i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 17:40:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added measure text size setting, changed look and feel of point to point

Browse Source
This commit is contained in:
matlabbe
2025-02-17 23:05:11 -08:00
parent 674aebfb6b
commit fd80a39207
11 changed files with 275 additions and 77 deletions
Download Patch File Download Diff File Expand all files Collapse all files

210
app/android/jni/RTABMapApp.cpp
View File

@@ -270,6 +270,7 @@ RTABMapApp::RTABMapApp() :
quadSample_(new pcl::PointCloud<pcl::PointXYZ>),
quadSamplePolygons_(2),
metricSystem_(true),
measuringTextSize_(0.05f),
snapAxisThr_(0.95),
markerDetection_(false),
measuringMode_(0),
@@ -1497,6 +1498,8 @@ int RTABMapApp::Render()
main_scene_.removeLine(55555);
main_scene_.removeQuad(55555);
main_scene_.removeQuad(55556);
main_scene_.removeCircle(55555);
main_scene_.removeCircle(55556);
main_scene_.removeText(55555);
main_scene_.removeCloudOrMesh(-99999);
measuringTmpPts_.clear();
@@ -1510,11 +1513,12 @@ int RTABMapApp::Render()
main_scene_.clearLines();
main_scene_.clearTexts();
main_scene_.clearQuads();
main_scene_.clearCircles();
int lineId = 0;
int textId = 0;
int quadId = 0;
int circleId = 0;
float sphereRadius = 0.02f;
float textSize=0.05f;
float quadSize=0.05f;
float quadAlpha = 0.3f;
@@ -1590,14 +1594,24 @@ int RTABMapApp::Render()
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);
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), measuringTextSize_, 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(sameNormal)
{
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);
}
else
{
main_scene_.addCircle(++circleId, quadSize/2, rtabmap::Transform(pt1.x, pt1.y, pt1.z, q1.x(), q1.y(), q1.z(), q1.w()), quadColor, quadAlpha);
main_scene_.addCircle(++circleId, quadSize/2, rtabmap::Transform(pt2.x, pt2.y, pt2.z, q2.x(), q2.y(), q2.z(), q2.w()), quadColor, quadAlpha);
}
}
}
@@ -2425,22 +2439,25 @@ void RTABMapApp::updateMeasuringState()
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 circleRadius = 0.025;
float quadSize=0.05f;
float quadAlpha = 0.3f;
main_scene_.removeQuad(55555);
main_scene_.removeQuad(55556);
main_scene_.removeCircle(55555);
main_scene_.removeCircle(55556);
main_scene_.removeLine(55555);
main_scene_.removeText(55555);
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();
}
@@ -2595,10 +2612,6 @@ void RTABMapApp::updateMeasuringState()
{
measures_.push_back(measure);
main_scene_.removeLine(55555);
main_scene_.removeText(55555);
main_scene_.removeQuad(55555);
main_scene_.removeQuad(55556);
measuringTmpPts_.clear();
measuringTmpNormals_.clear();
@@ -2649,64 +2662,85 @@ void RTABMapApp::updateMeasuringState()
float quadHeightBottom = quadWidthLeft;
float quadHeightTop = quadWidthLeft;
cv::Point3f pt2 = pt;
float lineLength = 0.0f;
// project point on line
if(measuringMode_ == 0 && measuringTmpPts_.size() == 1)
if(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)))
if(measuringMode_ == 0)
{
quadHeightTop = v.z>quadSize?v.z:quadSize;
quadHeightBottom = -v.z>quadSize?-v.z:quadSize;
if(fabs(normal.x) > fabs(normal.y))
float n = v.dot(measuringTmpNormals_.front());
lineLength = fabs(n);
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)))
{
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)
quadHeightTop = v.z>quadSize?v.z:quadSize;
quadHeightBottom = -v.z>quadSize?-v.z:quadSize;
if(fabs(normal.x) > fabs(normal.y))
{
quadWidthLeft = n>quadSize?n:quadSize;
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;
float tmp =quadHeightTop;
quadHeightTop= quadHeightBottom;
quadHeightBottom = tmp;
quadWidthLeft = n>quadSize?n:quadSize;
}
}
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;
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;
}
}
}
else
{
if(normal.z>0)
lineLength = cv::norm(v);
}
std::string text = uFormat("%0.2f m", lineLength);
if(!metricSystem_)
{
static const double METERS_PER_FOOT = 0.3048;
static double INCHES_PER_FOOT = 12.0;
double lengthInFeet = lineLength / METERS_PER_FOOT;
int feet = (int)lengthInFeet;
float inches = (lengthInFeet - feet) * INCHES_PER_FOOT;
if(feet > 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;
text = uFormat("%d' %0.1f\"", feet, inches);
}
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;
text = uFormat("%0.1f\"", inches);
}
}
/*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);*/
main_scene_.addText(55555, text, rtabmap::Transform(pt.x, pt.y, pt.z, 0,0,0), 0.05f, measuringMode_ == 0?quadColor:color);
}
Eigen::Quaternionf q;
@@ -2715,40 +2749,57 @@ void RTABMapApp::updateMeasuringState()
if(measuringTmpPts_.size() == 1 && measuringMode_ != 1)
{
const cv::Point3f & pt1 = measuringTmpPts_.at(0);
main_scene_.addLine(55555, pt1, pt2, quadColor);
main_scene_.addLine(55555, pt1, pt2, measuringMode_ == 0?quadColor:color);
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);
if(measuringMode_ == 2)
{
// Use respective orientation for each circle
Eigen::Quaternionf q1;
cv::Vec3f normalGL1 = measuringTmpNormals_.front();
q1.setFromTwoVectors(Eigen::Vector3f(0,0,1), Eigen::Vector3f(normalGL1[0],normalGL1[0],normalGL1[0]));
main_scene_.addCircle(55555,
circleRadius,
rtabmap::Transform(
measuringTmpPts_.front().x,
measuringTmpPts_.front().y,
measuringTmpPts_.front().z,
q1.x(),q1.y(), q1.z(), q1.w()), color, quadAlpha);
main_scene_.addCircle(55556,
circleRadius,
rtabmap::Transform(pt2.x, pt2.y, pt2.z, q.x(),q.y(), q.z(), q.w()), color, quadAlpha);
}
else
{
// Use same orientation for both quads
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 if(measuringMode_ == 2)
{
main_scene_.addCircle(55555,
circleRadius,
rtabmap::Transform(pt2.x, pt2.y, pt2.z, q.x(),q.y(), q.z(), q.w()), color, quadAlpha);
}
else
{
main_scene_.addQuad(55555,
quadWidthLeft,
quadWidthRight,
quadHeightBottom,
quadHeightTop,
quadSize,
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);
@@ -4358,6 +4409,15 @@ void RTABMapApp::setMetricSystem(bool enabled)
}
}
void RTABMapApp::setMeasuringTextSize(float size)
{
measuringTextSize_ = size;
if(measures_.size())
{
measuresUpdated_ = true;
}
}
void RTABMapApp::postOdometryEvent(
rtabmap::Transform pose,
float rgb_fx, float rgb_fy, float rgb_cx, float rgb_cy,

2
app/android/jni/RTABMapApp.h
View File

@@ -188,6 +188,7 @@ class RTABMapApp : public UEventsHandler {
void teleportButtonClicked();
void removeMeasure();
void setMetricSystem(bool enabled);
void setMeasuringTextSize(float size);
void postOdometryEvent(
rtabmap::Transform pose,
@@ -281,6 +282,7 @@ class RTABMapApp : public UEventsHandler {
std::list<Measure> measures_; // In opengl frame
bool measuresUpdated_;
bool metricSystem_;
float measuringTextSize_;
float snapAxisThr_;
std::vector<cv::Vec3f> snapAxes_;
bool markerDetection_;

57
app/android/jni/scene.cpp
View File

@@ -203,6 +203,7 @@ void Scene::clear()
clearLines();
clearQuads();
clearTexts();
clearCircles();
if(trace_)
{
trace_->ClearVertexArray();
@@ -244,6 +245,14 @@ void Scene::clearQuads()
}
quads_.clear();
}
void Scene::clearCircles()
{
for(std::map<int, tango_gl::Circle*>::iterator iter=circles_.begin(); iter!=circles_.end(); ++iter)
{
delete iter->second;
}
circles_.clear();
}
//Should only be called in OpenGL thread!
void Scene::SetupViewPort(int w, int h) {
@@ -706,6 +715,16 @@ int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat
}
}
}
if(circles_.size())
{
glEnable(GL_BLEND);
glDisable(GL_CULL_FACE);
for(std::map<int, tango_gl::Circle*>::const_iterator iter=circles_.begin(); iter!=circles_.end(); ++iter)
{
const tango_gl::Circle * circle = iter->second;
circle->Render(projectionMatrix, viewMatrix);
}
}
if(texts_.size())
{
glDisable(GL_CULL_FACE);
@@ -1082,6 +1101,44 @@ bool Scene::hasQuad(int id) const
return quads_.find(id) != quads_.end();
}
void Scene::addCircle(
int id,
float radius,
const rtabmap::Transform & pose,
const tango_gl::Color & color,
float alpha)
{
//LOGI("add quad %d", id);
std::map<int, tango_gl::Circle*>::iterator iter=circles_.find(id);
if(iter != circles_.end())
{
delete iter->second;
circles_.erase(iter);
}
//create
tango_gl::Circle * circle = new tango_gl::Circle(radius, 12);
circle->SetTransformationMatrix(glmFromTransform(pose));
circle->SetColor(color);
circle->SetAlpha(alpha);
circles_.insert(std::make_pair(id, circle));
}
void Scene::removeCircle(int id)
{
std::map<int, tango_gl::Circle*>::iterator iter=circles_.find(id);
if(iter != circles_.end())
{
delete iter->second;
circles_.erase(iter);
}
}
bool Scene::hasCircle(int id) const
{
return circles_.find(id) != circles_.end();
}
void Scene::setCloudPose(int id, const rtabmap::Transform & pose)
{
UASSERT(!pose.isNull());

11
app/android/jni/scene.h
View File

@@ -33,6 +33,7 @@
#include <tango-gl/trace.h>
#include <tango-gl/transform.h>
#include <tango-gl/util.h>
#include <tango-gl/circle.h>
#include <rtabmap/core/Transform.h>
#include <rtabmap/core/Link.h>
@@ -74,6 +75,7 @@ class Scene {
void clearLines();
void clearTexts();
void clearQuads();
void clearCircles();
// Render loop.
// @param: cur_pose_transformation, latest pose's transformation.
@@ -162,6 +164,14 @@ class Scene {
float alpha =1.0f);
void removeQuad(int id);
bool hasQuad(int id) const;
void addCircle(
int id,
float radius,
const rtabmap::Transform & pose,
const tango_gl::Color & color,
float alpha = 1.0f);
void removeCircle(int id);
bool hasCircle(int id) const;
void setCloudPose(int id, const rtabmap::Transform & pose);
void setCloudVisible(int id, bool visible);
@@ -229,6 +239,7 @@ class Scene {
std::map<int, tango_gl::Line*> lines_;
std::map<int, TextDrawable*> texts_;
std::map<int, QuadColor*> quads_;
std::map<int, tango_gl::Circle*> circles_;
rtabmap::Transform * currentPose_;

2
app/android/jni/tango-gl/circle.cpp
View File

@@ -28,8 +28,8 @@ Circle::Circle(float radius, int resolution) : Mesh(GL_TRIANGLE_FAN){
for (int i = resolution; i >= 0; i--) {
float theta = delta_theta * static_cast<float>(i);
vertices.push_back(cos(theta) * radius);
vertices.push_back(0);
vertices.push_back(sin(theta) * radius);
vertices.push_back(0);
}
SetVertices(vertices);
}

2
app/ios/RTABMapApp.xcodeproj/project.pbxproj
View File

@@ -805,7 +805,7 @@
);
runOnlyForDeploymentPostprocessing = 0;
shellPath = /bin/sh;
shellScript = "# Type a script or drag a script file from your workspace to insert its path.\nversion=\"$MARKETING_VERSION\"\n/usr/libexec/PlistBuddy -c \"Set PreferenceSpecifiers:21:DefaultValue $version\" \"${SRCROOT}/Settings.bundle/Root.plist\"\n";
shellScript = "# Type a script or drag a script file from your workspace to insert its path.\nversion=\"$MARKETING_VERSION\"\n/usr/libexec/PlistBuddy -c \"Set PreferenceSpecifiers:24:DefaultValue $version\" \"${SRCROOT}/Settings.bundle/Root.plist\"\n";
};
/* End PBXShellScriptBuildPhase section */

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

@@ -658,6 +658,13 @@ void setMetricSystemNative(const void *object, bool enabled)
else
UERROR("object is null!");
}
void setMeasuringTextSizeNative(const void *object, float size)
{
if(object)
return native(object)->setMeasuringTextSize(size);
else
UERROR("object is null!");
}
void clearMeasuresNative(const void *object)
{
if(object)

1
app/ios/RTABMapApp/NativeWrapper.hpp
View File

@@ -120,6 +120,7 @@ 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 setMeasuringTextSizeNative(const void *object, float size);
void clearMeasuresNative(const void *object);
typedef struct ImageNative

3
app/ios/RTABMapApp/RTABMap.swift
View File

@@ -167,6 +167,9 @@ class RTABMap {
func setMetricSystem(_ enabled: Bool) {
setMetricSystemNative(native_rtabmap, enabled)
}
func setMeasuringTextSize(_ size: Float32) {
setMeasuringTextSizeNative(native_rtabmap, size)
}
func clearMeasures() {
clearMeasuresNative(native_rtabmap)
}

3
app/ios/RTABMapApp/ViewController.swift
View File

@@ -1555,6 +1555,9 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
rtabmap!.setMaxGainRadius(value: defaults.float(forKey: "ColorCorrectionRadius"));
rtabmap!.setRenderingTextureDecimation(value: defaults.integer(forKey: "TextureResolution"));
rtabmap!.setMetricSystem(defaults.integer(forKey: "MeasuringUnits") == 0);
rtabmap!.setMeasuringTextSize(defaults.float(forKey: "MeasuringTextSize"));
if(locationManager != nil && !defaults.bool(forKey: "SaveGPS"))
{
locationManager?.stopUpdatingLocation()

54
app/ios/Settings.bundle/Root.plist
View File

@@ -430,6 +430,60 @@
<real>0.01</real>
</array>
</dict>
<dict>
<key>Title</key>
<string>Measuring</string>
<key>Type</key>
<string>PSGroupSpecifier</string>
</dict>
<dict>
<key>DefaultValue</key>
<integer>0</integer>
<key>Key</key>
<string>MeasuringUnits</string>
<key>Title</key>
<string>System of Units</string>
<key>Titles</key>
<array>
<string>Metric</string>
<string>Imperial</string>
</array>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Values</key>
<array>
<integer>0</integer>
<integer>1</integer>
</array>
</dict>
<dict>
<key>DefaultValue</key>
<real>0.050000000000000003</real>
<key>Key</key>
<string>MeasuringTextSize</string>
<key>Title</key>
<string>Text Size</string>
<key>Titles</key>
<array>
<string>30 cm</string>
<string>25 cm</string>
<string>20 cm</string>
<string>15 cm</string>
<string>10 cm</string>
<string>5 cm</string>
</array>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Values</key>
<array>
<real>0.29999999999999999</real>
<real>0.25</real>
<real>0.20000000000000001</real>
<real>0.14999999999999999</real>
<real>0.10000000000000001</real>
<real>0.050000000000000003</real>
</array>
</dict>
<dict>
<key>FooterText</key>
<string>Copyright (c) 2010-2024, Mathieu Labbe - IntRoLab - Université de Sherbrooke. All rights reserved.</string>