mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
700704bec9
* Working rtabmap_lidar-mapping example (live and pcap) * finalizing merge, added some deprecated * fixed build * Working deskewing for Lidar + Camera/IMU (no camera pose correction yet) and Lidar + Odom Sensor in main UI. * backward compatibility * fixed some not used variable warnings, fixed qt build for lidar mapping example * Refactored CameraMobile, added AREngine background support, fixed LidarVPL16 build error with PCL 1.8 * ARCoreJava: buffer last depth image in case its stamp i higher than pose stamp. CameraMobile: added pose buffer. SensorCaptureThread: to get pose, odomSensor should be explicitly set, but can be same as lidar or camera inputs. * Working external lidar on iOS * util3d::commonFiltering()/adjustNormalsToViewPoint() added organized cloud support. MainWindow: updated odomSensor setup * fixed winsock include order * reverted camera tool * disable imu filtering when odom sensor is used * Updated package version * fixed windows build * fixing more windows build erros
77 lines
2.3 KiB
C++
77 lines
2.3 KiB
C++
/*
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* Copyright 2018 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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#ifndef C_ARCORE_AUGMENTED_IMAGE_BACKGROUND_RENDERER_H_
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#define C_ARCORE_AUGMENTED_IMAGE_BACKGROUND_RENDERER_H_
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#ifdef __ANDROID__
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#include <GLES2/gl2.h>
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#include <GLES2/gl2ext.h>
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#else // __APPLE__
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#include <OpenGLES/ES2/gl.h>
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#include <OpenGLES/ES2/glext.h>
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#endif
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#include <cstdlib>
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#include "util.h"
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static const GLfloat BackgroundRenderer_kVerticesDevice[] = {
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-1.0f, -1.0f, +1.0f, -1.0f, -1.0f, +1.0f, +1.0f, +1.0f,
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};
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//static const GLfloat BackgroundRenderer_kVerticesView[] = {
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// 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 1.0f, 1.0f,
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//};
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static const GLfloat BackgroundRenderer_kVerticesView[] = {
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0.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f,
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};
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static const GLfloat BackgroundRenderer_kTexCoord[] = {
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1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
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};
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//android phone
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//11 10 01 00 // portrait
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//01 11 00 10 // left
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//10 00 11 01 // right
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//00 01 10 11 // down
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// This class renders the passthrough camera image into the OpenGL frame.
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class BackgroundRenderer {
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public:
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// Positions of the quad vertices in clip space (X, Y).
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static constexpr int kNumVertices = 4;
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public:
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BackgroundRenderer() = default;
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~BackgroundRenderer();
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// Sets up OpenGL state. Must be called on the OpenGL thread and before any
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// other methods below.
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void InitializeGlContent(GLuint textureId, bool oes);
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// Draws the background image. This methods must be called for every ArFrame
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// returned by ArSession_update() to catch display geometry change events.
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void Draw(const float * transformed_uvs, const GLuint & depthTexture, int screenWidth, int screenHeight, bool redUnknown);
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private:
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static std::vector<GLuint> shaderPrograms_;
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GLuint texture_id_;
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bool oes_ = false;
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};
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#endif // C_ARCORE_AUGMENTED_IMAGE_BACKGROUND_RENDERER_H_
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