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Tango: updated UI

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This commit is contained in:
matlabbe
2017-06-28 13:59:20 -04:00
parent 64fc9f203e
commit ebada30984
19 changed files with 323 additions and 98 deletions
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19
app/android/jni/RTABMapApp.cpp
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@@ -298,7 +298,11 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
optTexture_ = cv::Mat();
cv::Mat cloudMat;
std::vector<std::vector<std::vector<unsigned int> > > polygons;
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > texCoords;
#else
std::vector<std::vector<Eigen::Vector2f> > texCoords;
#endif
cv::Mat textures;
std::map<int, rtabmap::Transform> optPoses;
if(!databaseSource.empty())
@@ -1051,6 +1055,7 @@ int RTABMapApp::Render()
pcl::fromPCLPointCloud2(optMesh_->cloud, *mesh.cloud);
pcl::fromPCLPointCloud2(optMesh_->cloud, *mesh.normals);
mesh.polygons = optMesh_->tex_polygons[0];
mesh.pose.setIdentity();
if(optMesh_->tex_coordinates.size())
{
mesh.texCoords = optMesh_->tex_coordinates[0];
@@ -1568,7 +1573,7 @@ int RTABMapApp::Render()
if(rtabmapEvents.size())
{
// send statistics to GUI
LOGW("Posting PostRenderEvent! %fs", renderingTime_);
LOGI("New data added to map, rendering time: %fs", renderingTime_);
UEventsManager::post(new PostRenderEvent(rtabmapEvents.back()));
rtabmapEvents.pop_back();
@@ -1740,6 +1745,10 @@ void RTABMapApp::setOrthoCropFactor(float value)
{
main_scene_.setOrthoCropFactor(value);
}
void RTABMapApp::setGridRotation(float value)
{
main_scene_.setGridRotation(value);
}
void RTABMapApp::setLighting(bool enabled)
{
main_scene_.setLighting(enabled);
@@ -2764,7 +2773,11 @@ bool RTABMapApp::postExportation(bool visualize)
{
cv::Mat cloudMat;
std::vector<std::vector<std::vector<unsigned int> > > polygons;
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > texCoords;
#else
std::vector<std::vector<Eigen::Vector2f> > texCoords;
#endif
cv::Mat textures;
std::map<int, rtabmap::Transform> optPoses;
if(rtabmap_ && rtabmap_->getMemory())
@@ -2801,7 +2814,11 @@ bool RTABMapApp::writeExportedMesh(const std::string & directory, const std::str
pcl::TextureMesh::Ptr textureMesh(new pcl::TextureMesh);
cv::Mat cloudMat;
std::vector<std::vector<std::vector<unsigned int> > > polygons;
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > texCoords;
#else
std::vector<std::vector<Eigen::Vector2f> > texCoords;
#endif
cv::Mat textures;
std::map<int, rtabmap::Transform> optPoses;
if(rtabmap_ && rtabmap_->getMemory())

1
app/android/jni/RTABMapApp.h
View File

@@ -121,6 +121,7 @@ class RTABMapApp : public UEventsHandler {
void setPointSize(float value);
void setFOV(float angle);
void setOrthoCropFactor(float value);
void setGridRotation(float value);
void setLighting(bool enabled);
void setBackfaceCulling(bool enabled);
void setWireframe(bool enabled);

6
app/android/jni/jni_interface.cpp
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@@ -180,6 +180,12 @@ Java_com_introlab_rtabmap_RTABMapLib_setOrthoCropFactor(
return app.setOrthoCropFactor(value);
}
JNIEXPORT void JNICALL
Java_com_introlab_rtabmap_RTABMapLib_setGridRotation(
JNIEnv*, jobject, float value)
{
return app.setGridRotation(value);
}
JNIEXPORT void JNICALL
Java_com_introlab_rtabmap_RTABMapLib_setLighting(
JNIEnv*, jobject, bool enabled)
{

2
app/android/jni/point_cloud_drawable.h
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@@ -70,6 +70,7 @@ private:
bool isVisible() const {return visible_;}
bool hasMesh() const {return polygons_.size()!=0;}
bool hasTexture() const {return textures_ != 0;}
float getMinHeight() const {return minHeight_;}
const pcl::PointXYZ & aabbMinModel() const {return aabbMinModel_;}
const pcl::PointXYZ & aabbMaxModel() const {return aabbMaxModel_;}
const pcl::PointXYZ & aabbMinWorld() const {return aabbMinWorld_;}
@@ -126,6 +127,7 @@ private:
bool visible_;
bool hasNormals_;
std::vector<unsigned int> organizedToDenseIndices_;
float minHeight_; // odom frame
float gainR_;
float gainG_;

73
app/android/jni/scene.cpp
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@@ -16,12 +16,16 @@
#include <tango-gl/conversions.h>
#include <tango-gl/gesture_camera.h>
#include <tango-gl/util.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/core/util3d_filtering.h>
#include <rtabmap/core/util3d_transforms.h>
#include <rtabmap/core/util3d_surface.h>
#include <pcl/common/transforms.h>
#include <pcl/common/common.h>
#include <glm/gtx/transform.hpp>
@@ -32,7 +36,7 @@
// 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
// 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 kHeightOffset = glm::vec3(0.0f, -1.3f, 0.0f);
// Color of the motion tracking trajectory.
const tango_gl::Color kTraceColor(0.66f, 0.66f, 0.66f);
@@ -130,7 +134,7 @@ void Scene::InitGLContent()
trace_->ClearVertexArray();
trace_->SetColor(kTraceColor);
grid_->SetColor(kGridColor);
grid_->SetPosition(-kHeightOffset);
grid_->SetPosition(kHeightOffset);
box_->SetShader();
box_->SetColor(1,0,0);
@@ -194,6 +198,10 @@ void Scene::clear()
graph_ = 0;
}
pointClouds_.clear();
if(grid_)
{
grid_->SetPosition(kHeightOffset);
}
}
//Should only be called in OpenGL thread!
@@ -565,6 +573,15 @@ void Scene::setOrthoCropFactor(float value)
{
gesture_camera_->SetOrthoCropFactor(value);
}
void Scene::setGridRotation(float angleDeg)
{
float angleRad = angleDeg * DEGREE_2_RADIANS;
if(grid_)
{
glm::quat rot = glm::rotate(glm::quat(1,0,0,0), angleRad, glm::vec3(0, 1, 0));
grid_->SetRotation(rot);
}
}
rtabmap::Transform Scene::GetOpenGLCameraPose(float * fov) const
{
@@ -669,6 +686,58 @@ void Scene::addMesh(
PointCloudDrawable * drawable = new PointCloudDrawable(mesh, createWireframe);
drawable->setPose(pose);
pointClouds_.insert(std::make_pair(id, drawable));
if(!mesh.pose.isNull() && mesh.cloud->size() && (!mesh.cloud->isOrganized() || mesh.indices->size()))
{
UTimer time;
float height = 0.0f;
Eigen::Affine3f affinePose = mesh.pose.toEigen3f();
if(mesh.polygons.size())
{
for(unsigned int i=0; i<mesh.polygons.size(); ++i)
{
for(unsigned int j=0; j<mesh.polygons[i].vertices.size(); ++j)
{
pcl::PointXYZRGB pt = pcl::transformPoint(mesh.cloud->at(mesh.polygons[i].vertices[j]), affinePose);
if(pt.z < height)
{
height = pt.z;
}
}
}
}
else
{
if(mesh.cloud->isOrganized())
{
for(unsigned int i=0; i<mesh.indices->size(); ++i)
{
pcl::PointXYZRGB pt = pcl::transformPoint(mesh.cloud->at(mesh.indices->at(i)), affinePose);
if(pt.z < height)
{
height = pt.z;
}
}
}
else
{
for(unsigned int i=0; i<mesh.cloud->size(); ++i)
{
pcl::PointXYZRGB pt = pcl::transformPoint(mesh.cloud->at(i), affinePose);
if(pt.z < height)
{
height = pt.z;
}
}
}
}
if(grid_->GetPosition().y == kHeightOffset.y || grid_->GetPosition().y > height)
{
grid_->SetPosition(glm::vec3(0,height,0));
}
LOGD("compute min height %f s", time.ticks());
}
}

1
app/android/jni/scene.h
View File

@@ -129,6 +129,7 @@ class Scene {
void setPointSize(float size) {pointSize_ = size;}
void setFOV(float angle);
void setOrthoCropFactor(float value);
void setGridRotation(float angleDeg);
void setLighting(bool enabled) {lighting_ = enabled;}
void setBackfaceCulling(bool enabled) {backfaceCulling_ = enabled;}
void setWireframe(bool enabled) {wireFrame_ = enabled;}