0.11.2: First Google Tango release

2026-10-03 16:27:46 +08:00 · 2016-02-15 19:35:24 -05:00
parent 8dc01c491b
commit c6a46a7238
415 changed files with 73300 additions and 3193 deletions
@@ -0,0 +1,132 @@
+/*
+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.
+*/
+
+#ifndef UTIL_H_
+#define UTIL_H_
+
+
+#include <android/log.h>
+#include <rtabmap/utilite/UEventsHandler.h>
+#include <rtabmap/utilite/ULogger.h>
+#include <tango-gl/util.h>
+
+class LogHandler : public UEventsHandler
+{
+public:
+	LogHandler()
+	{
+		registerToEventsManager();
+	}
+protected:
+	virtual void handleEvent(UEvent * event)
+	{
+		if(event->getClassName().compare("ULogEvent") == 0)
+		{
+			ULogEvent * logEvent = (ULogEvent*)event;
+			if(logEvent->getCode() == ULogger::kDebug)
+			{
+				LOGD(logEvent->getMsg().c_str());
+			}
+			else if(logEvent->getCode() == ULogger::kInfo)
+			{
+				LOGI(logEvent->getMsg().c_str());
+			}
+			else if(logEvent->getCode() == ULogger::kWarning)
+			{
+				LOGW(logEvent->getMsg().c_str());
+			}
+			else if(logEvent->getCode() >= ULogger::kError)
+			{
+				LOGE(logEvent->getMsg().c_str());
+			}
+
+		}
+	}
+};
+
+static const rtabmap::Transform opengl_world_T_tango_world(
+		1.0f, 0.0f,  0.0f, 0.0f,
+		0.0f, 0.0f, 1.0f, 0.0f,
+		0.0f, -1.0f,  0.0f, 0.0f);
+
+static const rtabmap::Transform depth_camera_T_opengl_camera(
+		1.0f, 0.0f, 0.0f, 0.0f,
+		0.0f, -1.0f, 0.0f, 0.0f,
+		0.0f, 0.0f, -1.0f, 0.0f);
+
+static const rtabmap::Transform opengl_world_T_rtabmap_world(
+		0.0f, -1.0f,  0.0f, 0.0f,
+		0.0f, 0.0f, 1.0f, 0.0f,
+		-1.0f, 0.0f,  0.0f, 0.0f);
+
+static const rtabmap::Transform rtabmap_world_T_opengl_world(
+		 0.0f, 0.0f, -1.0f, 0.0f,
+		-1.0f, 0.0f,  0.0f, 0.0f,
+		 0.0f, 1.0f,  0.0f, 0.0f);
+
+inline glm::mat4 glmFromTransform(const rtabmap::Transform & transform)
+{
+	glm::mat4 mat(1.0f);
+	// gl is column wise
+	mat[0][0] = transform(0,0);
+	mat[1][0] = transform(0,1);
+	mat[2][0] = transform(0,2);
+	mat[0][1] = transform(1,0);
+	mat[1][1] = transform(1,1);
+	mat[2][1] = transform(1,2);
+	mat[0][2] = transform(2,0);
+	mat[1][2] = transform(2,1);
+	mat[2][2] = transform(2,2);
+
+	mat[3][0] = transform(0,3);
+	mat[3][1] = transform(1,3);
+	mat[3][2] = transform(2,3);
+	return mat;
+}
+
+inline rtabmap::Transform glmToTransform(const glm::mat4 & mat)
+{
+	rtabmap::Transform transform;
+	// gl is column wise
+	transform(0,0) = mat[0][0];
+	transform(0,1) = mat[1][0];
+	transform(0,2) = mat[2][0];
+	transform(1,0) = mat[0][1];
+	transform(1,1) = mat[1][1];
+	transform(1,2) = mat[2][1];
+	transform(2,0) = mat[0][2];
+	transform(2,1) = mat[1][2];
+	transform(2,2) = mat[2][2];
+
+	transform(0,3) = mat[3][0];
+	transform(1,3) = mat[3][1];
+	transform(2,3) = mat[3][2];
+
+	return transform;
+}
+
+#endif /* UTIL_H_ */