0.11.2: First Google Tango release

app/android/jni/jni_interface.cpp

@@ -0,0 +1,196 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#define GLM_FORCE_RADIANS
+
+#include <jni.h>
+#include <RTABMapApp.h>
+#include <scene.h>
+
+static RTABMapApp app;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void GetJStringContent(JNIEnv *AEnv, jstring AStr, std::string &ARes) {
+  if (!AStr) {
+    ARes.clear();
+    return;
+  }
+
+  const char *s = AEnv->GetStringUTFChars(AStr,NULL);
+  ARes=s;
+  AEnv->ReleaseStringUTFChars(AStr,s);
+}
+
+JNIEXPORT jint JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_initialize(
+    JNIEnv* env, jobject, jobject activity)
+{
+	return app.TangoInitialize(env, activity);
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_openDatabase(
+    JNIEnv* env, jobject, jstring databasePath)
+{
+	std::string databasePathC;
+	GetJStringContent(env,databasePath,databasePathC);
+	return app.openDatabase(databasePathC);
+}
+
+JNIEXPORT jint JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_onResume(
+    JNIEnv*, jobject) {
+  return app.onResume();
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_initGlContent(
+    JNIEnv*, jobject) {
+  app.InitializeGLContent();
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setupGraphic(
+    JNIEnv*, jobject, jint width, jint height) {
+  app.SetViewPort(width, height);
+}
+
+JNIEXPORT int JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_render(
+    JNIEnv*, jobject) {
+  return app.Render();
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_onPause(
+    JNIEnv*, jobject) {
+  app.onPause();
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setCamera(
+    JNIEnv*, jobject, int camera_index) {
+  using namespace tango_gl;
+  GestureCamera::CameraType cam_type =
+      static_cast<GestureCamera::CameraType>(camera_index);
+  app.SetCameraType(cam_type);
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_onTouchEvent(
+    JNIEnv*, jobject, int touch_count, int event, float x0, float y0, float x1,
+    float y1) {
+  using namespace tango_gl;
+  GestureCamera::TouchEvent touch_event =
+      static_cast<GestureCamera::TouchEvent>(event);
+  app.OnTouchEvent(touch_count, touch_event, x0, y0, x1, y1);
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setPausedMapping(
+		JNIEnv*, jobject, bool paused)
+{
+	return app.setPausedMapping(paused);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setMapCloudShown(
+		JNIEnv*, jobject, bool shown)
+{
+	return app.setMapCloudShown(shown);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setOdomCloudShown(
+		JNIEnv*, jobject, bool shown)
+{
+	return app.setOdomCloudShown(shown);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setMeshRendering(
+		JNIEnv*, jobject, bool enabled)
+{
+	return app.setMeshRendering(enabled);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setLocalizationMode(
+		JNIEnv*, jobject, bool enabled)
+{
+	return app.setLocalizationMode(enabled);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setTrajectoryMode(
+		JNIEnv*, jobject, bool enabled)
+{
+	return app.setTrajectoryMode(enabled);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setGraphOptimization(
+		JNIEnv*, jobject, bool enabled)
+{
+	return app.setGraphOptimization(enabled);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setGraphVisible(
+		JNIEnv*, jobject, bool visible)
+{
+	return app.setGraphVisible(visible);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setAutoExposure(
+		JNIEnv*, jobject, bool enabled)
+{
+	return app.setAutoExposure(enabled);
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_resetMapping(
+		JNIEnv*, jobject)
+{
+	return app.resetMapping();
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_save(
+		JNIEnv* env, jobject)
+{
+	return app.save();
+}
+
+JNIEXPORT bool JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_exportMesh(
+		JNIEnv* env, jobject, jstring filePath)
+{
+	std::string filePathC;
+	GetJStringContent(env,filePath,filePathC);
+	return app.exportMesh(filePathC);
+}
+
+#ifdef __cplusplus
+}
+#endif