mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
82 lines
2.8 KiB
C++
82 lines
2.8 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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#ifndef TANGO_GL_GL_UTIL_H_
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#define TANGO_GL_GL_UTIL_H_
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#define GLM_FORCE_RADIANS
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#define GL_VERTEX_PROGRAM_POINT_SIZE 0x8642
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#include <stdlib.h>
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#include <jni.h>
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#include <android/log.h>
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#include <GLES2/gl2.h>
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#include <GLES2/gl2ext.h>
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#include "glm/glm.hpp"
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#include "glm/gtc/matrix_transform.hpp"
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#include "glm/gtc/quaternion.hpp"
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#include "glm/gtc/type_ptr.hpp"
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#include "glm/gtx/matrix_decompose.hpp"
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#define LOG_TAG "rtabmap"
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#define LOGD(...) __android_log_print(ANDROID_LOG_DEBUG,LOG_TAG,__VA_ARGS__)
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#define LOGI(...) __android_log_print(ANDROID_LOG_INFO,LOG_TAG,__VA_ARGS__)
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#define LOGW(...) __android_log_print(ANDROID_LOG_WARN,LOG_TAG,__VA_ARGS__)
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#define LOGE(...) __android_log_print(ANDROID_LOG_ERROR,LOG_TAG,__VA_ARGS__)
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#ifndef M_PI
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#define M_PI 3.1415926f
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#endif
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#define RADIAN_2_DEGREE 57.2957795f
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#define DEGREE_2_RADIANS 0.0174532925f
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namespace tango_gl {
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namespace util {
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void CheckGlError(const char* operation);
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GLuint CreateProgram(const char* vertex_source,
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const char* fragment_source);
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void DecomposeMatrix(const glm::mat4& transform_mat,
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glm::vec3& translation,
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glm::quat& rotation,
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glm::vec3& scale);
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// Get a 3x1 column from the upper 3x4 of a transformation matrix. Columns
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// 0, 1, 2 are the rotation/scale portion, and column 3 is the translation.
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glm::vec3 GetColumnFromMatrix(const glm::mat4& mat, const int col);
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// Get the translation component of a transformation matrix.
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glm::vec3 GetTranslationFromMatrix(const glm::mat4& mat);
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float Clamp(float value, float min, float max);
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void PrintMatrix(const glm::mat4& matrix);
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void PrintVector(const glm::vec3& vector);
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void PrintQuaternion(const glm::quat& quat);
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glm::vec3 LerpVector(const glm::vec3& x, const glm::vec3& y, float a);
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float DistanceSquared(const glm::vec3& v1, const glm::vec3& v2);
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bool SegmentAABBIntersect(const glm::vec3& aabb_min, const glm::vec3& aabb_max,
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const glm::vec3& start, const glm::vec3& end);
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glm::vec3 ApplyTransform(const glm::mat4& mat, const glm::vec3& vec);
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} // namespace util
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} // namespace tango_gl
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#endif // TANGO_GL_RENDERER_GL_UTIL
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