scene.cpp

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/*
 * Copyright 2014 Google Inc. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 
#include <tango-gl/conversions.h>
#include <tango-gl/gesture_camera.h>
#include <tango-gl/util.h>
 
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/core/util3d_filtering.h>
#include <rtabmap/core/util3d_transforms.h>
#include <rtabmap/core/util3d_surface.h>
#include <pcl/common/transforms.h>
#include <pcl/common/common.h>
 
#include <glm/gtx/transform.hpp>
 
#include "scene.h"
#include "util.h"
 
// We want to represent the device properly with respect to the ground so we'll
// add an offset in z to our origin. We'll set this offset to 1.3 meters based
// on the average height of a human standing with a Tango device. This allows us
// to place a grid roughly on the ground for most users.
const glm::vec3 Scene::kHeightOffset = glm::vec3(0.0f, -1.3f, 0.0f);
 
// Color of the motion tracking trajectory.
const tango_gl::Color kTraceColor(0.66f, 0.66f, 0.66f);
 
// Color of the ground grid.
const tango_gl::Color kGridColor(0.85f, 0.85f, 0.85f);
 
// Frustum scale.
const glm::vec3 kFrustumScale = glm::vec3(0.4f, 0.3f, 0.5f);
 
const std::string kGraphVertexShader =
    "precision mediump float;\n"
    "precision mediump int;\n"
    "attribute vec3 vertex;\n"
    "uniform vec3 color;\n"
    "uniform mat4 mvp;\n"
    "varying vec3 v_color;\n"
    "void main() {\n"
    "  gl_Position = mvp*vec4(vertex.x, vertex.y, vertex.z, 1.0);\n"
    "  v_color = color;\n"
    "}\n";
const std::string kGraphFragmentShader =
    "precision mediump float;\n"
    "precision mediump int;\n"
    "varying vec3 v_color;\n"
    "void main() {\n"
    "  gl_FragColor = vec4(v_color.z, v_color.y, v_color.x, 1.0);\n"
    "}\n";
 
 
 
Scene::Scene() :
                background_renderer_(0),
                gesture_camera_(0),
                axis_(0),
                frustum_(0),
                grid_(0),
                box_(0),
                trace_(0),
                graph_(0),
                graphVisible_(true),
                gridVisible_(true),
                traceVisible_(true),
                frustumVisible_(true),
                color_camera_to_display_rotation_(rtabmap::ROTATION_0),
                currentPose_(0),
                graph_shader_program_(0),
                blending_(true),
                mapRendering_(true),
                meshRendering_(true),
                meshRenderingTexture_(true),
                pointSize_(10.0f),
                boundingBoxRendering_(false),
                lighting_(false),
                backfaceCulling_(true),
                wireFrame_(false),
                textureColorSeamsHidden_(true),
                r_(0.0f),
                g_(0.0f),
                b_(0.0f),
                fboId_(0),
                rboId_(0),
                screenWidth_(0),
                screenHeight_(0),
                doubleTapOn_(false)
{
    depthTexture_ = 0;
        gesture_camera_ = new tango_gl::GestureCamera();
        gesture_camera_->SetCameraType(
              tango_gl::GestureCamera::kThirdPersonFollow);
}
 
Scene::~Scene() {
        DeleteResources();
        delete gesture_camera_;
        delete currentPose_;
}
 
//Should only be called in OpenGL thread!
void Scene::InitGLContent()
{
        if(axis_ != 0)
        {
                DeleteResources();
        }
 
        UASSERT(axis_ == 0);
 
    TextDrawable::createShaderProgram();
 
        axis_ = new tango_gl::Axis();
        frustum_ = new tango_gl::Frustum();
        trace_ = new tango_gl::Trace();
        grid_ = new tango_gl::Grid();
        box_ = new BoundingBoxDrawable();
 
 
        axis_->SetScale(glm::vec3(0.5f,0.5f,0.5f));
        frustum_->SetColor(kTraceColor);
        trace_->ClearVertexArray();
        trace_->SetColor(kTraceColor);
        grid_->SetColor(kGridColor);
        grid_->SetPosition(kHeightOffset);
        box_->SetShader();
        box_->SetColor(1,0,0);
 
        PointCloudDrawable::createShaderPrograms();
 
        if(graph_shader_program_ == 0)
        {
                graph_shader_program_ = tango_gl::util::CreateProgram(kGraphVertexShader.c_str(), kGraphFragmentShader.c_str());
                UASSERT(graph_shader_program_ != 0);
        }
}
 
//Should only be called in OpenGL thread!
void Scene::DeleteResources() {
 
        LOGI("Scene::DeleteResources()");
        if(axis_)
        {
                delete axis_;
                axis_ = 0;
                delete frustum_;
                delete trace_;
                delete grid_;
                delete box_;
                delete background_renderer_;
                background_renderer_ = 0;
        }
 
    TextDrawable::releaseShaderProgram();
        PointCloudDrawable::releaseShaderPrograms();
 
        if (graph_shader_program_) {
                glDeleteShader(graph_shader_program_);
                graph_shader_program_ = 0;
        }
 
        if(fboId_>0)
        {
                glDeleteFramebuffers(1, &fboId_);
                fboId_ = 0;
                glDeleteRenderbuffers(1, &rboId_);
                rboId_ = 0;
        glDeleteTextures(1, &depthTexture_);
        depthTexture_ = 0;
        }
 
        clear();
}
 
//Should only be called in OpenGL thread!
void Scene::clear()
{
        LOGI("Scene::clear()");
        for(std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.begin(); iter!=pointClouds_.end(); ++iter)
        {
                delete iter->second;
        }
        for(std::map<int, tango_gl::Axis*>::iterator iter=markers_.begin(); iter!=markers_.end(); ++iter)
        {
                delete iter->second;
        }
    clearLines();
    clearQuads();
    clearTexts();
    clearCircles();
        if(trace_)
        {
                trace_->ClearVertexArray();
        }
        if(graph_)
        {
                delete graph_;
                graph_ = 0;
        }
        pointClouds_.clear();
        markers_.clear();
        if(grid_)
        {
                grid_->SetPosition(kHeightOffset);
        }
}
 
void Scene::clearLines()
{
    for(std::map<int, tango_gl::Line*>::iterator iter=lines_.begin(); iter!=lines_.end(); ++iter)
    {
        delete iter->second;
    }
    lines_.clear();
}
void Scene::clearTexts()
{
    for(std::map<int, TextDrawable*>::iterator iter=texts_.begin(); iter!=texts_.end(); ++iter)
    {
        delete iter->second;
    }
    texts_.clear();
}
void Scene::clearQuads()
{
    for(std::map<int, QuadColor*>::iterator iter=quads_.begin(); iter!=quads_.end(); ++iter)
    {
        delete iter->second;
    }
    quads_.clear();
}
void Scene::clearCircles()
{
    for(std::map<int, tango_gl::Circle*>::iterator iter=circles_.begin(); iter!=circles_.end(); ++iter)
    {
        delete iter->second;
    }
    circles_.clear();
}
 
//Should only be called in OpenGL thread!
void Scene::SetupViewPort(int w, int h) {
        if (h == 0) {
                LOGE("Setup graphic height not valid");
        }
    
        UASSERT(gesture_camera_ != 0);
        gesture_camera_->SetWindowSize(static_cast<float>(w), static_cast<float>(h));
        glViewport(0, 0, w, h);
        if(screenWidth_ != w || screenHeight_ != h || fboId_ == 0)
        {
        UINFO("Setup viewport OpenGL: %dx%d", w, h);
        
                if(fboId_>0)
                {
                        glDeleteFramebuffers(1, &fboId_);
                        fboId_ = 0;
                        glDeleteRenderbuffers(1, &rboId_);
                        rboId_ = 0;
                        glDeleteTextures(1, &depthTexture_);
            depthTexture_ = 0;
                }
 
        GLint originid = 0;
        glGetIntegerv(GL_FRAMEBUFFER_BINDING, &originid);
        
                // regenerate fbo texture
                // create a framebuffer object, you need to delete them when program exits.
                glGenFramebuffers(1, &fboId_);
                glBindFramebuffer(GL_FRAMEBUFFER, fboId_);
 
                // Create depth texture
                glGenTextures(1, &depthTexture_);
                glBindTexture(GL_TEXTURE_2D, depthTexture_);
                glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
                glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
                glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
                glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
                glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, w, h, 0, GL_RGBA, GL_UNSIGNED_BYTE, NULL);
                glBindTexture(GL_TEXTURE_2D, 0);
        
                glGenRenderbuffers(1, &rboId_);
                glBindRenderbuffer(GL_RENDERBUFFER, rboId_);
                glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH_COMPONENT16, w, h);
                glBindRenderbuffer(GL_RENDERBUFFER, 0);
 
                // Set the texture to be at the color attachment point of the FBO (we pack depth 32 bits in color)
                glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, depthTexture_, 0);
                glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_RENDERBUFFER, rboId_);
 
                GLuint status = glCheckFramebufferStatus(GL_FRAMEBUFFER);
        UASSERT ( status == GL_FRAMEBUFFER_COMPLETE);
                glBindFramebuffer(GL_FRAMEBUFFER, originid);
    }
        screenWidth_ = w;
        screenHeight_ = h;
}
 
std::vector<glm::vec4> computeFrustumPlanes(const glm::mat4 & mat, bool normalize = true)
{
        // http://www.txutxi.com/?p=444
        std::vector<glm::vec4> planes(6);
 
        // Left Plane
        // col4 + col1
        planes[0].x = mat[0][3] + mat[0][0];
        planes[0].y = mat[1][3] + mat[1][0];
        planes[0].z = mat[2][3] + mat[2][0];
        planes[0].w = mat[3][3] + mat[3][0];
 
        // Right Plane
        // col4 - col1
        planes[1].x = mat[0][3] - mat[0][0];
        planes[1].y = mat[1][3] - mat[1][0];
        planes[1].z = mat[2][3] - mat[2][0];
        planes[1].w = mat[3][3] - mat[3][0];
 
        // Bottom Plane
        // col4 + col2
        planes[2].x = mat[0][3] + mat[0][1];
        planes[2].y = mat[1][3] + mat[1][1];
        planes[2].z = mat[2][3] + mat[2][1];
        planes[2].w = mat[3][3] + mat[3][1];
 
        // Top Plane
        // col4 - col2
        planes[3].x = mat[0][3] - mat[0][1];
        planes[3].y = mat[1][3] - mat[1][1];
        planes[3].z = mat[2][3] - mat[2][1];
        planes[3].w = mat[3][3] - mat[3][1];
 
        // Near Plane
        // col4 + col3
        planes[4].x = mat[0][3] + mat[0][2];
        planes[4].y = mat[1][3] + mat[1][2];
        planes[4].z = mat[2][3] + mat[2][2];
        planes[4].w = mat[3][3] + mat[3][2];
 
        // Far Plane
        // col4 - col3
        planes[5].x = mat[0][3] - mat[0][2];
        planes[5].y = mat[1][3] - mat[1][2];
        planes[5].z = mat[2][3] - mat[2][2];
        planes[5].w = mat[3][3] - mat[3][2];
 
        //if(normalize)
        {
                for(unsigned int i=0;i<planes.size(); ++i)
                {
                        if(normalize)
                        {
                                float d = std::sqrt(planes[i].x * planes[i].x + planes[i].y * planes[i].y + planes[i].z * planes[i].z); // for normalizing the coordinates
                                planes[i].x/=d;
                                planes[i].y/=d;
                                planes[i].z/=d;
                                planes[i].w/=d;
                        }
                }
        }
 
        return planes;
}
 
bool intersectFrustumAABB(
        const std::vector<glm::vec4> &planes,
        const pcl::PointXYZ &boxMin,
                const pcl::PointXYZ &boxMax)
{
  // Indexed for the 'index trick' later
        const pcl::PointXYZ * box[] = {&boxMin, &boxMax};
 
  // We only need to do 6 point-plane tests
  for (unsigned int i = 0; i < planes.size(); ++i)
  {
    // This is the current plane
    const glm::vec4 &p = planes[i];
 
    // p-vertex selection (with the index trick)
    // According to the plane normal we can know the
    // indices of the positive vertex
    const int px = p.x > 0.0f?1:0;
    const int py = p.y > 0.0f?1:0;
    const int pz = p.z > 0.0f?1:0;
 
    // Dot product
    // project p-vertex on plane normal
    // (How far is p-vertex from the origin)
    const float dp =
        (p.x*box[px]->x) +
        (p.y*box[py]->y) +
        (p.z*box[pz]->z) + p.w;
 
    // Doesn't intersect if it is behind the plane
    if (dp < 0) {return false; }
  }
  return true;
}
 
//Should only be called in OpenGL thread!
int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat4 arProjectionMatrix, const rtabmap::Mesh & occlusionMesh, bool mapping)
{
        UASSERT(gesture_camera_ != 0);
 
        if(currentPose_ == 0)
        {
                currentPose_ = new rtabmap::Transform(0,0,0,0,0,-M_PI/2.0f);
        }
        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(!currentPose_->isNull())
        {
                rotateM = glm::rotate<float>(float(color_camera_to_display_rotation_)*-1.57079632679489661923132169163975144, glm::vec3(0.0f, 0.0f, 1.0f));
 
                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*glm::quat(rotateM));
                }
                else
                {
                        // In third person or top down mode, we follow the camera movement.
                        gesture_camera_->SetAnchorPosition(position, rotation*glm::quat(rotateM));
                }
        }
 
        glm::mat4 projectionMatrix = gesture_camera_->GetProjectionMatrix();
        glm::mat4 viewMatrix = gesture_camera_->GetViewMatrix();
 
        bool renderBackgroundCamera =
                        background_renderer_ &&
            gesture_camera_->GetCameraType() == tango_gl::GestureCamera::kFirstPerson &&
            !rtabmap::glmToTransform(arProjectionMatrix).isNull() &&
            uvsTransformed;
 
        if(renderBackgroundCamera)
        {
        if(projectionMatrix[0][0] > arProjectionMatrix[0][0]-0.3)
        {
            projectionMatrix = arProjectionMatrix;
            viewMatrix = arViewMatrix;
        }
        else
        {
            renderBackgroundCamera = false;
        }
        }
 
        rtabmap::Transform openglCamera = GetOpenGLCameraPose();//*rtabmap::Transform(0.0f, 0.0f, 3.0f, 0.0f, 0.0f, 0.0f);
        // transform in same coordinate as frustum filtering
        openglCamera *= rtabmap::Transform(
                 0.0f,  0.0f,  1.0f, 0.0f,
                 0.0f,  1.0f,  0.0f, 0.0f,
                -1.0f,  0.0f,  0.0f, 0.0f);
 
        //Culling
        std::vector<glm::vec4> planes = computeFrustumPlanes(projectionMatrix*viewMatrix, true);
        std::vector<PointCloudDrawable*> cloudsToDraw(pointClouds_.size());
        int oi=0;
    int positiveCloudIds = 0;
        for(std::map<int, PointCloudDrawable*>::const_iterator iter=pointClouds_.begin(); iter!=pointClouds_.end(); ++iter)
        {
        if(iter->first > 0)
        {
            positiveCloudIds++;
        }
        
                if(!mapRendering_ && iter->first > 0)
                {
                        break;
                }
 
                if(iter->second->isVisible())
                {
                        if(intersectFrustumAABB(planes,
                                        iter->second->aabbMinWorld(),
                                        iter->second->aabbMaxWorld()))
                        {
                                cloudsToDraw[oi++] = iter->second;
                        }
                }
        }
        cloudsToDraw.resize(oi);
 
        // First rendering to get depth texture
        glEnable(GL_DEPTH_TEST);
        glDepthFunc(GL_LESS);
        glDepthMask(GL_TRUE);
        glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE);
        glDisable (GL_BLEND);
        glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
 
        if(backfaceCulling_)
        {
                glEnable(GL_CULL_FACE);
        }
        else
        {
                glDisable(GL_CULL_FACE);
        }
 
        bool onlineBlending =
        (!meshRendering_ &&
         occlusionMesh.cloud.get() &&
         occlusionMesh.cloud->size()) ||
        (blending_ &&
         gesture_camera_->GetCameraType()!=tango_gl::GestureCamera::kTopOrtho &&
         mapRendering_ && meshRendering_ &&
         (positiveCloudIds > 1 || (renderBackgroundCamera && wireFrame_)));
 
        if(onlineBlending && fboId_)
        {
        GLint originid = 0;
        glGetIntegerv(GL_FRAMEBUFFER_BINDING, &originid);
        
                // set the rendering destination to FBO
                glBindFramebuffer(GL_FRAMEBUFFER, fboId_);
 
                glClearColor(0, 0, 0, 0);
                glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
        
        // Draw scene
        for(std::vector<PointCloudDrawable*>::const_iterator iter=cloudsToDraw.begin(); iter!=cloudsToDraw.end(); ++iter)
        {
            Eigen::Vector3f cloudToCamera(
                      (*iter)->getPose().x() - openglCamera.x(),
                      (*iter)->getPose().y() - openglCamera.y(),
                      (*iter)->getPose().z() - openglCamera.z());
            float distanceToCameraSqr = cloudToCamera[0]*cloudToCamera[0] + cloudToCamera[1]*cloudToCamera[1] + cloudToCamera[2]*cloudToCamera[2];
            (*iter)->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_, false, false, distanceToCameraSqr, 0, 0, 0, 0, 0, true);
        }
        
        if(!meshRendering_ && occlusionMesh.cloud.get() && occlusionMesh.cloud->size())
        {
            PointCloudDrawable drawable(occlusionMesh);
            drawable.Render(projectionMatrix, viewMatrix, true, pointSize_, false, false, 0, 0, 0, 0, 0, 0, true);
        }
        
                // back to normal window-system-provided framebuffer
                glBindFramebuffer(GL_FRAMEBUFFER, originid); // unbind
        }
 
        if(doubleTapOn_ && gesture_camera_->GetCameraType() != tango_gl::GestureCamera::kFirstPerson)
        {
                glClearColor(0, 0, 0, 0);
                glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
 
        // FIXME: we could use the depthTexture if already computed!
                for(std::vector<PointCloudDrawable*>::const_iterator iter=cloudsToDraw.begin(); iter!=cloudsToDraw.end(); ++iter)
                {
            Eigen::Vector3f cloudToCamera(
                      (*iter)->getPose().x() - openglCamera.x(),
                      (*iter)->getPose().y() - openglCamera.y(),
                      (*iter)->getPose().z() - openglCamera.z());
            float distanceToCameraSqr = cloudToCamera[0]*cloudToCamera[0] + cloudToCamera[1]*cloudToCamera[1] + cloudToCamera[2]*cloudToCamera[2];
            
            (*iter)->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_*10.0f, false, false, distanceToCameraSqr, 0, 0, 0, 0, 0, true);
                }
 
                GLubyte zValue[4];
                glReadPixels(doubleTapPos_.x*screenWidth_, screenHeight_-doubleTapPos_.y*screenHeight_, 1, 1, GL_RGBA, GL_UNSIGNED_BYTE, zValue);
                float zValueF = float(zValue[0]/255.0f) + float(zValue[1]/255.0f)/255.0f + float(zValue[2]/255.0f)/65025.0f + float(zValue[3]/255.0f)/160581375.0f;
 
                if(zValueF != 0.0f)
                {
                        zValueF = zValueF*2.0-1.0;//NDC
                        glm::vec4 point = glm::inverse(projectionMatrix*viewMatrix)*glm::vec4(doubleTapPos_.x*2.0f-1.0f, (1.0f-doubleTapPos_.y)*2.0f-1.0f, zValueF, 1.0f);
                        point /= point.w;
                        gesture_camera_->SetAnchorOffset(glm::vec3(point.x, point.y, point.z) - position);
                }
        }
        doubleTapOn_ = false;
 
        glClearColor(r_, g_, b_, 1.0f);
        glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
    
    if(renderBackgroundCamera && (!onlineBlending || !meshRendering_))
    {
        background_renderer_->Draw(uvsTransformed, 0, screenWidth_, screenHeight_, false);
 
        //To debug occlusion image:
        //PointCloudDrawable drawable(occlusionMesh);
        //drawable.Render(projectionMatrix, viewMatrix, true, pointSize_, false, false, 999.0f);
    }
 
        if(!currentPose_->isNull())
        {
                if (frustumVisible_ && gesture_camera_->GetCameraType() != tango_gl::GestureCamera::kFirstPerson)
                {
                        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(projectionMatrix, viewMatrix);
 
                        rtabmap::Transform cameraFrame = *currentPose_*rtabmap::optical_T_opengl*rtabmap::CameraMobile::opticalRotationInv;
                        glm::vec3 positionCamera(cameraFrame.x(), cameraFrame.y(), cameraFrame.z());
                        Eigen::Quaternionf quatCamera = cameraFrame.getQuaternionf();
                        glm::quat rotationCamera(quatCamera.w(), quatCamera.x(), quatCamera.y(), quatCamera.z());
 
                        axis_->SetPosition(positionCamera);
                        axis_->SetRotation(rotationCamera);
                        axis_->Render(projectionMatrix, viewMatrix);
                }
 
                trace_->UpdateVertexArray(position);
                if(traceVisible_)
                {
                        trace_->Render(projectionMatrix, viewMatrix);
                }
        else
        {
            trace_->ClearVertexArray();
        }
        }
 
        if(gridVisible_ && !renderBackgroundCamera)
        {
                grid_->Render(projectionMatrix, viewMatrix);
        }
 
        if(graphVisible_ && graph_)
        {
                graph_->Render(projectionMatrix, viewMatrix);
        }
 
 
        if(onlineBlending)
        {
                glEnable (GL_BLEND);
                glDepthMask(GL_FALSE);
        }
 
        for(std::vector<PointCloudDrawable*>::const_iterator iter=cloudsToDraw.begin(); iter!=cloudsToDraw.end(); ++iter)
        {
                PointCloudDrawable * cloud = *iter;
 
                if(boundingBoxRendering_)
                {
                        box_->updateVertices(cloud->aabbMinWorld(), cloud->aabbMaxWorld());
                        box_->Render(projectionMatrix, viewMatrix);
                }
 
                Eigen::Vector3f cloudToCamera(
                                cloud->getPose().x() - openglCamera.x(),
                                cloud->getPose().y() - openglCamera.y(),
                                cloud->getPose().z() - openglCamera.z());
                float distanceToCameraSqr = cloudToCamera[0]*cloudToCamera[0] + cloudToCamera[1]*cloudToCamera[1] + cloudToCamera[2]*cloudToCamera[2];
 
                cloud->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_, meshRenderingTexture_, lighting_, distanceToCameraSqr, onlineBlending?depthTexture_:0, screenWidth_, screenHeight_, gesture_camera_->getNearClipPlane(), gesture_camera_->getFarClipPlane(), false, wireFrame_, textureColorSeamsHidden_);
        }
    
    if(quads_.find(55556)!=quads_.end())
    {
        glEnable(GL_BLEND);
        glDisable(GL_CULL_FACE);
        const QuadColor * quad = quads_.at(55556);
        quad->Render(projectionMatrix, viewMatrix);
        glEnable(GL_CULL_FACE);
    }
 
        if(onlineBlending)
        {
        if(renderBackgroundCamera && meshRendering_)
        {
            background_renderer_->Draw(uvsTransformed, depthTexture_, screenWidth_, screenHeight_, mapping);
        }
        
                glDisable (GL_BLEND);
                glDepthMask(GL_TRUE);
        }
    
    glDisable (GL_DEPTH_TEST);
    if(lines_.size())
    {
        for(std::map<int, tango_gl::Line*>::const_iterator iter=lines_.begin(); iter!=lines_.end(); ++iter)
        {
            const tango_gl::Line * line = iter->second;
            line->Render(projectionMatrix, viewMatrix);
        }
    }
 
    if(quads_.size())
    {
        glEnable(GL_BLEND);
        glDisable(GL_CULL_FACE);
        for(std::map<int, QuadColor*>::const_iterator iter=quads_.begin(); iter!=quads_.end(); ++iter)
        {
            if(iter->first!=55556)
            {
                const QuadColor * quad = iter->second;
                quad->Render(projectionMatrix, viewMatrix);
            }
        }
    }
    if(circles_.size())
    {
        glEnable(GL_BLEND);
        glDisable(GL_CULL_FACE);
        for(std::map<int, tango_gl::Circle*>::const_iterator iter=circles_.begin(); iter!=circles_.end(); ++iter)
        {
            const tango_gl::Circle * circle = iter->second;
            circle->Render(projectionMatrix, viewMatrix);
        }
    }
    if(texts_.size())
    {
        glDisable(GL_CULL_FACE);
        glEnable(GL_BLEND);
 
        glm::mat4 viewMatrixRotInv = viewMatrix;
        viewMatrixRotInv[3][0] = 0;
        viewMatrixRotInv[3][1] = 0;
        viewMatrixRotInv[3][2] = 0;
        viewMatrixRotInv = glm::inverse(viewMatrixRotInv);
        for(std::map<int, TextDrawable*>::const_iterator iter=texts_.begin(); iter!=texts_.end(); ++iter)
        {
            const TextDrawable * text = iter->second;
            text->Render(projectionMatrix, viewMatrix, viewMatrixRotInv);
        }
    }
    
        //draw markers on foreground
        for(std::map<int, tango_gl::Axis*>::const_iterator iter=markers_.begin(); iter!=markers_.end(); ++iter)
        {
                iter->second->Render(projectionMatrix, viewMatrix);
        }
 
        return (int)cloudsToDraw.size();
}
 
void Scene::SetCameraType(tango_gl::GestureCamera::CameraType camera_type) {
  gesture_camera_->SetCameraType(camera_type);
}
 
void Scene::SetCameraPose(const rtabmap::Transform & pose)
{
        UASSERT(!pose.isNull());
        if(currentPose_ ==0)
        {
                currentPose_ = new rtabmap::Transform(0,0,0,0,0,-M_PI/2.0f);
        }
        *currentPose_ = pose;
}
 
void Scene::setFOV(float angle)
{
        gesture_camera_->SetFieldOfView(angle);
}
void Scene::setOrthoCropFactor(float value)
{
        gesture_camera_->SetOrthoCropFactor(value);
}
void Scene::setGridRotation(float angleDeg)
{
        float angleRad = angleDeg * DEGREE_2_RADIANS;
        if(grid_)
        {
                glm::quat rot = glm::rotate(glm::quat(1,0,0,0), angleRad, glm::vec3(0, 1, 0));
                grid_->SetRotation(rot);
        }
}
 
rtabmap::Transform Scene::GetOpenGLCameraPose(float * fov) const
{
        if(fov)
        {
                *fov = gesture_camera_->getFOV();
        }
        return rtabmap::glmToTransform(gesture_camera_->GetTransformationMatrix());
}
 
void Scene::OnTouchEvent(int touch_count,
                         tango_gl::GestureCamera::TouchEvent event, float x0,
                         float y0, float x1, float y1) {
        UASSERT(gesture_camera_ != 0);
        if(touch_count == 3)
        {
                //doubletap
                if(!doubleTapOn_)
                {
                        doubleTapPos_.x = x0;
                        doubleTapPos_.y = y0;
                        doubleTapOn_ = true;
                }
        }
        else
        {
                // rotate/translate/zoom
                gesture_camera_->OnTouchEvent(touch_count, event, x0, y0, x1, y1);
        }
}
 
void Scene::updateGraph(
                const std::map<int, rtabmap::Transform> & poses,
                const std::multimap<int, rtabmap::Link> & links)
{
        LOGI("updateGraph");
        //create
    UASSERT(graph_shader_program_ != 0);
    delete graph_;
    graph_ = new GraphDrawable(graph_shader_program_, poses, links);
}
 
void Scene::setGraphVisible(bool visible)
{
        graphVisible_ = visible;
}
 
void Scene::setGridVisible(bool visible)
{
        gridVisible_ = visible;
}
 
void Scene::setTraceVisible(bool visible)
{
        traceVisible_ = visible;
}
 
void Scene::setFrustumVisible(bool visible)
{
        frustumVisible_ = visible;
}
 
//Should only be called in OpenGL thread!
void Scene::addMarker(
                int id,
                const rtabmap::Transform & pose)
{
        LOGI("add marker %d", id);
        std::map<int, tango_gl::Axis*>::iterator iter=markers_.find(id);
        if(iter == markers_.end())
        {
                //create
                tango_gl::Axis * drawable = new tango_gl::Axis();
                drawable->SetScale(glm::vec3(0.05f,0.05f,0.05f));
                drawable->SetLineWidth(5);
                markers_.insert(std::make_pair(id, drawable));
        }
        setMarkerPose(id, pose);
}
void Scene::setMarkerPose(int id, const rtabmap::Transform & pose)
{
        UASSERT(!pose.isNull());
        std::map<int, tango_gl::Axis*>::iterator iter=markers_.find(id);
        if(iter != markers_.end())
        {
                glm::vec3 position(pose.x(), pose.y(), pose.z());
                Eigen::Quaternionf quat = pose.getQuaternionf();
                glm::quat rotation(quat.w(), quat.x(), quat.y(), quat.z());
                iter->second->SetPosition(position);
                iter->second->SetRotation(rotation);
        }
}
bool Scene::hasMarker(int id) const
{
        return markers_.find(id) != markers_.end();
}
void Scene::removeMarker(int id)
{
        std::map<int, tango_gl::Axis*>::iterator iter=markers_.find(id);
        if(iter != markers_.end())
        {
                delete iter->second;
                markers_.erase(iter);
        }
}
std::set<int> Scene::getAddedMarkers() const
{
        return uKeysSet(markers_);
}
 
void Scene::addCloud(
                int id,
                const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                const rtabmap::Transform & pose)
{
        LOGI("add cloud %d (%d points %d indices)", id, (int)cloud->size(), indices.get()?(int)indices->size():0);
    removeCloudOrMesh(id);
 
        //create
        PointCloudDrawable * drawable = new PointCloudDrawable(cloud, indices);
        drawable->setPose(pose);
        pointClouds_.insert(std::make_pair(id, drawable));
}
 
void Scene::removeCloudOrMesh(int id)
{
    std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
    if(iter != pointClouds_.end())
    {
        delete iter->second;
        pointClouds_.erase(iter);
    }
}
 
void Scene::addMesh(
                int id,
                const rtabmap::Mesh & mesh,
                const rtabmap::Transform & pose,
                bool createWireframe)
{
        LOGI("add mesh %d", id);
    removeCloudOrMesh(id);
 
        //create
        PointCloudDrawable * drawable = new PointCloudDrawable(mesh, createWireframe);
        drawable->setPose(pose);
        pointClouds_.insert(std::make_pair(id, drawable));
 
        if(!mesh.pose.isNull() && mesh.cloud->size() && (!mesh.cloud->isOrganized() || mesh.indices->size()))
        {
                UTimer time;
                float height = 0.0f;
                Eigen::Affine3f affinePose = mesh.pose.toEigen3f();
                if(mesh.polygons.size())
                {
                        for(unsigned int i=0; i<mesh.polygons.size(); ++i)
                        {
                                for(unsigned int j=0; j<mesh.polygons[i].vertices.size(); ++j)
                                {
                                        pcl::PointXYZRGB pt = pcl::transformPoint(mesh.cloud->at(mesh.polygons[i].vertices[j]), affinePose);
                                        if(pt.z < height)
                                        {
                                                height = pt.z;
                                        }
                                }
                        }
                }
                else
                {
                        if(mesh.cloud->isOrganized())
                        {
                                for(unsigned int i=0; i<mesh.indices->size(); ++i)
                                {
                                        pcl::PointXYZRGB pt = pcl::transformPoint(mesh.cloud->at(mesh.indices->at(i)), affinePose);
                                        if(pt.z < height)
                                        {
                                                height = pt.z;
                                        }
                                }
                        }
                        else
                        {
                                for(unsigned int i=0; i<mesh.cloud->size(); ++i)
                                {
                                        pcl::PointXYZRGB pt = pcl::transformPoint(mesh.cloud->at(i), affinePose);
                                        if(pt.z < height)
                                        {
                                                height = pt.z;
                                        }
                                }
                        }
                }
 
                if(grid_->GetPosition().y == kHeightOffset.y || grid_->GetPosition().y > height)
                {
                        grid_->SetPosition(glm::vec3(0,height,0));
                }
                LOGD("compute min height %f s", time.ticks());
        }
}
 
void Scene::addLine(
        int id,
        const cv::Point3f & pt1,
        const cv::Point3f & pt2,
        const tango_gl::Color & color)
{
    LOGI("add line %d", id);
    removeLine(id);
 
    //create
    tango_gl::Line * line = new tango_gl::Line(2.0f, GL_LINES);
    line->SetShader();
    std::vector<glm::vec3> vertices(2);
    vertices[0].x = pt1.x;
    vertices[0].y = pt1.y;
    vertices[0].z = pt1.z;
    vertices[1].x = pt2.x;
    vertices[1].y = pt2.y;
    vertices[1].z = pt2.z;
    line->UpdateLineVertices(vertices);
    line->SetColor(color);
    lines_.insert(std::make_pair(id, line));
}
 
void Scene::removeLine(int id)
{
    std::map<int, tango_gl::Line*>::iterator iter=lines_.find(id);
    if(iter != lines_.end())
    {
        delete iter->second;
        lines_.erase(iter);
    }
}
 
void Scene::addText(
        int id,
        const std::string & text,
        const rtabmap::Transform & pose,
        float size,
        const tango_gl::Color & color)
{
    LOGI("add text %d", id);
    removeText(id);
 
    //create
    TextDrawable * textD = new TextDrawable(text, pose, size, color);
    texts_.insert(std::make_pair(id, textD));
}
void Scene::removeText(int id)
{
    std::map<int, TextDrawable*>::iterator iter=texts_.find(id);
    if(iter != texts_.end())
    {
        delete iter->second;
        texts_.erase(iter);
    }
}
 
void Scene::addQuad(
        int id,
        float size,
        const rtabmap::Transform & pose,
        const tango_gl::Color & color,
        float alpha)
{
    //LOGI("add quad %d", id);
    std::map<int, QuadColor*>::iterator iter=quads_.find(id);
    if(iter != quads_.end())
    {
        delete iter->second;
        quads_.erase(iter);
    }
 
    //create
    QuadColor * quad = new QuadColor(size);
    quad->SetTransformationMatrix(glmFromTransform(pose));
    quad->SetColor(color);
    quad->SetAlpha(alpha);
    quads_.insert(std::make_pair(id, quad));
}
 
void Scene::addQuad(
        int id,
        float widthLeft,
        float widthRight,
        float heightBottom,
        float heightTop,
        const rtabmap::Transform & pose,
        const tango_gl::Color & color,
        float alpha)
{
    //LOGI("add quad %d", id);
    removeQuad(id);
 
    //create
    QuadColor * quad = new QuadColor(widthLeft, widthRight, heightBottom, heightTop);
    quad->SetTransformationMatrix(glmFromTransform(pose));
    quad->SetColor(color);
    quad->SetAlpha(alpha);
    quads_.insert(std::make_pair(id, quad));
}
 
void Scene::removeQuad(int id)
{
    std::map<int, QuadColor*>::iterator iter=quads_.find(id);
    if(iter != quads_.end())
    {
        delete iter->second;
        quads_.erase(iter);
    }
}
 
bool Scene::hasQuad(int id) const
{
    return quads_.find(id) != quads_.end();
}
 
void Scene::addCircle(
        int id,
        float radius,
        const rtabmap::Transform & pose,
        const tango_gl::Color & color,
        float alpha)
{
    //LOGI("add quad %d", id);
    std::map<int, tango_gl::Circle*>::iterator iter=circles_.find(id);
    if(iter != circles_.end())
    {
        delete iter->second;
        circles_.erase(iter);
    }
 
    //create
    tango_gl::Circle * circle = new tango_gl::Circle(radius, 12);
    circle->SetTransformationMatrix(glmFromTransform(pose));
    circle->SetColor(color);
    circle->SetAlpha(alpha);
    circles_.insert(std::make_pair(id, circle));
}
 
void Scene::removeCircle(int id)
{
    std::map<int, tango_gl::Circle*>::iterator iter=circles_.find(id);
    if(iter != circles_.end())
    {
        delete iter->second;
        circles_.erase(iter);
    }
}
 
bool Scene::hasCircle(int id) const
{
    return circles_.find(id) != circles_.end();
}
 
void Scene::setCloudPose(int id, const rtabmap::Transform & pose)
{
        UASSERT(!pose.isNull());
        std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
        if(iter != pointClouds_.end())
        {
                iter->second->setPose(pose);
        }
}
 
void Scene::setCloudVisible(int id, bool visible)
{
        std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
        if(iter != pointClouds_.end())
        {
                iter->second->setVisible(visible);
        }
}
 
bool Scene::hasCloud(int id) const
{
        return pointClouds_.find(id) != pointClouds_.end();
}
 
bool Scene::hasMesh(int id) const
{
        return pointClouds_.find(id) != pointClouds_.end() && pointClouds_.at(id)->hasMesh();
}
 
bool Scene::hasTexture(int id) const
{
        return pointClouds_.find(id) != pointClouds_.end() && pointClouds_.at(id)->hasTexture();
}
 
std::set<int> Scene::getAddedClouds() const
{
        return uKeysSet(pointClouds_);
}
 
void Scene::updateCloudPolygons(int id, const std::vector<pcl::Vertices> & polygons)
{
        std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
        if(iter != pointClouds_.end())
        {
                iter->second->updatePolygons(polygons);
        }
}
 
void Scene::updateMesh(int id, const rtabmap::Mesh & mesh)
{
        std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
        if(iter != pointClouds_.end())
        {
                iter->second->updateMesh(mesh);
        }
}
 
void Scene::updateGains(int id, float gainR, float gainG, float gainB)
{
        std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
        if(iter != pointClouds_.end())
        {
                iter->second->setGains(gainR, gainG, gainB);
        }
}
 
void Scene::setGridColor(float r, float g, float b)
{
        if(grid_)
        {
                grid_->SetColor(r, g, b);
        }
}