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https://github.com/introlab/rtabmap.git
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012439aa0b
* Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
39 lines
1.4 KiB
C++
39 lines
1.4 KiB
C++
/*
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* Copyright 2014 Google Inc. All Rights Reserved.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "tango-gl/frustum.h"
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namespace tango_gl {
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static const float float_vertices[] = {
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0.0f, 0.0f, 0.0f, -1.0f, 1.0f, -1.0f,
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0.0f, 0.0f, 0.0f, 1.0f, 1.0f, -1.0f,
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0.0f, 0.0f, 0.0f, -1.0f, -1.0f, -1.0f,
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0.0f, 0.0f, 0.0f, 1.0f, -1.0f, -1.0f,
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-1.0f, 1.0f, -1.0f, 1.0f, 1.0f, -1.0f,
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1.0f, 1.0f, -1.0f, 1.0f, -1.0f, -1.0f,
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1.0f, -1.0f, -1.0f, -1.0f, -1.0f, -1.0f,
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-1.0f, -1.0f, -1.0f, -1.0f, 1.0f, -1.0f};
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Frustum::Frustum() : Line(3.0f, GL_LINES) {
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SetShader();
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size_t size = sizeof(float_vertices) / sizeof(float);
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for (size_t i = 0; i < size; i += 3) {
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vec_vertices_.push_back(glm::vec3(float_vertices[i], float_vertices[i + 1],
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float_vertices[i + 2]));
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}
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}
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} // namespace tango_gl
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