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
367 lines
12 KiB
C++
367 lines
12 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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#ifdef __ANDROID__
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#include <jni.h>
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#endif
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#include <tango-gl/util.h>
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#include <vector>
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#include <rtabmap/core/Transform.h>
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#include "util.h"
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#include "text_drawable.h"
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#include "text_atlas_png.h"
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#include <rtabmap/utilite/UConversion.h>
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const std::string kTextVertexShader =
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"uniform mat4 uMVPMatrix;"
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"attribute vec4 vPosition;"
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"attribute vec2 a_texCoord;"
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"varying vec2 v_texCoord;"
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"void main() {"
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" gl_Position = uMVPMatrix * vPosition;"
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" v_texCoord = a_texCoord;"
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"}";
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const std::string kTextFragmentShader =
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"precision mediump float;"
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"uniform vec3 uColor;"
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"varying vec2 v_texCoord;"
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"uniform sampler2D s_texture;"
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"void main() {"
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" gl_FragColor = texture2D( s_texture, v_texCoord );"
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" gl_FragColor.rgb = uColor;"
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"}";
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const int RI_TEXT_TEXTURE_SIZE = 512; // 512
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const float RI_TEXT_HEIGHT_BASE = 32.0f;
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const char RI_TEXT_START = ' ';
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const char RI_TEXT_STOP = '~'+1;
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GLuint TextDrawable::textProgram_ = 0;
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GLuint TextDrawable::textTextureId_ = 0;
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float TextDrawable::textUVWidth_ = 0;
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float TextDrawable::textUVHeight_ = 0;
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float TextDrawable::textHeight_ = 0;
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std::vector<float> TextDrawable::textCharacterWidths_;
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void TextDrawable::createShaderProgram()
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{
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releaseShaderProgram();
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// hard-coded with text_atlas.png resource
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textCharacterWidths_.resize(95);
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textCharacterWidths_[0]=8;
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textCharacterWidths_[1]=9.000000;
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textCharacterWidths_[2]=10.000000;
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textCharacterWidths_[3]=19.000000;
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textCharacterWidths_[4]=18.000000;
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textCharacterWidths_[5]=24.000000;
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textCharacterWidths_[6]=21.000000;
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textCharacterWidths_[7]=5.000000;
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textCharacterWidths_[8]=11.000000;
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textCharacterWidths_[9]=11.000000;
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textCharacterWidths_[10]=15.000000;
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textCharacterWidths_[11]=17.000000;
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textCharacterWidths_[12]=8.000000;
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textCharacterWidths_[13]=12.000000;
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textCharacterWidths_[14]=9.000000;
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textCharacterWidths_[15]=12.000000;
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textCharacterWidths_[16]=18.000000;
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textCharacterWidths_[17]=18.000000;
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textCharacterWidths_[18]=18.000000;
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textCharacterWidths_[19]=18.000000;
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textCharacterWidths_[20]=18.000000;
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textCharacterWidths_[21]=18.000000;
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textCharacterWidths_[22]=18.000000;
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textCharacterWidths_[23]=18.000000;
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textCharacterWidths_[24]=18.000000;
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textCharacterWidths_[25]=18.000000;
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textCharacterWidths_[26]=9.000000;
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textCharacterWidths_[27]=8.000000;
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textCharacterWidths_[28]=16.000000;
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textCharacterWidths_[29]=18.000000;
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textCharacterWidths_[30]=17.000000;
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textCharacterWidths_[31]=16.000000;
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textCharacterWidths_[32]=29.000000;
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textCharacterWidths_[33]=22.000000;
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textCharacterWidths_[34]=20.000000;
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textCharacterWidths_[35]=21.000000;
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textCharacterWidths_[36]=21.000000;
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textCharacterWidths_[37]=18.000000;
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textCharacterWidths_[38]=18.000000;
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textCharacterWidths_[39]=22.000000;
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textCharacterWidths_[40]=23.000000;
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textCharacterWidths_[41]=9.000000;
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textCharacterWidths_[42]=18.000000;
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textCharacterWidths_[43]=20.000000;
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textCharacterWidths_[44]=17.000000;
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textCharacterWidths_[45]=28.000000;
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textCharacterWidths_[46]=23.000000;
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textCharacterWidths_[47]=22.000000;
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textCharacterWidths_[48]=21.000000;
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textCharacterWidths_[49]=22.000000;
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textCharacterWidths_[50]=20.000000;
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textCharacterWidths_[51]=20.000000;
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textCharacterWidths_[52]=20.000000;
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textCharacterWidths_[53]=21.000000;
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textCharacterWidths_[54]=21.000000;
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textCharacterWidths_[55]=28.000000;
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textCharacterWidths_[56]=20.000000;
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textCharacterWidths_[57]=20.000000;
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textCharacterWidths_[58]=19.000000;
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textCharacterWidths_[59]=9.000000;
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textCharacterWidths_[60]=14.000000;
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textCharacterWidths_[61]=9.000000;
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textCharacterWidths_[62]=14.000000;
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textCharacterWidths_[63]=14.000000;
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textCharacterWidths_[64]=11.000000;
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textCharacterWidths_[65]=17.000000;
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textCharacterWidths_[66]=18.000000;
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textCharacterWidths_[67]=17.000000;
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textCharacterWidths_[68]=18.000000;
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textCharacterWidths_[69]=17.000000;
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textCharacterWidths_[70]=11.000000;
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textCharacterWidths_[71]=18.000000;
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textCharacterWidths_[72]=18.000000;
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textCharacterWidths_[73]=8.000000;
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textCharacterWidths_[74]=8.000000;
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textCharacterWidths_[75]=17.000000;
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textCharacterWidths_[76]=8.000000;
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textCharacterWidths_[77]=28.000000;
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textCharacterWidths_[78]=18.000000;
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textCharacterWidths_[79]=18.000000;
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textCharacterWidths_[80]=18.000000;
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textCharacterWidths_[81]=18.000000;
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textCharacterWidths_[82]=12.000000;
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textCharacterWidths_[83]=16.000000;
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textCharacterWidths_[84]=11.000000;
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textCharacterWidths_[85]=18.000000;
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textCharacterWidths_[86]=16.000000;
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textCharacterWidths_[87]=24.000000;
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textCharacterWidths_[88]=16.000000;
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textCharacterWidths_[89]=16.000000;
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textCharacterWidths_[90]=16.000000;
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textCharacterWidths_[91]=11.000000;
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textCharacterWidths_[92]=8.000000;
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textCharacterWidths_[93]=11.000000;
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textCharacterWidths_[94]=21.000000;
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textUVWidth_=0.062500;
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textUVHeight_=0.082031;
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textHeight_=42.000000;
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textProgram_ = tango_gl::util::CreateProgram(kTextVertexShader.c_str(), kTextFragmentShader.c_str());
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UASSERT(textProgram_ != 0);
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glGenTextures(1, &textTextureId_);
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UASSERT(textTextureId_);
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// gen texture from image
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glBindTexture(GL_TEXTURE_2D, textTextureId_);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
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std::vector<char> data = uHex2Bytes(rtabmap::TEXT_ATLAS_PNG);
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cv::Mat rgbImage = cv::imdecode(data, cv::IMREAD_UNCHANGED);
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glPixelStorei(GL_UNPACK_ALIGNMENT, 4);
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glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, rgbImage.cols, rgbImage.rows, 0, GL_RGBA, GL_UNSIGNED_BYTE, rgbImage.data);
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GLint error = glGetError();
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UASSERT(error == GL_NO_ERROR);
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}
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void TextDrawable::releaseShaderProgram()
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{
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if(textProgram_)
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{
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glDeleteShader(textProgram_);
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textProgram_ = 0;
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}
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}
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TextDrawable::TextDrawable(
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const std::string & text,
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const rtabmap::Transform & pose,
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float textSize, // meters
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const tango_gl::Color & color) :
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poseGl_(glmFromTransform(pose)),
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color_(color)
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{
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if(textProgram_ > 0)
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{
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vertexBuffer_ = std::vector<float>(text.size() * 12);
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textureBuffer_ = std::vector<float>(text.size() * 8);
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drawListBuffer_ = std::vector<unsigned short>(text.size() * 6);
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int index_vecs = 0;
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int index_indices = 0;
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int index_uvs = 0;
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float x=0.0f;
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float y=0.0f;
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float uniformscale = textSize/textHeight_;
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for(unsigned int i=0; i<text.size(); ++i)
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{
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// get ascii value
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char c = text[i];
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int c_val = (int)c;
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int indx = c_val-RI_TEXT_START;
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if(indx<0 || indx>=textCharacterWidths_.size()) {
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// unknown character, we will add a space for it to be save.
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indx = 0;
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}
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int colCount = RI_TEXT_TEXTURE_SIZE/(int)RI_TEXT_HEIGHT_BASE;
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// Calculate the uv parts
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int row = indx / colCount;
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int col = indx % colCount;
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float v = row * textUVHeight_;
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float v2 = v + textUVHeight_;
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float u = col * textUVWidth_;
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float u2 = u + textCharacterWidths_[indx]/(float)RI_TEXT_TEXTURE_SIZE;
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// Creating the triangle information
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std::vector<float> vec(12);
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std::vector<float> uv(8);
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vec[0] = x;
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vec[1] = y + (textHeight_ * uniformscale);
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vec[2] = 0;
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vec[3] = x;
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vec[4] = y;
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vec[5] = 0;
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vec[6] = x + (textCharacterWidths_[indx] * uniformscale);
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vec[7] = y;
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vec[8] = 0;
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vec[9] = x + (textCharacterWidths_[indx] * uniformscale);
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vec[10] = y + (textHeight_ * uniformscale);
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vec[11] = 0;
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// 0.001f = texture bleeding hack/fix
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uv[0] = u+0.001f;
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uv[1] = v+0.001f;
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uv[2] = u+0.001f;
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uv[3] = v2-0.001f;
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uv[4] = u2-0.001f;
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uv[5] = v2-0.001f;
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uv[6] = u2-0.001f;
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uv[7] = v+0.001f;
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unsigned short inds[6] = {0, 1, 2, 0, 2, 3};
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// We need a base value because the object has indices related to
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// that object and not to this collection so basicly we need to
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// translate the indices to align with the vertexlocation in ou
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// vecs array of vectors.
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short base = (short) (index_vecs / 3);
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// We should add the vec, translating the indices to our saved vector
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for(int i=0;i<vec.size();i++)
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{
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vertexBuffer_[index_vecs] = vec[i];
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index_vecs++;
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}
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// We should add the uvs
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for(int i=0;i<uv.size();i++)
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{
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textureBuffer_[index_uvs] = uv[i];
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index_uvs++;
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}
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// We handle the indices
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for(int j=0;j<6;j++)
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{
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drawListBuffer_[index_indices] = (unsigned short) (base + inds[j]);
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index_indices++;
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}
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// Calculate the new position
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x += (textCharacterWidths_[indx] * uniformscale);
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}
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}
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}
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void TextDrawable::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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{
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glUseProgram(textProgram_);
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// get handle to vertex shader's vPosition member
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int mPositionHandle = glGetAttribLocation(textProgram_, "vPosition");
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// Enable a handle to the triangle vertices
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glEnableVertexAttribArray(mPositionHandle);
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// Prepare the background coordinate data
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glVertexAttribPointer(mPositionHandle, 3, GL_FLOAT, false, 0, &vertexBuffer_[0]);
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int mTexCoordLoc = glGetAttribLocation(textProgram_, "a_texCoord" );
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// Prepare the texturecoordinates
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glVertexAttribPointer ( mTexCoordLoc, 2, GL_FLOAT, false, 0, &textureBuffer_[0]);
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glEnableVertexAttribArray ( mPositionHandle );
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glEnableVertexAttribArray ( mTexCoordLoc );
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// get handle to shape's transformation matrix
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int mtrxhandle = glGetUniformLocation(textProgram_, "uMVPMatrix");
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// Apply the projection and view transformation
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//glUniformMatrix4fv(mtrxhandle, 1, false, m, 0);
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glm::mat4 mvp_mat = projectionMatrix * viewMatrix * poseGl_ * viewMatrixRotInv;//glm::toMat4(gesture_camera_->GetParent()->GetRotation());
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glUniformMatrix4fv(mtrxhandle, 1, GL_FALSE, glm::value_ptr(mvp_mat));
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// get handle to color value
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int colorhandle = glGetUniformLocation(textProgram_, "uColor");
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glUniform3f(colorhandle, color_.r, color_.g, color_.b);
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int mSamplerLoc = glGetUniformLocation (textProgram_, "s_texture" );
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// Texture activate unit 0
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glActiveTexture(GL_TEXTURE0);
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// Bind the texture to this unit.
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glBindTexture(GL_TEXTURE_2D, textTextureId_);
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// Set the sampler texture unit to our selected id
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glUniform1i ( mSamplerLoc, 0);
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// Draw the triangle
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glDrawElements(GL_TRIANGLES, drawListBuffer_.size(), GL_UNSIGNED_SHORT, &drawListBuffer_[0]);
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// Disable vertex array
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glDisableVertexAttribArray(mPositionHandle);
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glDisableVertexAttribArray(mTexCoordLoc);
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}
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