mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
28dbf1c98a
* Using shadows on all texts and icons to see them better when background is white. Buffering database previews to show faster the Library. Updated how RAM usage is computed and now show max memory. Added warnings when RAM usage is low. * Added measuring tool * fixed map not shown when closing visualization * Added measure text size setting, changed look and feel of point to point * Fixed measuring point not showing * Added fix for #1401 * Addressing #1407 * Export: Added colored OBJ options * fixed index_t not existing on focal * Fixed Settings not applied after restoring to all default settings witohut restarting the app (Marker detection not working issue #1455 ) * Marker detection: Fixing wrong depth used when rgb and depth image sizes cannot be divided exactly one from the the other #1455 * Added Marker Max Range option (default 1m) * Added OBJ texture policy option (keep color on textureless polygons) * Added texture/color blending option directly in the app. Added LAZ export option. * Hiding measuring button if not mesh, dont zip if exporting to laz, updating Export XXX button based on the current context, fixed always blending texture/color on not visualization mode * updated default marker max range to 2m * bump ios app version * fixing pcl 1.8.1 build * fixed android build
72 lines
2.6 KiB
C++
72 lines
2.6 KiB
C++
/*
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Copyright (c) 2010-2025, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef TANGO_TEXT_DRAWABLE_H_
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#define TANGO_TEXT_DRAWABLE_H_
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#include <vector>
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#include <rtabmap/core/Transform.h>
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#include <tango-gl/color.h>
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// PointCloudDrawable is responsible for the point cloud rendering.
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class TextDrawable {
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private:
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static GLuint textProgram_;
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static GLuint textTextureId_;
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static float textUVWidth_;
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static float textUVHeight_;
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static float textHeight_;
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static std::vector<float> textCharacterWidths_;
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public:
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static void createShaderProgram();
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static void releaseShaderProgram();
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public:
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TextDrawable(
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const std::string & text,
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const rtabmap::Transform & pose,
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float textSize = 0.1f, // meters
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const tango_gl::Color & color = tango_gl::Color(1,0,0));
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virtual ~TextDrawable() {}
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void Render(
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const glm::mat4 & projectionMatrix,
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const glm::mat4 & viewMatrix,
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const glm::mat4 & viewMatrixRotInv) const;
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private:
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std::vector<float> vertexBuffer_;
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std::vector<float> textureBuffer_;
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std::vector<unsigned short> drawListBuffer_;
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glm::mat4 poseGl_;
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tango_gl::Color color_;
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};
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#endif // TANGO_POINT_CLOUD_POINT_CLOUD_DRAWABLE_H_
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