activate unit 0
glActiveTexture(GL_TEXTURE0);
// Bind the texture to this unit.
glBindTexture(GL_TEXTURE_2D, textTextureId_);
// Set the sampler texture unit to our selected id
glUniform1i ( mSamplerLoc, 0);
// Draw the triangle
glDrawElements(GL_TRIANGLES, drawListBuffer_.size(), GL_UNSIGNED_SHORT, &drawListBuffer_[0]);
// Disable vertex array
glDisableVertexAttribArray(mPositionHandle);
glDisableVertexAttribArray(mTexCoordLoc);
}

71
app/android/jni/text_drawable.h Normal file
View File

@@ -0,0 +1,71 @@
/*
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 TANGO_TEXT_DRAWABLE_H_
#define TANGO_TEXT_DRAWABLE_H_
#include <vector>
#include <rtabmap/core/Transform.h>
#include <tango-gl/color.h>
// PointCloudDrawable is responsible for the point cloud rendering.
class TextDrawable {
private:
static GLuint textProgram_;
static GLuint textTextureId_;
static float textUVWidth_;
static float textUVHeight_;
static float textHeight_;
static std::vector<float> textCharacterWidths_;
public:
static void createShaderProgram();
static void releaseShaderProgram();
public:
TextDrawable(
const std::string & text,
const rtabmap::Transform & pose,
float textSize = 0.1f, // meters
const tango_gl::Color & color = tango_gl::Color(1,0,0));
virtual ~TextDrawable() {}
void Render(
const glm::mat4 & projectionMatrix,
const glm::mat4 & viewMatrix,
const glm::mat4 & viewMatrixRotInv) const;
private:
std::vector<float> vertexBuffer_;
std::vector<float> textureBuffer_;
std::vector<unsigned short> drawListBuffer_;
glm::mat4 poseGl_;
tango_gl::Color color_;
};
#endif // TANGO_POINT_CLOUD_POINT_CLOUD_DRAWABLE_H_

16
app/ios/RTABMapApp.xcodeproj/project.pbxproj
View File

@@ -8,6 +8,8 @@
/* Begin PBXBuildFile section */ /* Begin PBXBuildFile section */
4E0D83832621F52C00C879AC /* Settings.bundle in Resources */ = {isa = PBXBuildFile; fileRef = 4E0D83822621F52C00C879AC /* Settings.bundle */; }; 4E0D83832621F52C00C879AC /* Settings.bundle in Resources */ = {isa = PBXBuildFile; fileRef = 4E0D83822621F52C00C879AC /* Settings.bundle */; };
4E1E9CF72D618E69000CB881 /* quad_color.cpp in Sources */ = {isa = PBXBuildFile; fileRef = 4E1E9CF62D618079000CB881 /* quad_color.cpp */; };
4E1E9CF82D618E69000CB881 /* text_drawable.cpp in Sources */ = {isa = PBXBuildFile; fileRef = 4E1E9CF52D618079000CB881 /* text_drawable.cpp */; };
4E20B24E266AB94300316EE6 /* Images.xcassets in Resources */ = {isa = PBXBuildFile; fileRef = 4E20B24D266AB94300316EE6 /* Images.xcassets */; }; 4E20B24E266AB94300316EE6 /* Images.xcassets in Resources */ = {isa = PBXBuildFile; fileRef = 4E20B24D266AB94300316EE6 /* Images.xcassets */; };
4E20B250266AB95600316EE6 /* Images.xcassets in Resources */ = {isa = PBXBuildFile; fileRef = 4E20B24F266AB95600316EE6 /* Images.xcassets */; }; 4E20B250266AB95600316EE6 /* Images.xcassets in Resources */ = {isa = PBXBuildFile; fileRef = 4E20B24F266AB95600316EE6 /* Images.xcassets */; };
4E2C516725A63119005CEDBD /* DatabaseView.swift in Sources */ = {isa = PBXBuildFile; fileRef = 4E2C516525A63119005CEDBD /* DatabaseView.swift */; }; 4E2C516725A63119005CEDBD /* DatabaseView.swift in Sources */ = {isa = PBXBuildFile; fileRef = 4E2C516525A63119005CEDBD /* DatabaseView.swift */; };
@@ -156,6 +158,12 @@
/* Begin PBXFileReference section */ /* Begin PBXFileReference section */
4E0D83822621F52C00C879AC /* Settings.bundle */ = {isa = PBXFileReference; lastKnownFileType = "wrapper.plug-in"; path = Settings.bundle; sourceTree = "<group>"; }; 4E0D83822621F52C00C879AC /* Settings.bundle */ = {isa = PBXFileReference; lastKnownFileType = "wrapper.plug-in"; path = Settings.bundle; sourceTree = "<group>"; };
4E1E9CF22D617D08000CB881 /* Measure.h */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.c.h; name = Measure.h; path = ../android/jni/Measure.h; sourceTree = "<group>"; };
4E1E9CF32D618079000CB881 /* quad_color.h */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.c.h; name = quad_color.h; path = ../android/jni/quad_color.h; sourceTree = "<group>"; };
4E1E9CF42D618079000CB881 /* text_drawable.h */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.c.h; name = text_drawable.h; path = ../android/jni/text_drawable.h; sourceTree = "<group>"; };
4E1E9CF52D618079000CB881 /* text_drawable.cpp */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.cpp.cpp; name = text_drawable.cpp; path = ../android/jni/text_drawable.cpp; sourceTree = "<group>"; };
4E1E9CF62D618079000CB881 /* quad_color.cpp */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.cpp.cpp; name = quad_color.cpp; path = ../android/jni/quad_color.cpp; sourceTree = "<group>"; };
4E1E9CF92D619025000CB881 /* text_atlas_png.h */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.c.h; name = text_atlas_png.h; path = RTABMapApp/text_atlas_png.h; sourceTree = "<group>"; };
4E20B24D266AB94300316EE6 /* Images.xcassets */ = {isa = PBXFileReference; lastKnownFileType = folder.assetcatalog; name = Images.xcassets; path = RTABMapApp/Images.xcassets; sourceTree = SOURCE_ROOT; }; 4E20B24D266AB94300316EE6 /* Images.xcassets */ = {isa = PBXFileReference; lastKnownFileType = folder.assetcatalog; name = Images.xcassets; path = RTABMapApp/Images.xcassets; sourceTree = SOURCE_ROOT; };
4E20B24F266AB95600316EE6 /* Images.xcassets */ = {isa = PBXFileReference; lastKnownFileType = folder.assetcatalog; name = Images.xcassets; path = RTABMapApp/Images.xcassets; sourceTree = "<group>"; }; 4E20B24F266AB95600316EE6 /* Images.xcassets */ = {isa = PBXFileReference; lastKnownFileType = folder.assetcatalog; name = Images.xcassets; path = RTABMapApp/Images.xcassets; sourceTree = "<group>"; };
4E2C516525A63119005CEDBD /* DatabaseView.swift */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.swift; name = DatabaseView.swift; path = RTABMapApp/DatabaseView.swift; sourceTree = "<group>"; }; 4E2C516525A63119005CEDBD /* DatabaseView.swift */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.swift; name = DatabaseView.swift; path = RTABMapApp/DatabaseView.swift; sourceTree = "<group>"; };
@@ -679,6 +687,12 @@
4EFD0BB0259D503200575D88 /* NativeWrapper */ = { 4EFD0BB0259D503200575D88 /* NativeWrapper */ = {
isa = PBXGroup; isa = PBXGroup;
children = ( children = (
4E1E9CF92D619025000CB881 /* text_atlas_png.h */,
4E1E9CF62D618079000CB881 /* quad_color.cpp */,
4E1E9CF32D618079000CB881 /* quad_color.h */,
4E1E9CF52D618079000CB881 /* text_drawable.cpp */,
4E1E9CF42D618079000CB881 /* text_drawable.h */,
4E1E9CF22D617D08000CB881 /* Measure.h */,
4EFD0F6E259F847300575D88 /* background_renderer.cc */, 4EFD0F6E259F847300575D88 /* background_renderer.cc */,
4EFD0F6F259F847300575D88 /* background_renderer.h */, 4EFD0F6F259F847300575D88 /* background_renderer.h */,
4EFD0F66259E38DE00575D88 /* NativeWrapper.cpp */, 4EFD0F66259E38DE00575D88 /* NativeWrapper.cpp */,
@@ -800,6 +814,8 @@
isa = PBXSourcesBuildPhase; isa = PBXSourcesBuildPhase;
buildActionMask = 2147483647; buildActionMask = 2147483647;
files = ( files = (
4E1E9CF72D618E69000CB881 /* quad_color.cpp in Sources */,
4E1E9CF82D618E69000CB881 /* text_drawable.cpp in Sources */,
4EFD0F70259F847300575D88 /* background_renderer.cc in Sources */, 4EFD0F70259F847300575D88 /* background_renderer.cc in Sources */,
4EFD0BC0259D50A800575D88 /* scene.cpp in Sources */, 4EFD0BC0259D50A800575D88 /* scene.cpp in Sources */,
4E2C516825A63119005CEDBD /* VerticalScrollerView.swift in Sources */, 4E2C516825A63119005CEDBD /* VerticalScrollerView.swift in Sources */,

121
app/ios/RTABMapApp/Base.lproj/Main.storyboard
View File

@@ -18,8 +18,8 @@
<rect key="frame" x="0.0" y="0.0" width="393" height="852"/> <rect key="frame" x="0.0" y="0.0" width="393" height="852"/>
<autoresizingMask key="autoresizingMask" widthSizable="YES" heightSizable="YES"/> <autoresizingMask key="autoresizingMask" widthSizable="YES" heightSizable="YES"/>
<subviews> <subviews>
<stackView opaque="NO" contentMode="scaleToFill" axis="vertical" translatesAutoresizingMaskIntoConstraints="NO" id="kPv-DO-hpd"> <stackView opaque="NO" contentMode="scaleToFill" axis="vertical" spacing="30" translatesAutoresizingMaskIntoConstraints="NO" id="kPv-DO-hpd">
<rect key="frame" x="323" y="366" width="60" height="120"/> <rect key="frame" x="323" y="261" width="60" height="330"/>
<subviews> <subviews>
<button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="system" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="mJN-Ru-yPg" userLabel="StopButton"> <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="system" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="mJN-Ru-yPg" userLabel="StopButton">
<rect key="frame" x="0.0" y="1" width="60" height="58.666666666666671"/> <rect key="frame" x="0.0" y="1" width="60" height="58.666666666666671"/>
@@ -34,7 +34,7 @@
</connections> </connections>
</button> </button>
<button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="7Lv-u6-mGh" userLabel="RecordButton"> <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="7Lv-u6-mGh" userLabel="RecordButton">
<rect key="frame" x="0.0" y="61.000000000000007" width="60" height="58.666666666666664"/> <rect key="frame" x="0.0" y="91" width="60" height="58.666666666666686"/>
<constraints> <constraints>
<constraint firstAttribute="height" constant="60" id="DQI-eQ-v3X"/> <constraint firstAttribute="height" constant="60" id="DQI-eQ-v3X"/>
<constraint firstAttribute="width" constant="60" id="Oeu-YT-wMz"/> <constraint firstAttribute="width" constant="60" id="Oeu-YT-wMz"/>
@@ -47,6 +47,32 @@
<action selector="recordAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="dzY-yL-YBg"/> <action selector="recordAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="dzY-yL-YBg"/>
</connections> </connections>
</button> </button>
<button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="system" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="lFB-Lm-zFS" userLabel="AddMeasureButton">
<rect key="frame" x="0.0" y="181.33333333333334" width="60" height="57.999999999999972"/>
<constraints>
<constraint firstAttribute="width" constant="60" id="Wtb-vg-lgB"/>
<constraint firstAttribute="height" constant="60" id="p0E-BN-poT"/>
</constraints>
<color key="tintColor" systemColor="systemYellowColor"/>
<inset key="imageEdgeInsets" minX="0.0" minY="0.0" maxX="2.2250738585072014e-308" maxY="0.0"/>
<state key="normal" backgroundImage="plus.viewfinder" catalog="system"/>
<connections>
<action selector="addMeasureAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="lUX-tm-SgY"/>
</connections>
</button>
<button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="system" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="c1k-0i-64A" userLabel="RemoveMeasureButton">
<rect key="frame" x="0.0" y="271" width="60" height="58.666666666666686"/>
<constraints>
<constraint firstAttribute="height" constant="60" id="0gd-nd-i5y"/>
<constraint firstAttribute="width" constant="60" id="mSi-rI-NoN"/>
</constraints>
<color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
<inset key="imageEdgeInsets" minX="0.0" minY="0.0" maxX="2.2250738585072014e-308" maxY="0.0"/>
<state key="normal" backgroundImage="minus.circle" catalog="system"/>
<connections>
<action selector="removeMeasureAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="2RW-qr-kvb"/>
</connections>
</button>
</subviews> </subviews>
</stackView> </stackView>
<stackView opaque="NO" contentMode="scaleToFill" spacing="20" translatesAutoresizingMaskIntoConstraints="NO" id="ozY-dg-YOd"> <stackView opaque="NO" contentMode="scaleToFill" spacing="20" translatesAutoresizingMaskIntoConstraints="NO" id="ozY-dg-YOd">
@@ -83,17 +109,6 @@
<color key="textColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/> <color key="textColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
<nil key="highlightedColor"/> <nil key="highlightedColor"/>
</label> </label>
<button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="773-n4-lob" userLabel="ViewButton">
<rect key="frame" x="321" y="756.33333333333337" width="52" height="40"/>
<constraints>
<constraint firstAttribute="width" constant="52" id="epT-x2-WRc"/>
<constraint firstAttribute="height" constant="44" id="wAe-I1-qhs"/>
</constraints>
<color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
<state key="normal" backgroundImage="eye" catalog="system">
<color key="titleColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
</state>
</button>
<button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="012-W3-dOS" userLabel="CloseVisualization"> <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="012-W3-dOS" userLabel="CloseVisualization">
<rect key="frame" x="111.33333333333333" y="772" width="170.33333333333337" height="22"/> <rect key="frame" x="111.33333333333333" y="772" width="170.33333333333337" height="22"/>
<color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/> <color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
@@ -163,25 +178,78 @@
<action selector="rotateGridAction:" destination="zah-iI-EPt" eventType="valueChanged" id="eiC-QR-TYH"/> <action selector="rotateGridAction:" destination="zah-iI-EPt" eventType="valueChanged" id="eiC-QR-TYH"/>
</connections> </connections>
</slider> </slider>
<button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="system" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="aWA-YQ-w5B" userLabel="TeleportButton">
<rect key="frame" x="10" y="396.66666666666669" width="62.666666666666671" height="60"/>
<constraints>
<constraint firstAttribute="height" constant="60" id="fe3-pR-D97"/>
<constraint firstAttribute="width" constant="60" id="t1H-Yp-Ayy"/>
</constraints>
<color key="tintColor" systemColor="systemGreenColor"/>
<inset key="imageEdgeInsets" minX="0.0" minY="0.0" maxX="2.2250738585072014e-308" maxY="0.0"/>
<state key="normal" backgroundImage="accessibility.badge.arrow.up.right" catalog="system"/>
<connections>
<action selector="teleportButtonAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="acD-kc-XA8"/>
</connections>
</button>
<button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="773-n4-lob" userLabel="ViewButton">
<rect key="frame" x="321" y="756.33333333333337" width="52" height="40"/>
<constraints>
<constraint firstAttribute="width" constant="52" id="epT-x2-WRc"/>
<constraint firstAttribute="height" constant="44" id="wAe-I1-qhs"/>
</constraints>
<color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
<state key="normal" backgroundImage="eye" catalog="system">
<color key="titleColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
</state>
</button>
<button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="system" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="Z7f-kc-Rob" userLabel="MeasuringModeButton">
<rect key="frame" x="293" y="687.33333333333337" width="80" height="32.333333333333371"/>
<constraints>
<constraint firstAttribute="width" secondItem="Z7f-kc-Rob" secondAttribute="height" multiplier="52:27" id="78b-kS-OdV"/>
<constraint firstAttribute="width" constant="80" id="PFZ-dH-x12"/>
</constraints>
<color key="tintColor" systemColor="systemYellowColor"/>
<inset key="imageEdgeInsets" minX="0.0" minY="0.0" maxX="2.2250738585072014e-308" maxY="0.0"/>
<state key="normal" backgroundImage="ruler" catalog="system"/>
<connections>
<action selector="startMeasuring:" destination="zah-iI-EPt" eventType="touchUpInside" id="uAe-Qu-Wwb"/>
</connections>
</button>
<button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="wOV-tT-ZlN" userLabel="StopMeasuring">
<rect key="frame" x="123.33333333333333" y="771" width="146.33333333333343" height="22"/>
<color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
<state key="normal" title="Stop Measuring" image="xmark.square" catalog="system">
<color key="titleColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
</state>
<connections>
<action selector="stopCameraAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="UY3-Dh-T9g"/>
</connections>
</button>
</subviews> </subviews>
<viewLayoutGuide key="safeArea" id="qAR-pI-uT2"/> <viewLayoutGuide key="safeArea" id="qAR-pI-uT2"/>
<constraints> <constraints>
<constraint firstItem="KlF-4H-k6I" firstAttribute="leading" secondItem="qAR-pI-uT2" secondAttribute="leading" constant="16" id="14l-HO-Yqo"/> <constraint firstItem="KlF-4H-k6I" firstAttribute="leading" secondItem="qAR-pI-uT2" secondAttribute="leading" constant="16" id="14l-HO-Yqo"/>
<constraint firstItem="kPv-DO-hpd" firstAttribute="centerY" secondItem="sqF-4e-2HU" secondAttribute="centerY" id="4S8-5c-tBm"/> <constraint firstItem="kPv-DO-hpd" firstAttribute="centerY" secondItem="sqF-4e-2HU" secondAttribute="centerY" id="4S8-5c-tBm"/>
<constraint firstItem="qAR-pI-uT2" firstAttribute="trailing" secondItem="773-n4-lob" secondAttribute="trailing" constant="20" id="6TZ-Iy-b1B"/>
<constraint firstItem="773-n4-lob" firstAttribute="top" secondItem="Z7f-kc-Rob" secondAttribute="bottom" constant="30" id="7cF-fT-hfI"/>
<constraint firstItem="JMv-UE-cvK" firstAttribute="leading" secondItem="sqF-4e-2HU" secondAttribute="leadingMargin" constant="35" id="Awg-pU-JkT"/> <constraint firstItem="JMv-UE-cvK" firstAttribute="leading" secondItem="sqF-4e-2HU" secondAttribute="leadingMargin" constant="35" id="Awg-pU-JkT"/>
<constraint firstItem="KlF-4H-k6I" firstAttribute="top" secondItem="qAR-pI-uT2" secondAttribute="top" constant="20" id="CS3-Rk-Wxs"/> <constraint firstItem="KlF-4H-k6I" firstAttribute="top" secondItem="qAR-pI-uT2" secondAttribute="top" constant="20" id="CS3-Rk-Wxs"/>
<constraint firstItem="012-W3-dOS" firstAttribute="centerX" secondItem="sqF-4e-2HU" secondAttribute="centerX" id="IsC-yB-kNs"/> <constraint firstItem="012-W3-dOS" firstAttribute="centerX" secondItem="sqF-4e-2HU" secondAttribute="centerX" id="IsC-yB-kNs"/>
<constraint firstItem="qAR-pI-uT2" firstAttribute="trailing" secondItem="773-n4-lob" secondAttribute="trailing" constant="20" id="N8s-Yg-VsL"/> <constraint firstItem="qAR-pI-uT2" firstAttribute="bottom" secondItem="wOV-tT-ZlN" secondAttribute="bottom" constant="25" id="Kab-84-pPU"/>
<constraint firstItem="JMv-UE-cvK" firstAttribute="centerX" secondItem="sqF-4e-2HU" secondAttribute="centerX" id="NIf-UH-gZ7"/> <constraint firstItem="JMv-UE-cvK" firstAttribute="centerX" secondItem="sqF-4e-2HU" secondAttribute="centerX" id="NIf-UH-gZ7"/>
<constraint firstItem="qAR-pI-uT2" firstAttribute="bottom" secondItem="773-n4-lob" secondAttribute="bottom" constant="20" id="O9t-O0-69d"/>
<constraint firstItem="Jj4-ow-MwD" firstAttribute="centerX" secondItem="sqF-4e-2HU" secondAttribute="centerX" id="OLx-LR-8xj"/> <constraint firstItem="Jj4-ow-MwD" firstAttribute="centerX" secondItem="sqF-4e-2HU" secondAttribute="centerX" id="OLx-LR-8xj"/>
<constraint firstItem="aWA-YQ-w5B" firstAttribute="leading" secondItem="sqF-4e-2HU" secondAttribute="leading" constant="10" id="Rlo-Ir-NqY"/>
<constraint firstItem="012-W3-dOS" firstAttribute="top" secondItem="Z1x-Af-hdf" secondAttribute="bottom" constant="15" id="RpS-k0-btM"/> <constraint firstItem="012-W3-dOS" firstAttribute="top" secondItem="Z1x-Af-hdf" secondAttribute="bottom" constant="15" id="RpS-k0-btM"/>
<constraint firstItem="ozY-dg-YOd" firstAttribute="top" secondItem="qAR-pI-uT2" secondAttribute="top" constant="20" id="TFT-we-noh"/> <constraint firstItem="ozY-dg-YOd" firstAttribute="top" secondItem="qAR-pI-uT2" secondAttribute="top" constant="20" id="TFT-we-noh"/>
<constraint firstItem="qAR-pI-uT2" firstAttribute="trailing" secondItem="Z7f-kc-Rob" secondAttribute="trailing" constant="20" id="Tbc-4P-ryD"/>
<constraint firstItem="aWA-YQ-w5B" firstAttribute="centerY" secondItem="sqF-4e-2HU" secondAttribute="centerY" id="YXX-yd-QGL"/>
<constraint firstAttribute="trailingMargin" secondItem="JMv-UE-cvK" secondAttribute="trailing" constant="35" id="Ya5-GD-1rM"/> <constraint firstAttribute="trailingMargin" secondItem="JMv-UE-cvK" secondAttribute="trailing" constant="35" id="Ya5-GD-1rM"/>
<constraint firstItem="30J-Tx-NRW" firstAttribute="leading" secondItem="sqF-4e-2HU" secondAttribute="leading" id="ZBG-GX-P1X"/> <constraint firstItem="30J-Tx-NRW" firstAttribute="leading" secondItem="sqF-4e-2HU" secondAttribute="leading" id="ZBG-GX-P1X"/>
<constraint firstItem="wOV-tT-ZlN" firstAttribute="centerX" secondItem="sqF-4e-2HU" secondAttribute="centerX" id="aPp-NO-q0A"/>
<constraint firstItem="3Sc-lx-YKH" firstAttribute="top" secondItem="ozY-dg-YOd" secondAttribute="bottom" constant="16" id="abR-Tj-Nua"/> <constraint firstItem="3Sc-lx-YKH" firstAttribute="top" secondItem="ozY-dg-YOd" secondAttribute="bottom" constant="16" id="abR-Tj-Nua"/>
<constraint firstItem="qAR-pI-uT2" firstAttribute="bottom" secondItem="012-W3-dOS" secondAttribute="bottom" constant="24" id="dcl-mV-bH1"/> <constraint firstItem="qAR-pI-uT2" firstAttribute="bottom" secondItem="012-W3-dOS" secondAttribute="bottom" constant="24" id="dcl-mV-bH1"/>
<constraint firstItem="9oq-op-NGV" firstAttribute="centerX" secondItem="sqF-4e-2HU" secondAttribute="centerX" id="g5b-gW-Amg"/> <constraint firstItem="9oq-op-NGV" firstAttribute="centerX" secondItem="sqF-4e-2HU" secondAttribute="centerX" id="g5b-gW-Amg"/>
<constraint firstItem="qAR-pI-uT2" firstAttribute="bottom" secondItem="773-n4-lob" secondAttribute="bottom" constant="20" id="h09-nI-8yH"/>
<constraint firstItem="9oq-op-NGV" firstAttribute="top" secondItem="JMv-UE-cvK" secondAttribute="bottom" constant="113.33" id="icg-DR-ZpX"/> <constraint firstItem="9oq-op-NGV" firstAttribute="top" secondItem="JMv-UE-cvK" secondAttribute="bottom" constant="113.33" id="icg-DR-ZpX"/>
<constraint firstItem="qAR-pI-uT2" firstAttribute="bottom" secondItem="9oq-op-NGV" secondAttribute="bottom" constant="25" id="lFI-66-D3N"/> <constraint firstItem="qAR-pI-uT2" firstAttribute="bottom" secondItem="9oq-op-NGV" secondAttribute="bottom" constant="25" id="lFI-66-D3N"/>
<constraint firstAttribute="trailing" secondItem="kPv-DO-hpd" secondAttribute="trailing" constant="10" id="lFv-p3-LIS"/> <constraint firstAttribute="trailing" secondItem="kPv-DO-hpd" secondAttribute="trailing" constant="10" id="lFv-p3-LIS"/>
@@ -196,17 +264,22 @@
</connections> </connections>
</glkView> </glkView>
<connections> <connections>
<outlet property="addMeasureButton" destination="lFB-Lm-zFS" id="iOG-iO-mMQ"/>
<outlet property="closeVisualizationButton" destination="012-W3-dOS" id="qSV-q9-eOP"/> <outlet property="closeVisualizationButton" destination="012-W3-dOS" id="qSV-q9-eOP"/>
<outlet property="exportOBJPLYButton" destination="3Sc-lx-YKH" id="ZvS-VQ-nsg"/> <outlet property="exportOBJPLYButton" destination="3Sc-lx-YKH" id="ZvS-VQ-nsg"/>
<outlet property="libraryButton" destination="9kh-4C-KyP" id="Mvv-uQ-kmi"/> <outlet property="libraryButton" destination="9kh-4C-KyP" id="Mvv-uQ-kmi"/>
<outlet property="measuringModeButton" destination="Z7f-kc-Rob" id="C0D-Pc-wdr"/>
<outlet property="menuButton" destination="y53-OI-O76" id="v3g-JB-SsY"/> <outlet property="menuButton" destination="y53-OI-O76" id="v3g-JB-SsY"/>
<outlet property="newScanButtonLarge" destination="Jj4-ow-MwD" id="0Hv-3K-Xjh"/> <outlet property="newScanButtonLarge" destination="Jj4-ow-MwD" id="0Hv-3K-Xjh"/>
<outlet property="orthoDistanceSlider" destination="30J-Tx-NRW" id="4J1-8u-tDY"/> <outlet property="orthoDistanceSlider" destination="30J-Tx-NRW" id="4J1-8u-tDY"/>
<outlet property="orthoGridSlider" destination="Z1x-Af-hdf" id="Zsn-xz-jn0"/> <outlet property="orthoGridSlider" destination="Z1x-Af-hdf" id="Zsn-xz-jn0"/>
<outlet property="recordButton" destination="7Lv-u6-mGh" id="xTu-EK-FH2"/> <outlet property="recordButton" destination="7Lv-u6-mGh" id="xTu-EK-FH2"/>
<outlet property="removeMeasureButton" destination="c1k-0i-64A" id="E9z-yH-Vye"/>
<outlet property="statusLabel" destination="KlF-4H-k6I" id="NmA-K5-UOw"/> <outlet property="statusLabel" destination="KlF-4H-k6I" id="NmA-K5-UOw"/>
<outlet property="stopButton" destination="mJN-Ru-yPg" id="DND-gz-jLg"/> <outlet property="stopButton" destination="mJN-Ru-yPg" id="DND-gz-jLg"/>
<outlet property="stopCameraButton" destination="9oq-op-NGV" id="sxO-jc-luC"/> <outlet property="stopCameraButton" destination="9oq-op-NGV" id="sxO-jc-luC"/>
<outlet property="stopMeasuringButton" destination="wOV-tT-ZlN" id="iK5-hG-9q0"/>
<outlet property="teleportButton" destination="aWA-YQ-w5B" id="KTE-cK-RCI"/>
<outlet property="toastLabel" destination="JMv-UE-cvK" id="9a7-QF-h02"/> <outlet property="toastLabel" destination="JMv-UE-cvK" id="9a7-QF-h02"/>
<outlet property="viewButton" destination="773-n4-lob" id="deU-Na-mBk"/> <outlet property="viewButton" destination="773-n4-lob" id="deU-Na-mBk"/>
</connections> </connections>
@@ -230,7 +303,7 @@
<nil key="highlightedColor"/> <nil key="highlightedColor"/>
</label> </label>
<label opaque="NO" userInteractionEnabled="NO" contentMode="left" horizontalHuggingPriority="251" verticalHuggingPriority="251" textAlignment="center" lineBreakMode="tailTruncation" numberOfLines="0" baselineAdjustment="alignBaselines" enabled="NO" adjustsFontSizeToFit="NO" translatesAutoresizingMaskIntoConstraints="NO" id="4Js-Hw-3QU"> <label opaque="NO" userInteractionEnabled="NO" contentMode="left" horizontalHuggingPriority="251" verticalHuggingPriority="251" textAlignment="center" lineBreakMode="tailTruncation" numberOfLines="0" baselineAdjustment="alignBaselines" enabled="NO" adjustsFontSizeToFit="NO" translatesAutoresizingMaskIntoConstraints="NO" id="4Js-Hw-3QU">
<rect key="frame" x="21" y="394" width="351.33333333333326" height="64.333333333333314"/> <rect key="frame" x="21" y="394" width="351.33333333333331" height="64.333333333333314"/>
<string key="text">This app requires a LiDAR-capable device, such as the second-generation iPad Pro 11-inch and fourth-generation iPad Pro 12.9-inch.</string> <string key="text">This app requires a LiDAR-capable device, such as the second-generation iPad Pro 11-inch and fourth-generation iPad Pro 12.9-inch.</string>
<fontDescription key="fontDescription" style="UICTFontTextStyleBody"/> <fontDescription key="fontDescription" style="UICTFontTextStyleBody"/>
<nil key="textColor"/> <nil key="textColor"/>
@@ -256,16 +329,26 @@
</scene> </scene>
</scenes> </scenes>
<resources> <resources>
<image name="accessibility.badge.arrow.up.right" catalog="system" width="128" height="114"/>
<image name="ellipsis.circle" catalog="system" width="128" height="123"/> <image name="ellipsis.circle" catalog="system" width="128" height="123"/>
<image name="eye" catalog="system" width="128" height="79"/> <image name="eye" catalog="system" width="128" height="79"/>
<image name="folder" catalog="system" width="128" height="96"/> <image name="folder" catalog="system" width="128" height="96"/>
<image name="minus.circle" catalog="system" width="128" height="123"/>
<image name="plus.app" catalog="system" width="128" height="114"/> <image name="plus.app" catalog="system" width="128" height="114"/>
<image name="record.circle" catalog="system" width="32" height="32"/> <image name="plus.viewfinder" catalog="system" width="128" height="115"/>
<image name="record.circle" catalog="system" width="128" height="123"/>
<image name="ruler" catalog="system" width="128" height="57"/>
<image name="square.and.arrow.up" catalog="system" width="108" height="128"/> <image name="square.and.arrow.up" catalog="system" width="108" height="128"/>
<image name="stop.circle" catalog="system" width="32" height="32"/> <image name="stop.circle" catalog="system" width="128" height="123"/>
<image name="xmark.square" catalog="system" width="128" height="114"/> <image name="xmark.square" catalog="system" width="128" height="114"/>
<systemColor name="systemGreenColor">
<color red="0.20392156859999999" green="0.78039215689999997" blue="0.34901960780000002" alpha="1" colorSpace="custom" customColorSpace="sRGB"/>
</systemColor>
<systemColor name="systemRedColor"> <systemColor name="systemRedColor">
<color red="1" green="0.23137254900000001" blue="0.18823529410000001" alpha="1" colorSpace="custom" customColorSpace="sRGB"/> <color red="1" green="0.23137254900000001" blue="0.18823529410000001" alpha="1" colorSpace="custom" customColorSpace="sRGB"/>
</systemColor> </systemColor>
<systemColor name="systemYellowColor">
<color red="1" green="0.80000000000000004" blue="0.0" alpha="1" colorSpace="custom" customColorSpace="sRGB"/>
</systemColor>
</resources> </resources>
</document> </document>

43
app/ios/RTABMapApp/NativeWrapper.cpp
View File

@@ -622,3 +622,46 @@ void addEnvSensorNative(const void *object, int type, float value)
else else
UERROR("object is null!"); UERROR("object is null!");
} }
void removeMeasureNative(const void *object)
{
if(object)
return native(object)->removeMeasure();
else
UERROR("object is null!");
}
void addMeasureNative(const void *object)
{
if(object)
return native(object)->addMeasureButtonClicked();
else
UERROR("object is null!");
}
void teleportNative(const void *object)
{
if(object)
return native(object)->teleportButtonClicked();
else
UERROR("object is null!");
}
void setMeasuringModeNative(const void *object, int mode)
{
if(object)
return native(object)->setMeasuringMode(mode);
else
UERROR("object is null!");
}
void setMetricSystemNative(const void *object, bool enabled)
{
if(object)
return native(object)->setMetricSystem(enabled);
else
UERROR("object is null!");
}
void clearMeasuresNative(const void *object)
{
if(object)
return native(object)->clearMeasures();
else
UERROR("object is null!");
}

7
app/ios/RTABMapApp/NativeWrapper.hpp
View File

@@ -115,6 +115,13 @@ void setDepthConfidenceNative(const void *object, int value);
void setExportPointCloudFormatNative(const void *object, const char * format); void setExportPointCloudFormatNative(const void *object, const char * format);
int setMappingParameterNative(const void *object, const char * key, const char * value); int setMappingParameterNative(const void *object, const char * key, const char * value);
void removeMeasureNative(const void *object);
void addMeasureNative(const void *object);
void teleportNative(const void *object);
void setMeasuringModeNative(const void *object, int mode);
void setMetricSystemNative(const void *object, bool enabled);
void clearMeasuresNative(const void *object);
typedef struct ImageNative typedef struct ImageNative
{ {
const void * objectPtr; const void * objectPtr;

20
app/ios/RTABMapApp/RTABMap.swift
View File

@@ -152,6 +152,24 @@ class RTABMap {
} }
} }
func removeMeasure() {
removeMeasureNative(native_rtabmap)
}
func addMeasureButtonClicked() {
addMeasureNative(native_rtabmap)
}
func teleportButtonClicked() {
teleportNative(native_rtabmap)
}
func setMeasuringMode(_ mode: Int) {
setMeasuringModeNative(native_rtabmap, Int32(mode))
}
func setMetricSystem(_ enabled: Bool) {
setMetricSystemNative(native_rtabmap, enabled)
}
func clearMeasures() {
clearMeasuresNative(native_rtabmap)
}
func cancelProcessing() { func cancelProcessing() {
cancelProcessingNative(native_rtabmap); cancelProcessingNative(native_rtabmap);
} }
@@ -223,7 +241,7 @@ class RTABMap {
return Int(renderNative(native_rtabmap)) return Int(renderNative(native_rtabmap))
} }
func startCamera() -> Bool { func startCamera(imageOverlayInFirstPerson: Bool = true) -> Bool {
return startCameraNative(native_rtabmap) return startCameraNative(native_rtabmap)
} }

158
app/ios/RTABMapApp/ViewController.swift
View File

@@ -55,8 +55,9 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
STATE_IDLE, // Camera/Motion off STATE_IDLE, // Camera/Motion off
STATE_PROCESSING, // Camera/Motion off - post processing STATE_PROCESSING, // Camera/Motion off - post processing
STATE_VISUALIZING, // Camera/Motion off - Showing optimized mesh STATE_VISUALIZING, // Camera/Motion off - Showing optimized mesh
STATE_VISUALIZING_CAMERA, // Camera/Motion on - Showing optimized mesh STATE_VISUALIZING_CAMERA, // Camera/Motion on - Showing optimized mesh and localizing
STATE_VISUALIZING_WHILE_LOADING // Camera/Motion off - Loading data while showing optimized mesh STATE_VISUALIZING_WHILE_LOADING, // Camera/Motion off - Loading data while showing optimized mesh
STATE_VISUALIZING_AND_MEASURING // Camera/Motion on - Showing optimized mesh without localizing and measuring tools enabled
} }
private var mState: State = State.STATE_WELCOME; private var mState: State = State.STATE_WELCOME;
private func getStateString(state: State) -> String { private func getStateString(state: State) -> String {
@@ -75,6 +76,8 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
return "Visualizing with Camera" return "Visualizing with Camera"
case .STATE_VISUALIZING_WHILE_LOADING: case .STATE_VISUALIZING_WHILE_LOADING:
return "Visualizing while Loading" return "Visualizing while Loading"
case .STATE_VISUALIZING_AND_MEASURING:
return "Measuring"
default: // IDLE default: // IDLE
return "Idle" return "Idle"
} }
@@ -100,6 +103,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
private var mMenuOpened: Bool = false private var mMenuOpened: Bool = false
private var lowMemoryWarningShown: Bool = false private var lowMemoryWarningShown: Bool = false
static var previewImages: [String: UIImage] = [:] static var previewImages: [String: UIImage] = [:]
private var measuringMode: Int = 0
@IBOutlet weak var stopButton: UIButton! @IBOutlet weak var stopButton: UIButton!
@IBOutlet weak var recordButton: UIButton! @IBOutlet weak var recordButton: UIButton!
@@ -110,6 +114,11 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
@IBOutlet weak var statusLabel: UILabel! @IBOutlet weak var statusLabel: UILabel!
@IBOutlet weak var closeVisualizationButton: UIButton! @IBOutlet weak var closeVisualizationButton: UIButton!
@IBOutlet weak var stopCameraButton: UIButton! @IBOutlet weak var stopCameraButton: UIButton!
@IBOutlet weak var stopMeasuringButton: UIButton!
@IBOutlet weak var teleportButton: UIButton!
@IBOutlet weak var addMeasureButton: UIButton!
@IBOutlet weak var removeMeasureButton: UIButton!
@IBOutlet weak var measuringModeButton: UIButton!
@IBOutlet weak var exportOBJPLYButton: UIButton! @IBOutlet weak var exportOBJPLYButton: UIButton!
@IBOutlet weak var orthoDistanceSlider: UISlider!{ @IBOutlet weak var orthoDistanceSlider: UISlider!{
didSet{ didSet{
@@ -206,6 +215,11 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
addShadow(libraryButton) addShadow(libraryButton)
addShadow(closeVisualizationButton) addShadow(closeVisualizationButton)
addShadow(stopCameraButton) addShadow(stopCameraButton)
addShadow(stopMeasuringButton)
addShadow(teleportButton)
addShadow(addMeasureButton)
addShadow(removeMeasureButton)
addShadow(measuringModeButton)
addShadow(exportOBJPLYButton) addShadow(exportOBJPLYButton)
addShadow(statusLabel, 0) addShadow(statusLabel, 0)
@@ -529,7 +543,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
} }
@objc func appMovedToBackground() { @objc func appMovedToBackground() {
if(mState == .STATE_VISUALIZING_CAMERA || mState == .STATE_MAPPING || mState == .STATE_CAMERA) if(mState == .STATE_VISUALIZING_CAMERA || mState == .STATE_VISUALIZING_AND_MEASURING || mState == .STATE_MAPPING || mState == .STATE_CAMERA)
{ {
stopMapping(ignoreSaving: true) stopMapping(ignoreSaving: true)
} }
@@ -580,29 +594,33 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
switch AVCaptureDevice.authorizationStatus(for: .video) { switch AVCaptureDevice.authorizationStatus(for: .video) {
case .authorized: // The user has previously granted access to the camera. case .authorized: // The user has previously granted access to the camera.
print("Start Camera") print("Start Camera")
rtabmap!.startCamera() rtabmap!.startCamera()
let configuration = ARWorldTrackingConfiguration() let configuration = ARWorldTrackingConfiguration()
var message = "" var message = ""
if(!UserDefaults.standard.bool(forKey: "LidarMode")) if(mState != .STATE_VISUALIZING_AND_MEASURING)
{ {
message = "LiDAR is disabled (Settings->Mapping->LiDAR Mode = OFF), only tracked features will be mapped." if(!UserDefaults.standard.bool(forKey: "LidarMode"))
self.setMeshRendering(viewMode: 0) {
} message = "LiDAR is disabled (Settings->Mapping->LiDAR Mode = OFF), only tracked features will be mapped."
else if !depthSupported self.setMeshRendering(viewMode: 0)
{ }
message = "The device does not have a LiDAR, only tracked features will be mapped. A LiDAR is required for accurate 3D reconstruction." else if !depthSupported
self.setMeshRendering(viewMode: 0) {
} message = "The device does not have a LiDAR, only tracked features will be mapped. A LiDAR is required for accurate 3D reconstruction."
else self.setMeshRendering(viewMode: 0)
{ }
configuration.frameSemantics = .sceneDepth else
} {
configuration.frameSemantics = .sceneDepth
}
}
session.run(configuration, options: [.resetSceneReconstruction, .resetTracking, .removeExistingAnchors]) session.run(configuration, options: [.resetSceneReconstruction, .resetTracking, .removeExistingAnchors])
switch mState { switch mState {
case .STATE_VISUALIZING: case .STATE_VISUALIZING_AND_MEASURING,
updateState(state: .STATE_VISUALIZING_CAMERA) .STATE_VISUALIZING_CAMERA:
break // State should be already set
default: default:
locationManager?.startUpdatingLocation() locationManager?.startUpdatingLocation()
updateState(state: .STATE_CAMERA) updateState(state: .STATE_CAMERA)
@@ -669,6 +687,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
var actionExportEnabled: Bool var actionExportEnabled: Bool
var actionOptimizeEnabled: Bool var actionOptimizeEnabled: Bool
var actionSettingsEnabled: Bool var actionSettingsEnabled: Bool
var actionMeasuringEnabled: Bool
switch mState { switch mState {
case .STATE_CAMERA: case .STATE_CAMERA:
@@ -681,9 +700,14 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
stopButton.isHidden = true stopButton.isHidden = true
closeVisualizationButton.isHidden = true closeVisualizationButton.isHidden = true
stopCameraButton.isHidden = false stopCameraButton.isHidden = false
stopMeasuringButton.isHidden = true
exportOBJPLYButton.isHidden = true exportOBJPLYButton.isHidden = true
orthoDistanceSlider.isHidden = cameraMode != 3 orthoDistanceSlider.isHidden = cameraMode != 3
orthoGridSlider.isHidden = cameraMode != 3 orthoGridSlider.isHidden = cameraMode != 3
teleportButton.isHidden = true
addMeasureButton.isHidden = true
removeMeasureButton.isHidden = true
measuringModeButton.isHidden = true
actionNewScanEnabled = !mDataRecording actionNewScanEnabled = !mDataRecording
actionNewDataRecording = mDataRecording actionNewDataRecording = mDataRecording
actionSaveEnabled = false actionSaveEnabled = false
@@ -691,6 +715,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
actionExportEnabled = false actionExportEnabled = false
actionOptimizeEnabled = false actionOptimizeEnabled = false
actionSettingsEnabled = false actionSettingsEnabled = false
actionMeasuringEnabled = false
case .STATE_MAPPING: case .STATE_MAPPING:
libraryButton.isEnabled = false libraryButton.isEnabled = false
libraryButton.isHidden = !mHudVisible libraryButton.isHidden = !mHudVisible
@@ -701,9 +726,14 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
stopButton.isHidden = false stopButton.isHidden = false
closeVisualizationButton.isHidden = true closeVisualizationButton.isHidden = true
stopCameraButton.isHidden = true stopCameraButton.isHidden = true
stopMeasuringButton.isHidden = true
exportOBJPLYButton.isHidden = true exportOBJPLYButton.isHidden = true
orthoDistanceSlider.isHidden = cameraMode != 3 || !mHudVisible orthoDistanceSlider.isHidden = cameraMode != 3 || !mHudVisible
orthoGridSlider.isHidden = cameraMode != 3 || !mHudVisible orthoGridSlider.isHidden = cameraMode != 3 || !mHudVisible
teleportButton.isHidden = true
addMeasureButton.isHidden = true
removeMeasureButton.isHidden = true
measuringModeButton.isHidden = true
actionNewScanEnabled = !mDataRecording actionNewScanEnabled = !mDataRecording
actionNewDataRecording = mDataRecording actionNewDataRecording = mDataRecording
actionSaveEnabled = false actionSaveEnabled = false
@@ -711,9 +741,11 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
actionExportEnabled = false actionExportEnabled = false
actionOptimizeEnabled = false actionOptimizeEnabled = false
actionSettingsEnabled = false actionSettingsEnabled = false
actionMeasuringEnabled = false
case .STATE_PROCESSING, case .STATE_PROCESSING,
.STATE_VISUALIZING_WHILE_LOADING, .STATE_VISUALIZING_WHILE_LOADING,
.STATE_VISUALIZING_CAMERA: .STATE_VISUALIZING_CAMERA,
.STATE_VISUALIZING_AND_MEASURING:
libraryButton.isEnabled = false libraryButton.isEnabled = false
libraryButton.isHidden = !mHudVisible libraryButton.isHidden = !mHudVisible
menuButton.isHidden = !mHudVisible menuButton.isHidden = !mHudVisible
@@ -723,9 +755,14 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
stopButton.isHidden = true stopButton.isHidden = true
closeVisualizationButton.isHidden = true closeVisualizationButton.isHidden = true
stopCameraButton.isHidden = mState != .STATE_VISUALIZING_CAMERA stopCameraButton.isHidden = mState != .STATE_VISUALIZING_CAMERA
stopMeasuringButton.isHidden = mState != .STATE_VISUALIZING_AND_MEASURING
exportOBJPLYButton.isHidden = true exportOBJPLYButton.isHidden = true
orthoDistanceSlider.isHidden = cameraMode != 3 || mState != .STATE_VISUALIZING_WHILE_LOADING orthoDistanceSlider.isHidden = cameraMode != 3 || mState == .STATE_PROCESSING
orthoGridSlider.isHidden = cameraMode != 3 || mState != .STATE_VISUALIZING_WHILE_LOADING orthoGridSlider.isHidden = cameraMode != 3 || mState == .STATE_PROCESSING
teleportButton.isHidden = mState != .STATE_VISUALIZING_AND_MEASURING || cameraMode != 0
addMeasureButton.isHidden = mState != .STATE_VISUALIZING_AND_MEASURING || cameraMode == 3
removeMeasureButton.isHidden = mState != .STATE_VISUALIZING_AND_MEASURING || cameraMode == 3
measuringModeButton.isHidden = true
actionNewScanEnabled = false actionNewScanEnabled = false
actionNewDataRecording = false actionNewDataRecording = false
actionSaveEnabled = false actionSaveEnabled = false
@@ -733,6 +770,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
actionExportEnabled = false actionExportEnabled = false
actionOptimizeEnabled = false actionOptimizeEnabled = false
actionSettingsEnabled = false actionSettingsEnabled = false
actionMeasuringEnabled = mState == .STATE_VISUALIZING_AND_MEASURING
case .STATE_VISUALIZING: case .STATE_VISUALIZING:
libraryButton.isEnabled = !databases.isEmpty libraryButton.isEnabled = !databases.isEmpty
libraryButton.isHidden = !mHudVisible libraryButton.isHidden = !mHudVisible
@@ -743,9 +781,14 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
stopButton.isHidden = true stopButton.isHidden = true
closeVisualizationButton.isHidden = !mHudVisible closeVisualizationButton.isHidden = !mHudVisible
stopCameraButton.isHidden = true stopCameraButton.isHidden = true
stopMeasuringButton.isHidden = true
exportOBJPLYButton.isHidden = !mHudVisible exportOBJPLYButton.isHidden = !mHudVisible
orthoDistanceSlider.isHidden = cameraMode != 3 || !mHudVisible orthoDistanceSlider.isHidden = cameraMode != 3 || !mHudVisible
orthoGridSlider.isHidden = cameraMode != 3 || !mHudVisible orthoGridSlider.isHidden = cameraMode != 3 || !mHudVisible
teleportButton.isHidden = true
addMeasureButton.isHidden = true
removeMeasureButton.isHidden = true
measuringModeButton.isHidden = !mHudVisible
actionNewScanEnabled = true actionNewScanEnabled = true
actionNewDataRecording = true actionNewDataRecording = true
actionSaveEnabled = mMapNodes>0 actionSaveEnabled = mMapNodes>0
@@ -753,6 +796,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
actionExportEnabled = mMapNodes>0 actionExportEnabled = mMapNodes>0
actionOptimizeEnabled = mMapNodes>0 actionOptimizeEnabled = mMapNodes>0
actionSettingsEnabled = true actionSettingsEnabled = true
actionMeasuringEnabled = true
default: // IDLE // WELCOME default: // IDLE // WELCOME
libraryButton.isEnabled = !databases.isEmpty libraryButton.isEnabled = !databases.isEmpty
libraryButton.isHidden = mState != .STATE_WELCOME && !mHudVisible libraryButton.isHidden = mState != .STATE_WELCOME && !mHudVisible
@@ -763,9 +807,14 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
stopButton.isHidden = true stopButton.isHidden = true
closeVisualizationButton.isHidden = true closeVisualizationButton.isHidden = true
stopCameraButton.isHidden = true stopCameraButton.isHidden = true
stopMeasuringButton.isHidden = true
exportOBJPLYButton.isHidden = true exportOBJPLYButton.isHidden = true
orthoDistanceSlider.isHidden = cameraMode != 3 || !mHudVisible orthoDistanceSlider.isHidden = cameraMode != 3 || !mHudVisible
orthoGridSlider.isHidden = cameraMode != 3 || !mHudVisible orthoGridSlider.isHidden = cameraMode != 3 || !mHudVisible
teleportButton.isHidden = true
addMeasureButton.isHidden = true
removeMeasureButton.isHidden = true
measuringModeButton.isHidden = true
actionNewScanEnabled = true actionNewScanEnabled = true
actionNewDataRecording = true actionNewDataRecording = true
actionSaveEnabled = mState != .STATE_WELCOME && mMapNodes>0 actionSaveEnabled = mState != .STATE_WELCOME && mMapNodes>0
@@ -773,10 +822,11 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
actionExportEnabled = mState != .STATE_WELCOME && mMapNodes>0 actionExportEnabled = mState != .STATE_WELCOME && mMapNodes>0
actionOptimizeEnabled = mState != .STATE_WELCOME && mMapNodes>0 actionOptimizeEnabled = mState != .STATE_WELCOME && mMapNodes>0
actionSettingsEnabled = true actionSettingsEnabled = true
actionMeasuringEnabled = false
} }
let view = self.view as? GLKView let view = self.view as? GLKView
if(mState != .STATE_MAPPING && mState != .STATE_CAMERA && mState != .STATE_VISUALIZING_CAMERA) if(mState != .STATE_MAPPING && mState != .STATE_CAMERA && mState != .STATE_VISUALIZING_CAMERA && mState != .STATE_VISUALIZING_AND_MEASURING)
{ {
self.isPaused = true self.isPaused = true
view?.enableSetNeedsDisplay = true view?.enableSetNeedsDisplay = true
@@ -856,6 +906,25 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
self.newScan(dataRecordingMode: true) self.newScan(dataRecordingMode: true)
}) })
]) ])
// Measuring menu
print("measuringMode = \(measuringMode)")
let measuringMenu = UIMenu(title: "Measuring...", image: UIImage(systemName: "ruler"), children: [
UIAction(title: "Plane to Plane Mode", image: measuringMode == 0 ? UIImage(systemName: "checkmark.circle") : UIImage(systemName: "circle"), handler: { _ in
self.measuringMode = 0
self.rtabmap!.setMeasuringMode(self.measuringMode)
self.resetNoTouchTimer(true)
}),
UIAction(title: "Point to Point Mode", image: measuringMode == 2 ? UIImage(systemName: "checkmark.circle") : UIImage(systemName: "circle"), handler: { _ in
self.measuringMode = 2
self.rtabmap!.setMeasuringMode(self.measuringMode)
self.resetNoTouchTimer(true)
}),
UIAction(title: "Clear All Measures", image: UIImage(systemName: "trash"), state: .off, handler: { _ in
self.clearMeasures();
self.resetNoTouchTimer(true)
})
])
var fileMenuChildren: [UIMenuElement] = [] var fileMenuChildren: [UIMenuElement] = []
fileMenuChildren.append(UIAction(title: "New Mapping Session", image: UIImage(systemName: "plus.app"), attributes: actionNewScanEnabled ? [] : .disabled, state: .off, handler: { _ in fileMenuChildren.append(UIAction(title: "New Mapping Session", image: UIImage(systemName: "plus.app"), attributes: actionNewScanEnabled ? [] : .disabled, state: .off, handler: { _ in
@@ -881,6 +950,13 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
fileMenuChildren.append(UIAction(title: "Append Scan", image: UIImage(systemName: "play.fill"), attributes: actionResumeEnabled ? [] : .disabled, state: .off, handler: { _ in fileMenuChildren.append(UIAction(title: "Append Scan", image: UIImage(systemName: "play.fill"), attributes: actionResumeEnabled ? [] : .disabled, state: .off, handler: { _ in
self.resumeScan() self.resumeScan()
})) }))
if(actionMeasuringEnabled) {
fileMenuChildren.append(measuringMenu)
}
else {
fileMenuChildren.append(UIAction(title: "Measuring...", image: UIImage(systemName: "ruler"), attributes: .disabled, state: .off, handler: { _ in
}))
}
fileMenuChildren.append(advancedMenu) fileMenuChildren.append(advancedMenu)
// File menu // File menu
@@ -896,7 +972,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
self.debugShown = !self.debugShown self.debugShown = !self.debugShown
self.resetNoTouchTimer(true) self.resetNoTouchTimer(true)
}), }),
UIAction(title: "Odom Visible", image: odomShown ? UIImage(systemName: "checkmark.circle") : UIImage(systemName: "circle"), attributes: (self.mState == .STATE_MAPPING || self.mState == .STATE_CAMERA || self.mState == .STATE_VISUALIZING_CAMERA) ? [] : .disabled, handler: { _ in UIAction(title: "Odom Visible", image: odomShown ? UIImage(systemName: "checkmark.circle") : UIImage(systemName: "circle"), attributes: (self.mState == .STATE_MAPPING || self.mState == .STATE_CAMERA || self.mState == .STATE_VISUALIZING_CAMERA || self.mState == .STATE_VISUALIZING_AND_MEASURING) ? [] : .disabled, handler: { _ in
self.odomShown = !self.odomShown self.odomShown = !self.odomShown
self.rtabmap!.setOdomCloudShown(shown: self.odomShown) self.rtabmap!.setOdomCloudShown(shown: self.odomShown)
self.resetNoTouchTimer(true) self.resetNoTouchTimer(true)
@@ -956,7 +1032,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
self.rtabmap!.setWireframe(enabled: self.wireframeShown) self.rtabmap!.setWireframe(enabled: self.wireframeShown)
self.resetNoTouchTimer(true) self.resetNoTouchTimer(true)
}), }),
UIAction(title: "Lighting", image: self.lightingShown ? UIImage(systemName: "checkmark.circle") : UIImage(systemName: "circle"), attributes: self.mState == .STATE_VISUALIZING || self.mState == .STATE_VISUALIZING_CAMERA || self.mState == .STATE_VISUALIZING_WHILE_LOADING ? [] : .disabled, handler: { _ in UIAction(title: "Lighting", image: self.lightingShown ? UIImage(systemName: "checkmark.circle") : UIImage(systemName: "circle"), attributes: self.mState == .STATE_VISUALIZING || self.mState == .STATE_VISUALIZING_CAMERA || self.mState == .STATE_VISUALIZING_AND_MEASURING || self.mState == .STATE_VISUALIZING_WHILE_LOADING ? [] : .disabled, handler: { _ in
self.lightingShown = !self.lightingShown self.lightingShown = !self.lightingShown
self.rtabmap!.setLighting(enabled: self.lightingShown) self.rtabmap!.setLighting(enabled: self.lightingShown)
self.resetNoTouchTimer(true) self.resetNoTouchTimer(true)
@@ -969,21 +1045,21 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
]) ])
let cameraMenu = UIMenu(title: "View", options: .displayInline, children: [ let cameraMenu = UIMenu(title: "View", options: .displayInline, children: [
UIAction(title: "First-P. View", image: cameraMode == 0 ? UIImage(systemName: "checkmark.circle") : UIImage(systemName: "circle"), attributes: (self.mState == .STATE_CAMERA || self.mState == .STATE_VISUALIZING || self.mState == .STATE_MAPPING || self.mState == .STATE_VISUALIZING_CAMERA) ? [] : .disabled, handler: { _ in UIAction(title: "First-P. View", image: cameraMode == 0 ? UIImage(systemName: "checkmark.circle") : UIImage(systemName: "circle"), attributes: (self.mState == .STATE_CAMERA || self.mState == .STATE_VISUALIZING || self.mState == .STATE_MAPPING || self.mState == .STATE_VISUALIZING_CAMERA || self.mState == .STATE_VISUALIZING_AND_MEASURING) ? [] : .disabled, handler: { _ in
self.setGLCamera(type: 0) self.setGLCamera(type: 0)
if(self.mState == .STATE_VISUALIZING) if(self.mState == .STATE_VISUALIZING)
{ {
self.rtabmap?.setLocalizationMode(enabled: true) self.rtabmap?.setLocalizationMode(enabled: true)
self.rtabmap?.setPausedMapping(paused: false); self.rtabmap?.setPausedMapping(paused: false);
self.startCamera()
self.updateState(state: .STATE_VISUALIZING_CAMERA) self.updateState(state: .STATE_VISUALIZING_CAMERA)
self.startCamera()
} }
else else
{ {
self.resetNoTouchTimer(true) self.resetNoTouchTimer(true)
} }
}), }),
UIAction(title: "Third-P. View", image: cameraMode == 1 ? UIImage(systemName: "checkmark.circle") : UIImage(systemName: "circle"), handler: { _ in UIAction(title: "Third-P. View", image: cameraMode == 1 ? UIImage(systemName: "checkmark.circle") : UIImage(systemName: "circle"), attributes: (self.mState != .STATE_VISUALIZING_AND_MEASURING) ? [] : .disabled, handler: { _ in
self.setGLCamera(type: 1) self.setGLCamera(type: 1)
self.resetNoTouchTimer(true) self.resetNoTouchTimer(true)
}), }),
@@ -997,7 +1073,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
}) })
]) ])
let showCloudMeshActions = mState != .STATE_VISUALIZING && mState != .STATE_VISUALIZING_CAMERA && mState != .STATE_PROCESSING && mState != .STATE_VISUALIZING_WHILE_LOADING let showCloudMeshActions = mState != .STATE_VISUALIZING && mState != .STATE_VISUALIZING_CAMERA && mState != .STATE_VISUALIZING_AND_MEASURING && mState != .STATE_PROCESSING && mState != .STATE_VISUALIZING_WHILE_LOADING
let cloudMeshMenu = UIMenu(title: "CloudMesh", options: .displayInline, children: [ let cloudMeshMenu = UIMenu(title: "CloudMesh", options: .displayInline, children: [
UIAction(title: "Point Cloud", image: viewMode == 0 ? UIImage(systemName: "checkmark.circle") : UIImage(systemName: "circle"), attributes: showCloudMeshActions ? [] : .disabled, handler: { _ in UIAction(title: "Point Cloud", image: viewMode == 0 ? UIImage(systemName: "checkmark.circle") : UIImage(systemName: "circle"), attributes: showCloudMeshActions ? [] : .disabled, handler: { _ in
self.setMeshRendering(viewMode: 0) self.setMeshRendering(viewMode: 0)
@@ -1987,7 +2063,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
{ {
self.rtabmap?.setLocalizationMode(enabled: false) self.rtabmap?.setLocalizationMode(enabled: false)
} }
updateState(state: mState == .STATE_VISUALIZING_CAMERA ? .STATE_VISUALIZING : .STATE_IDLE); updateState(state: mState == .STATE_VISUALIZING_CAMERA || mState == .STATE_VISUALIZING_AND_MEASURING ? .STATE_VISUALIZING : .STATE_IDLE);
if !ignoreSaving if !ignoreSaving
{ {
@@ -2419,6 +2495,26 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
rtabmap!.setOrthoCropFactor(Float(120-sender.value)/20.0 - 3.0) rtabmap!.setOrthoCropFactor(Float(120-sender.value)/20.0 - 3.0)
self.view.setNeedsDisplay() self.view.setNeedsDisplay()
} }
@IBAction func removeMeasureAction(_ sender: UIButton) {
self.rtabmap!.removeMeasure()
}
@IBAction func addMeasureAction(_ sender: UIButton) {
self.rtabmap!.addMeasureButtonClicked()
}
@IBAction func teleportButtonAction(_ sender: UIButton) {
self.rtabmap!.teleportButtonClicked()
}
func clearMeasures()
{
self.rtabmap!.clearMeasures()
self.resetNoTouchTimer(true)
}
@IBAction func startMeasuring(_ sender: UIButton) {
self.setGLCamera(type: 0)
self.updateState(state: .STATE_VISUALIZING_AND_MEASURING)
self.startCamera()
}
} }
func clearBackgroundColor(of view: UIView) { func clearBackgroundColor(of view: UIView) {

40
app/ios/RTABMapApp/text_atlas_png.h Normal file
View File

@@ -0,0 +1,40 @@
/*This is a generated file...*/
#ifndef TEXT_ATLAS_PNG_H
#define TEXT_ATLAS_PNG_H
namespace rtabmap
{
static const char * TEXT_ATLAS_PNG =
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}
#endif //TEXT_ATLAS_PNG_H