mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
Added AR mapping mode (select ARCore ndk driver and set first person view)
This commit is contained in:
59
app/android/jni/background_renderer.h
Normal file
59
app/android/jni/background_renderer.h
Normal file
@@ -0,0 +1,59 @@
|
||||
/*
|
||||
* Copyright 2018 Google Inc. All Rights Reserved.
|
||||
*
|
||||
* Licensed under the Apache License, Version 2.0 (the "License");
|
||||
* you may not use this file except in compliance with the License.
|
||||
* You may obtain a copy of the License at
|
||||
*
|
||||
* http://www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an "AS IS" BASIS,
|
||||
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
* See the License for the specific language governing permissions and
|
||||
* limitations under the License.
|
||||
*/
|
||||
|
||||
#ifndef C_ARCORE_AUGMENTED_IMAGE_BACKGROUND_RENDERER_H_
|
||||
#define C_ARCORE_AUGMENTED_IMAGE_BACKGROUND_RENDERER_H_
|
||||
|
||||
#include <GLES2/gl2.h>
|
||||
#include <GLES2/gl2ext.h>
|
||||
#include <cstdlib>
|
||||
|
||||
#include <arcore_c_api.h>
|
||||
#include "util.h"
|
||||
|
||||
static const GLfloat BackgroundRenderer_kVertices[] = {
|
||||
-1.0f, -1.0f, +1.0f, -1.0f, -1.0f, +1.0f, +1.0f, +1.0f,
|
||||
};
|
||||
|
||||
// This class renders the passthrough camera image into the OpenGL frame.
|
||||
class BackgroundRenderer {
|
||||
public:
|
||||
// Positions of the quad vertices in clip space (X, Y).
|
||||
|
||||
static constexpr int kNumVertices = 4;
|
||||
|
||||
public:
|
||||
BackgroundRenderer() = default;
|
||||
~BackgroundRenderer() = default;
|
||||
|
||||
// Sets up OpenGL state. Must be called on the OpenGL thread and before any
|
||||
// other methods below.
|
||||
void InitializeGlContent(GLuint textureId);
|
||||
|
||||
// Draws the background image. This methods must be called for every ArFrame
|
||||
// returned by ArSession_update() to catch display geometry change events.
|
||||
void Draw(const float * transformed_uvs);
|
||||
|
||||
private:
|
||||
|
||||
GLuint shader_program_;
|
||||
GLuint texture_id_;
|
||||
|
||||
GLuint attribute_vertices_;
|
||||
GLuint attribute_uvs_;
|
||||
};
|
||||
|
||||
#endif // C_ARCORE_AUGMENTED_IMAGE_BACKGROUND_RENDERER_H_
|
||||
Reference in New Issue
Block a user