Merge branch 'develop'

Author: granger35

SolARModuleOpenGL.pro

@@ -2,12 +2,14 @@
 QT       -= core gui
 CONFIG -= qt
 
+QMAKE_PROJECT_DEPTH = 0
+
 ## global defintions : target lib name, version
 INSTALLSUBDIR = SolARBuild
 TARGET = SolARModuleOpenGL
 
 FRAMEWORK = $$TARGET
-VERSION=0.9.1
+VERSION=0.10.0
 
 DEFINES += MYVERSION=$${VERSION}
 DEFINES += TEMPLATE_LIBRARY
@@ -47,8 +49,11 @@ unix:!android {
 }
 
 linux {
+    QMAKE_LFLAGS += -ldl
+    LIBS += -L/home/linuxbrew/.linuxbrew/lib # temporary fix caused by grpc with -lre2 ... without -L in grpc.pc
     LIBS += -lGLU -lGL
 }
+
 macx {
     DEFINES += _MACOS_TARGET_
     QMAKE_MAC_SDK= macosx
@@ -60,7 +65,7 @@ macx {
 
 win32 {
 
-    DEFINES += WIN64 UNICODE _UNICODE
+    DEFINES += WIN64 UNICODE _UNICODE NOMINMAX
     QMAKE_COMPILER_DEFINES += _WIN64
     QMAKE_CXXFLAGS += -wd4250 -wd4251 -wd4244 -wd4275
     QMAKE_CXXFLAGS_RELEASE += /O2
@@ -79,6 +84,7 @@ INSTALLS += xpcf_xml_files
 OTHER_FILES += \
     packagedependencies.txt \
     packagedependencies-linux.txt \
+    packagedependencies-mac.txt \
     packagedependencies-win.txt
 
 #NOTE : Must be placed at the end of the .pro

bcom-SolARModuleOpenGL.pc.in

@@ -5,7 +5,7 @@ libdir=${exec_prefix}/lib
 includedir=${prefix}/interfaces
 Name: SolARModuleOpenGL
 Description:
-Version: 0.9.1
+Version: 0.10.0
 Requires:
 Libs: -L${libdir} -l${libname}
 Libs.private: ${libdir}/${pfx}${libname}.${lext}

interfaces/SolARSinkPoseTextureBufferOpengl.h

@@ -22,7 +22,11 @@
 
 #include "datastructure/Image.h"
 
+#ifdef __APPLE__
+#include "GL/freeglut.h"
+#else
 #include "freeglut.h"
+#endif
 #include <mutex>
 
 namespace SolAR {

packagedependencies-linux.txt

@@ -1,3 +1,4 @@
+freeglut|3.0.0|freeglut|thirdParties@github|https://github.com/SolarFramework/binaries/releases/download
 libglu1-mesa-dev||libglu|apt-get@system|apt-get
 
 

packagedependencies-mac.txt

@@ -0,0 +1,2 @@
+mesa-glu|9.0.1|glu|brew@system|
+freeglut|3.2.1|glut|brew@system|

packagedependencies-win.txt

@@ -1,3 +1,4 @@
+freeglut|3.0.0|freeglut|thirdParties@github|https://github.com/SolarFramework/binaries/releases/download
 
 
 

packagedependencies.txt

@@ -1,2 +1,2 @@
-SolARFramework|0.9.1|SolARFramework|SolARBuild@github|https://github.com/SolarFramework/SolarFramework/releases/download
-freeglut|3.0.0|freeglut|thirdParties@github|https://github.com/SolarFramework/binaries/releases/download
+SolARFramework|0.10.0|SolARFramework|SolARBuild@github|https://github.com/SolarFramework/SolarFramework/releases/download
+

packageignoreinstall.txt

@@ -1 +1,4 @@
-SolARFramework xpcf boost grpc
+SolARFramework 
+xpcf 
+boost 
+grpc

src/SolAR3DPointsViewerOpengl.cpp

@@ -113,40 +113,26 @@ FrameworkReturnCode SolAR3DPointsViewerOpengl::display (const std::vector<SRef<C
     if (m_firstDisplay)
     {
         // Compute the center point of the point cloud
-        Point3Df minPoint, maxPoint;
-        maxPoint(0)=(std::numeric_limits<size_t>::lowest)();
-        maxPoint(1)=(std::numeric_limits<size_t>::lowest)();
-        maxPoint(2)=(std::numeric_limits<size_t>::lowest)();
-        minPoint(0)=(std::numeric_limits<size_t>::max)();
-        minPoint(1)=(std::numeric_limits<size_t>::max)();
-        minPoint(2)=(std::numeric_limits<size_t>::max)();
-
-        for (int i = 0; i < m_points.size(); i++)
+		std::vector<float> xValues, yValues, zValues;
+		int nbPoints = m_points.size();
+        for (int i = 0; i < nbPoints; i++)
         {
-            if (points[i]->getX() > maxPoint(0)) maxPoint(0)=points[i]->getX();
-            if (points[i]->getY() > maxPoint(1)) maxPoint(1)=points[i]->getY();
-            if (points[i]->getZ() > maxPoint(2)) maxPoint(2)=points[i]->getZ();
-            if (points[i]->getX() < minPoint(0)) minPoint(0)=points[i]->getX();
-            if (points[i]->getY() < minPoint(1)) minPoint(1)=points[i]->getY();
-            if (points[i]->getZ() < minPoint(2)) minPoint(2)=points[i]->getZ();
+			xValues.push_back(m_points[i]->getX());
+			yValues.push_back(m_points[i]->getY());
+			zValues.push_back(m_points[i]->getZ());
         }
-        Vector3f sceneDiagonal;
+		std::sort(xValues.begin(), xValues.end());
+		std::sort(yValues.begin(), yValues.end());
+		std::sort(zValues.begin(), zValues.end());        
 
         // Center the scene on the center of the point cloud
-        m_sceneCenter = Point3Df((minPoint(0)+maxPoint(0))/2.0f, -(minPoint(1)+maxPoint(1))/2.0f, -(minPoint(2)+maxPoint(2))/2.0f);
-
-        // Add the camera to the box of the scene
-        if (m_cameraPose(0,3) > maxPoint(0)) maxPoint(0)=m_cameraPose(0,3);
-        if (m_cameraPose(1,3) > maxPoint(1)) maxPoint(1)=m_cameraPose(1,3);
-        if (m_cameraPose(2,3) > maxPoint(2)) maxPoint(2)=m_cameraPose(2,3);
-        if (m_cameraPose(0,3) < minPoint(0)) minPoint(0)=m_cameraPose(0,3);
-        if (m_cameraPose(1,3) < minPoint(1)) minPoint(1)=m_cameraPose(1,3);
-        if (m_cameraPose(2,3) < minPoint(2)) minPoint(2)=m_cameraPose(2,3);
+        m_sceneCenter = Point3Df(xValues[nbPoints / 2], yValues[nbPoints / 2], zValues[nbPoints / 2]);        
 
         // Copmute the diagonal of the box to define the scene Size
-        sceneDiagonal(0) = maxPoint(0) - minPoint(0);
-        sceneDiagonal(1) = maxPoint(1) - minPoint(1);
-        sceneDiagonal(2) = maxPoint(2) - minPoint(2);
+		Vector3f sceneDiagonal;
+        sceneDiagonal(0) = std::abs(xValues[nbPoints * 0.99] - xValues[nbPoints * 0.01]);
+        sceneDiagonal(1) = std::abs(yValues[nbPoints * 0.99] - yValues[nbPoints * 0.01]);
+        sceneDiagonal(2) = std::abs(zValues[nbPoints * 0.99] - zValues[nbPoints * 0.01]);
         m_sceneSize = sceneDiagonal.norm();
 
         // Set the camera according to the center and the size of the scene.
@@ -173,19 +159,11 @@ FrameworkReturnCode SolAR3DPointsViewerOpengl::display(	const SRef<PointCloud> p
                                                         const std::vector<Transform3Df> & keyframePoses2)
 {
 	std::vector<SRef<CloudPoint>> points_3Df;
-	const std::vector<CloudPoint> points = pointCloud->getConstPointCloud();
-	for (auto& point : points)
-	{
-		points_3Df.push_back(xpcf::utils::make_shared<CloudPoint>(point));
-	}
+	pointCloud->getAllPoints(points_3Df);
 	std::vector<SRef<CloudPoint>> points2_3Df;
 	if (pointCloud2 != nullptr)
 	{
-		const std::vector<CloudPoint> points2 = pointCloud2->getConstPointCloud();
-		for (auto& point2 : points2)
-		{
-			points2_3Df.push_back(xpcf::utils::make_shared<CloudPoint>(point2));
-		}
+		pointCloud2->getAllPoints(points2_3Df);
 	}
 	return display(points_3Df, pose, keyframePoses, framePoses, points2_3Df, keyframePoses2);
 }

src/glcamera/gl_camera.cpp

@@ -11,10 +11,11 @@ Manages OpenGL camera and trackball/arcball interaction
 #include "common.hpp"
 #include "gl_camera.hpp"
 #include "trackball.hpp"
+#include <algorithm>
 using namespace std;
 
 #define DOF 10.0f
-#define MAXDOF 10000.0f
+#define MAXDOF 100000.0f
 #define TRACKBALL_R 0.8f
 #define WHEEL_MOVE 0.2f
 
@@ -247,7 +248,7 @@ void gl_camera::setup(const math_vector_3f &scene_center, float scene_size) cons
 	math_vector_3f center = m_camera_rm * scene_center;
 
 	float fardist  = -(center[2] - 8*scene_size);//max( -(center[2] - scene_size), scene_size / DOF);
-	float neardist = max( -(center[2] + scene_size), scene_size / MAXDOF);
+    float neardist = std::max( -(center[2] + scene_size), scene_size) / MAXDOF;
 
 	glMatrixMode(GL_PROJECTION);
 	glLoadIdentity();