RTABMapApp.h

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/*
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 RTABMAP_APP_H_
#define RTABMAP_APP_H_
 
#ifdef __ANDROID__
#include <jni.h>
#endif
#include <memory>
 
#include <tango-gl/util.h>
 
#include "scene.h"
#include "CameraMobile.h"
#include "util.h"
#include "ProgressionStatus.h"
 
#include <rtabmap/core/SensorCaptureThread.h>
#include <rtabmap/core/RtabmapThread.h>
#include <rtabmap/core/SensorEvent.h>
#include <rtabmap/utilite/UEventsHandler.h>
#include <boost/thread/mutex.hpp>
#include <pcl/pcl_base.h>
#include <pcl/TextureMesh.h>
 
 
// RTABMapApp handles the application lifecycle and resources.
class RTABMapApp : public UEventsHandler {
 public:
  // Constructor and deconstructor.
#ifdef __ANDROID__
  RTABMapApp(JNIEnv* env, jobject caller_activity);
#else // __APPLE__
  RTABMapApp();
  void setupSwiftCallbacks(void * classPtr,
                           void(*progressCallback)(void *, int, int),
                           void(*initCallback)(void *, int, const char*),
                           void(*statsUpdatedCallback)(void *,
                                                    int, int, int, int,
                                                    float,
                                                    int, int, int, int, int ,int,
                                                    float,
                                                    int,
                                                    float,
                                                    int,
                                                    float, float, float, float,
                                                    int, int,
                                                    float, float, float, float, float, float),
                           void(*cameraInfoCallback)(void *, int, const char*, const char*));
    
#endif
  ~RTABMapApp();
 
  void setScreenRotation(int displayRotation, int cameraRotation);
 
  int openDatabase(const std::string & databasePath, bool databaseInMemory, bool optimize, bool clearDatabase);
 
  bool isBuiltWith(int cameraDriver) const;
#ifdef __ANDROID__
  bool startCamera(JNIEnv* env, jobject iBinder, jobject context, jobject activity, int driver);
#else // __APPLE__
    bool startCamera();
#endif
  // Allocate OpenGL resources for rendering, mainly for initializing the Scene.
  void InitializeGLContent();
 
  // Setup the view port width and height.
  void SetViewPort(int width, int height);
 
  // Main render loop.
  int Render();
 
  void stopCamera();
 
  // Set render camera's viewing angle, first person, third person or top down.
  //
  // @param: camera_type, camera type includes first person, third person and
  //         top down
  void SetCameraType(tango_gl::GestureCamera::CameraType camera_type);
 
  // Touch event passed from android activity. This function only supports two
  // touches.
  //
  // @param: touch_count, total count for touches.
  // @param: event, touch event of current touch.
  // @param: x0, normalized touch location for touch 0 on x axis.
  // @param: y0, normalized touch location for touch 0 on y axis.
  // @param: x1, normalized touch location for touch 1 on x axis.
  // @param: y1, normalized touch location for touch 1 on y axis.
  void OnTouchEvent(int touch_count, tango_gl::GestureCamera::TouchEvent event,
                    float x0, float y0, float x1, float y1);
 
  void setPausedMapping(bool paused);
  void setOnlineBlending(bool enabled);
  void setMapCloudShown(bool shown);
  void setOdomCloudShown(bool shown);
  void setMeshRendering(bool enabled, bool withTexture);
  void setPointSize(float value);
  void setFOV(float angle);
  void setOrthoCropFactor(float value);
  void setGridRotation(float value);
  void setLighting(bool enabled);
  void setBackfaceCulling(bool enabled);
  void setWireframe(bool enabled);
  void setLocalizationMode(bool enabled);
  void setTrajectoryMode(bool enabled);
  void setGraphOptimization(bool enabled);
  void setNodesFiltering(bool enabled);
  void setGraphVisible(bool visible);
  void setGridVisible(bool visible);
  void setRawScanSaved(bool enabled);
  void setCameraColor(bool enabled);
  void setFullResolution(bool enabled);
  void setSmoothing(bool enabled);
  void setDepthFromMotion(bool enabled);
  void setAppendMode(bool enabled);
  void setUpstreamRelocalizationAccThr(float value);
  void setDataRecorderMode(bool enabled);
  void setMaxCloudDepth(float value);
  void setMinCloudDepth(float value);
  void setCloudDensityLevel(int value);
  void setMeshAngleTolerance(float value);
  void setMeshDecimationFactor(float value);
  void setMeshTriangleSize(int value);
  void setClusterRatio(float value);
  void setMaxGainRadius(float value);
  void setRenderingTextureDecimation(int value);
  void setBackgroundColor(float gray);
  void setDepthConfidence(int value);
  void setExportPointCloudFormat(const std::string & format);
  int setMappingParameter(const std::string & key, const std::string & value);
  void setGPS(const rtabmap::GPS & gps);
  void addEnvSensor(int type, float value);
 
  void save(const std::string & databasePath);
  bool recover(const std::string & from, const std::string & to);
  void cancelProcessing();
  bool exportMesh(
                  float cloudVoxelSize,
                  bool regenerateCloud,
                  bool meshing,
                  int textureSize,
                  int textureCount,
                  int normalK,
                  bool optimized,
                  float optimizedVoxelSize,
                  int optimizedDepth,
                  int optimizedMaxPolygons,
                  float optimizedColorRadius,
                  bool optimizedCleanWhitePolygons,
                  int optimizedMinClusterSize,
                  float optimizedMaxTextureDistance,
                  int optimizedMinTextureClusterSize,
                  bool blockRendering);
  bool postExportation(bool visualize);
  bool writeExportedMesh(const std::string & directory, const std::string & name);
  int postProcessing(int approach);
 
  void postOdometryEvent(
                rtabmap::Transform pose,
                float rgb_fx, float rgb_fy, float rgb_cx, float rgb_cy,
                float depth_fx, float depth_fy, float depth_cx, float depth_cy,
                const rtabmap::Transform & rgbFrame,
                const rtabmap::Transform & depthFrame,
                double stamp,
                double depthStamp,
        const void * yPlane, const void * uPlane, const void * vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
        const void * depth, int depthLen, int depthWidth, int depthHeight, int depthFormat,
        const void * conf, int confLen, int confWidth, int confHeight, int confFormat,
        const float * points, int pointsLen, int pointsChannels,
                rtabmap::Transform viewMatrix, //view matrix
        float p00, float p11, float p02, float p12, float p22, float p32, float p23, // projection matrix
        float t0, float t1, float t2, float t3, float t4, float t5, float t6, float t7); // tex coord
 
 protected:
  virtual bool handleEvent(UEvent * event);
 
 private:
  int updateMeshDecimation(int width, int height);
  rtabmap::ParametersMap getRtabmapParameters();
  bool smoothMesh(int id, rtabmap::Mesh & mesh);
  void gainCompensation(bool full = false);
  std::vector<pcl::Vertices> filterOrganizedPolygons(const std::vector<pcl::Vertices> & polygons, int cloudSize) const;
  std::vector<pcl::Vertices> filterPolygons(const std::vector<pcl::Vertices> & polygons, int cloudSize) const;
 
 private:
  int cameraDriver_;
  rtabmap::CameraMobile * camera_;
  rtabmap::SensorCaptureThread * sensorCaptureThread_;
  rtabmap::RtabmapThread * rtabmapThread_;
  rtabmap::Rtabmap * rtabmap_;
  rtabmap::LogHandler * logHandler_;
 
  bool odomCloudShown_;
  bool graphOptimization_;
  bool nodesFiltering_;
  bool localizationMode_;
  bool trajectoryMode_;
  bool rawScanSaved_;
  bool smoothing_;
  bool depthFromMotion_;
  bool cameraColor_;
  bool fullResolution_;
  bool appendMode_;
  bool useExternalLidar_;
  float maxCloudDepth_;
  float minCloudDepth_;
  int cloudDensityLevel_;
  int meshTrianglePix_;
  float meshAngleToleranceDeg_;
  float meshDecimationFactor_;
  float clusterRatio_;
  float maxGainRadius_;
  int renderingTextureDecimation_;
  float backgroundColor_;
  int depthConfidence_;
  float upstreamRelocalizationMaxAcc_;
  std::string exportPointCloudFormat_;
 
  rtabmap::ParametersMap mappingParameters_;
 
  bool dataRecorderMode_;
  bool clearSceneOnNextRender_;
  bool openingDatabase_;
  bool exporting_;
  bool postProcessing_;
  bool filterPolygonsOnNextRender_;
  int gainCompensationOnNextRender_;
  bool bilateralFilteringOnNextRender_;
  bool takeScreenshotOnNextRender_;
  bool cameraJustInitialized_;
  int totalPoints_;
  int totalPolygons_;
  int lastDrawnCloudsCount_;
  float renderingTime_;
  double lastPostRenderEventTime_;
  double lastPoseEventTime_;
  std::map<std::string, float> bufferedStatsData_;
 
  bool visualizingMesh_;
  bool exportedMeshUpdated_;
  pcl::TextureMesh::Ptr optMesh_;
  cv::Mat optTexture_;
  int optRefId_;
  rtabmap::Transform * optRefPose_; // App crashes when loading native library if not dynamic
 
  // main_scene_ includes all drawable object for visualizing Tango device's
  // movement and point cloud.
  Scene main_scene_;
    
    UTimer fpsTime_;
 
        std::list<rtabmap::RtabmapEvent*> rtabmapEvents_;
        std::list<rtabmap::SensorEvent> sensorEvents_;
        std::list<rtabmap::Transform> poseEvents_;
 
        rtabmap::Transform mapToOdom_;
 
        boost::mutex cameraMutex_;
        boost::mutex rtabmapMutex_;
        boost::mutex meshesMutex_;
        boost::mutex sensorMutex_;
        boost::mutex poseMutex_;
        boost::mutex renderingMutex_;
 
        USemaphore screenshotReady_;
 
        std::map<int, rtabmap::Mesh> createdMeshes_;
        std::map<int, rtabmap::Transform> rawPoses_;
 
        std::pair<rtabmap::RtabmapEventInit::Status, std::string> status_;
 
        rtabmap::ProgressionStatus progressionStatus_;
    
#ifndef __ANDROID__
    void * swiftClassPtr_;
    void(*swiftInitCallback)(void *, int, const char *);
    void(*swiftStatsUpdatedCallback)(void *,
                             int, int, int, int,
                             float,
                             int, int, int, int, int ,int,
                             float,
                             int,
                             float,
                             int,
                             float, float, float, float,
                             int, int,
                             float, float, float, float, float, float);
    void(*swiftCameraInfoEventCallback)(void *, int, const char *, const char *);
    
#endif
};
 
#endif  // TANGO_POINT_CLOUD_POINT_CLOUD_APP_H_