slam_viewer/window/renderers/
world.rs

1use super::super::builder::{WindowBuilder, WindowBuilderDefault};
2use super::super::camera::{CameraControllerConfig, CameraFrustum};
3use super::super::lines::{Line, LineSource, LinesBuilder, LinesRendener};
4use super::super::points::{Point, PointSource, PointsBuilder, PointsRendener};
5use crate::pipes::{PipelineBuilder, PipelineRenderer, VertexFormat};
6
7use nalgebra::Point3;
8use slam_cv::{feature::Landmark, vo::World, Colors, Number};
9
10pub struct WorldRenderer<N, F, W>
11where
12    N: 'static + Number,
13    Point3<N>: VertexFormat<N>,
14    F: 'static + Landmark<Number = N>,
15    W: 'static + World<Landmark = F>,
16{
17    points: PointsRendener<N, W>,
18    lines: LinesRendener<N, W>,
19}
20
21impl<N, F, W> PipelineBuilder for W
22where
23    N: 'static + Number,
24    Point3<N>: VertexFormat<N>,
25    F: 'static + Landmark<Number = N>,
26    W: 'static + World<Landmark = F> + Clone,
27{
28    fn build(
29        self: Box<Self>,
30        device: &wgpu::Device,
31        texture_format: wgpu::TextureFormat,
32        uniform_bind_group_layout: &wgpu::BindGroupLayout,
33    ) -> Box<dyn PipelineRenderer> {
34        let world = *self;
35        Box::new(WorldRenderer {
36            points: PointsBuilder::new(world.clone()).build(
37                device,
38                texture_format,
39                uniform_bind_group_layout,
40            ),
41            lines: LinesBuilder::new(world).build(
42                device,
43                texture_format,
44                uniform_bind_group_layout,
45            ),
46        })
47    }
48}
49
50impl<N, F, W> PipelineRenderer for WorldRenderer<N, F, W>
51where
52    N: 'static + Number,
53    Point3<N>: VertexFormat<N>,
54    F: 'static + Landmark<Number = N>,
55    W: 'static + World<Landmark = F>,
56{
57    fn render<'a>(&'a mut self, device: &wgpu::Device, render_pass: &mut wgpu::RenderPass<'a>) {
58        self.points.render(device, render_pass);
59        self.lines.render(device, render_pass);
60    }
61}
62
63impl<N, F, W> PointSource<N> for W
64where
65    N: 'static + Number,
66    Point3<N>: VertexFormat<N>,
67    F: 'static + Landmark<Number = N>,
68    W: 'static + World<Landmark = F>,
69{
70    fn collect_visual_points(&self) -> Vec<Point<N>> {
71        self.collect_landmarks(|lm| Point {
72            position: lm.point_world(),
73            color: Colors::red(),
74        })
75    }
76}
77
78impl<N, F, W> LineSource<N> for W
79where
80    N: 'static + Number,
81    Point3<N>: VertexFormat<N>,
82    F: 'static + Landmark<Number = N>,
83    W: 'static + World<Landmark = F>,
84{
85    fn collect_visual_lines(&self) -> Vec<Line<N>> {
86        self.collect_landmarks(|lm| Line {
87            start: Point {
88                position: lm.point_world(),
89                color: Colors::red(),
90            },
91            end: Point::default(),
92        })
93    }
94}
95
96impl<F, W> WindowBuilderDefault<f32> for W
97where
98    F: 'static + Landmark<Number = f32>,
99    W: 'static + World<Landmark = F>,
100{
101    fn default_window() -> WindowBuilder<f32> {
102        WindowBuilder {
103            title: Some("Map Viewer".to_string()),
104            framerate: Some(120),
105
106            camera: CameraFrustum {
107                eye: Point3::new(0., 2., 5.),
108                at: Point3::new(0., 0., 0.),
109
110                fovy: std::f32::consts::FRAC_PI_4,
111                znear: 0.1,
112                zfar: 100.0,
113            },
114            camera_controller: CameraControllerConfig {
115                mouse_left_speed: 1.0,
116                mouse_right_speed: 5.0,
117                scroll_speed: 1.0,
118                keyboard_speed: 0.1,
119            },
120        }
121    }
122}
slam_viewer/window/renderers/world.rs

slam_viewer/window/renderers/
world.rs
