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Tango: update to 0.11.14

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This commit is contained in:
matlabbe
2017-02-05 17:24:45 -05:00
parent ce8bd9ac40
commit f7616f6e94
27 changed files with 2284 additions and 1575 deletions
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app/android/jni/scene.cpp
+77 -49
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@@ -21,6 +21,8 @@
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/core/util3d_filtering.h>
#include <glm/gtx/transform.hpp>
#include "scene.h"
#include "util.h"
@@ -60,7 +62,7 @@ const std::string kPointCloudVertexShader =
" gl_Position = uMVP*vec4(aVertex.x, aVertex.y, aVertex.z, 1.0);\n"
" gl_PointSize = uPointSize;\n"
" if (!uUseLighting) {\n"
" vLightWeighting = vec3(1.0, 1.0, 1.0);\n"
" vLightWeighting = 1.0;\n"
" } else {\n"
" vec3 transformedNormal = uN * aNormal;\n"
" vLightWeighting = max(dot(transformedNormal, uLightingDirection), 0.0);\n"
@@ -106,7 +108,7 @@ const std::string kTextureMeshVertexShader =
" }\n"
" if (!uUseLighting) {\n"
" vLightWeighting = vec3(1.0, 1.0, 1.0);\n"
" vLightWeighting = 1.0;\n"
" } else {\n"
" vec3 transformedNormal = uN * aNormal;\n"
" vLightWeighting = max(dot(transformedNormal, uLightingDirection), 0.0);\n"
@@ -156,6 +158,7 @@ Scene::Scene() :
graphVisible_(true),
gridVisible_(true),
traceVisible_(true),
color_camera_to_display_rotation_(ROTATION_0),
currentPose_(0),
cloud_shader_program_(0),
texture_mesh_shader_program_(0),
@@ -165,7 +168,10 @@ Scene::Scene() :
meshRenderingTexture_(true),
pointSize_(5.0f),
frustumCulling_(true),
lighting_(true)
lighting_(true),
r_(0.0f),
g_(0.0f),
b_(0.0f)
{
gesture_camera_ = new tango_gl::GestureCamera();
gesture_camera_->SetCameraType(
@@ -249,6 +255,14 @@ void Scene::DeleteResources() {
clear();
}
void Scene::setScreenRotation(int displayOrientation, int cameraOrientation)
{
color_camera_to_display_rotation_ =
tango_gl::util::GetAndroidRotationFromColorCameraToDisplay(
displayOrientation, cameraOrientation);
LOGI("color_camera_to_display_rotation_=%d", color_camera_to_display_rotation_);
}
//Should only be called in OpenGL thread!
void Scene::clear()
{
@@ -284,56 +298,61 @@ void Scene::SetupViewPort(int w, int h) {
int Scene::Render() {
UASSERT(gesture_camera_ != 0);
glEnable(GL_DEPTH_TEST);
glEnable(GL_CULL_FACE);
glEnable(GL_DEPTH_TEST);
glEnable(GL_CULL_FACE);
glClearColor(0.0f, 0.0f, 0.0f, 1.0f);
glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
glClearColor(r_, g_, b_, 1.0f);
glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
if(!currentPose_->isNull())
{
glm::vec3 position(currentPose_->x(), currentPose_->y(), currentPose_->z());
Eigen::Quaternionf quat = currentPose_->getQuaternionf();
glm::quat rotation(quat.w(), quat.x(), quat.y(), quat.z());
glm::mat4 rotateM;
if(gesture_camera_->GetCameraType() == tango_gl::GestureCamera::kFirstPerson)
{
rotateM = glm::rotate<float>(float(color_camera_to_display_rotation_)*1.57079632679489661923132169163975144, glm::vec3(0.0f, 0.0f, 1.0f));
}
if(!currentPose_->isNull())
{
glm::vec3 position(currentPose_->x(), currentPose_->y(), currentPose_->z());
Eigen::Quaternionf quat = currentPose_->getQuaternionf();
glm::quat rotation(quat.w(), quat.x(), quat.y(), quat.z());
if (gesture_camera_->GetCameraType() == tango_gl::GestureCamera::kFirstPerson)
{
// In first person mode, we directly control camera's motion.
gesture_camera_->SetPosition(position);
gesture_camera_->SetRotation(rotation);
}
else
{
// In third person or top down mode, we follow the camera movement.
gesture_camera_->SetAnchorPosition(position, rotation);
if (gesture_camera_->GetCameraType() == tango_gl::GestureCamera::kFirstPerson)
{
// In first person mode, we directly control camera's motion.
gesture_camera_->SetPosition(position);
gesture_camera_->SetRotation(rotation);
}
else
{
// In third person or top down mode, we follow the camera movement.
gesture_camera_->SetAnchorPosition(position, rotation);
frustum_->SetPosition(position);
frustum_->SetRotation(rotation);
// Set the frustum scale to 4:3, this doesn't necessarily match the physical
// camera's aspect ratio, this is just for visualization purposes.
frustum_->SetScale(kFrustumScale);
frustum_->Render(gesture_camera_->GetProjectionMatrix(),
gesture_camera_->GetViewMatrix());
frustum_->SetPosition(position);
frustum_->SetRotation(rotation);
// Set the frustum scale to 4:3, this doesn't necessarily match the physical
// camera's aspect ratio, this is just for visualization purposes.
frustum_->SetScale(kFrustumScale);
frustum_->Render(gesture_camera_->GetProjectionMatrix(),
rotateM*gesture_camera_->GetViewMatrix());
axis_->SetPosition(position);
axis_->SetRotation(rotation);
axis_->Render(gesture_camera_->GetProjectionMatrix(),
gesture_camera_->GetViewMatrix());
}
axis_->SetPosition(position);
axis_->SetRotation(rotation);
axis_->Render(gesture_camera_->GetProjectionMatrix(),
rotateM*gesture_camera_->GetViewMatrix());
}
trace_->UpdateVertexArray(position);
if(traceVisible_)
{
trace_->Render(gesture_camera_->GetProjectionMatrix(),
gesture_camera_->GetViewMatrix());
}
}
trace_->UpdateVertexArray(position);
if(traceVisible_)
{
trace_->Render(gesture_camera_->GetProjectionMatrix(),
rotateM*gesture_camera_->GetViewMatrix());
}
if(gridVisible_)
{
grid_->Render(gesture_camera_->GetProjectionMatrix(),
gesture_camera_->GetViewMatrix());
}
if(gridVisible_)
{
grid_->Render(gesture_camera_->GetProjectionMatrix(),
rotateM*gesture_camera_->GetViewMatrix());
}
}
int cloudDrawn=0;
if(mapRendering_ && frustumCulling_)
@@ -382,7 +401,7 @@ int Scene::Render() {
for(unsigned int i=0; i<indices->size(); ++i)
{
++cloudDrawn;
pointClouds_.find(ids[indices->at(i)])->second->Render(gesture_camera_->GetProjectionMatrix(), gesture_camera_->GetViewMatrix(), meshRendering_, pointSize_, meshRenderingTexture_, lighting_);
pointClouds_.find(ids[indices->at(i)])->second->Render(gesture_camera_->GetProjectionMatrix(), rotateM*gesture_camera_->GetViewMatrix(), meshRendering_, pointSize_, meshRenderingTexture_, lighting_);
}
}
}
@@ -393,14 +412,14 @@ int Scene::Render() {
if((mapRendering_ || iter->first < 0) && iter->second->isVisible())
{
++cloudDrawn;
iter->second->Render(gesture_camera_->GetProjectionMatrix(), gesture_camera_->GetViewMatrix(), meshRendering_, pointSize_, meshRenderingTexture_, lighting_);
iter->second->Render(gesture_camera_->GetProjectionMatrix(), rotateM*gesture_camera_->GetViewMatrix(), meshRendering_, pointSize_, meshRenderingTexture_, lighting_);
}
}
}
if(graphVisible_ && graph_)
{
graph_->Render(gesture_camera_->GetProjectionMatrix(), gesture_camera_->GetViewMatrix());
graph_->Render(gesture_camera_->GetProjectionMatrix(), rotateM*gesture_camera_->GetViewMatrix());
}
return cloudDrawn;
@@ -574,3 +593,12 @@ void Scene::updateMesh(int id, const Mesh & mesh, const cv::Mat & texture)
iter->second->updateMesh(mesh, texture);
}
}
void Scene::updateGain(int id, float gain)
{
std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
if(iter != pointClouds_.end())
{
iter->second->setGain(gain);
}
}