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https://github.com/introlab/rtabmap.git
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ios first release
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@@ -43,9 +43,11 @@ const float kCamViewMaxDist = 100.f;
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// FOV set up values.
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// Third and top down camera's FOV is 65 degrees.
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// First person camera's FOV is 45 degrees.
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const float kHighFov = 65.0f;
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// First person camera's FOV is 85 degrees.
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const float kHighestFov = 120.0f;
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const float kHighFov = 85.0f;
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const float kLowFov = 65.0f;
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const float kLowestFov = 40.0f;
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}
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namespace tango_gl {
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@@ -111,7 +113,7 @@ void GestureCamera::OnTouchEvent(int touch_count, TouchEvent event, float x0,
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if(camera_type_ == kFirstPerson)
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{
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this->SetFieldOfView(tango_gl::util::Clamp(cam_start_fov_ + dist * kZoomSpeed*10.0f, 45, 90));
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this->SetFieldOfView(tango_gl::util::Clamp(cam_start_fov_ + dist * kZoomSpeed*10.0f, kLowestFov, kHighestFov));
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}
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else
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{
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@@ -179,8 +181,9 @@ void GestureCamera::SetCameraType(CameraType camera_index) {
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camera_type_ = camera_index;
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switch (camera_index) {
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case kFirstPerson:
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SetOrthoMode(false);
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SetFieldOfView(kLowFov);
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SetOrthoMode(false);
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SetFieldOfView(kLowestFov);
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SetNearFarClipPlanes(0.5, 50);
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SetPosition(glm::vec3(0.0f, 0.0f, 0.0f));
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SetRotation(glm::quat(1.0f, 0.0f, 0.0f, 0.0f));
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cam_cur_dist_ = 0.0f;
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@@ -193,11 +196,12 @@ void GestureCamera::SetCameraType(CameraType camera_index) {
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break;
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case kThirdPerson:
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case kThirdPersonFollow:
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SetOrthoMode(false);
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SetFieldOfView(kHighFov);
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SetOrthoMode(false);
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SetFieldOfView(kLowFov);
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SetNearFarClipPlanes(0.5, 50);
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SetPosition(glm::vec3(0.0f, 0.0f, 0.0f));
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SetRotation(glm::quat(1.0f, 0.0f, 0.0f, 0.0f));
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cam_cur_dist_ = kThirdPersonFollow?kThirdPersonFollowCameraDist:kThirdPersonCameraDist;
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cam_cur_dist_ = camera_index==kThirdPersonFollow?kThirdPersonFollowCameraDist:kThirdPersonCameraDist;
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anchor_offset_ = glm::vec3(0.0f,0.0f,0.0f);
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cam_cur_angle_.x = -M_PI / 12.0f;
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cam_cur_angle_.y = kThirdPersonFollow?0:M_PI / 2.0f;
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@@ -208,7 +212,8 @@ void GestureCamera::SetCameraType(CameraType camera_index) {
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SetPosition(glm::vec3(0.0f, 0.0f, 0.0f));
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SetRotation(glm::quat(1.0f, 0.0f, 0.0f, 0.0f));
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SetOrthoMode(false);
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SetFieldOfView(kHighFov);
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SetFieldOfView(kLowFov);
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SetNearFarClipPlanes(0.5, 50);
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cam_cur_dist_ = kTopDownCameraDist;
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anchor_offset_ = glm::vec3(0.0f,0.0f,0.0f);
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cam_cur_angle_.x = -M_PI / 2.0f;
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@@ -222,6 +227,8 @@ void GestureCamera::SetCameraType(CameraType camera_index) {
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SetOrthoMode(true);
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SetOrthoScale(kTopDownCameraDist);
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SetOrthoCropFactor(-1.0f);
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SetFieldOfView(kLowFov);
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SetNearFarClipPlanes(0.5, 50);
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cam_cur_dist_ = kTopDownCameraDist;
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anchor_offset_ = glm::vec3(0.0f,0.0f,0.0f);
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cam_cur_angle_.x = -M_PI / 2.0f;
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