9gel · RobertaRavanelli · Dec 7, 2015 · Dec 7, 2015 · Dec 7, 2015
diff --git a/ScanDepthRender.xcodeproj/project.pbxproj b/ScanDepthRender.xcodeproj/project.pbxproj
@@ -8,6 +8,8 @@
 
 /* Begin PBXBuildFile section */
 		6F482D9118CE1C4E00C11D9E /* Main.storyboard in Resources */ = {isa = PBXBuildFile; fileRef = A6ABFC3418C8FF5000BF0851 /* Main.storyboard */; };
+		8B2EB8821C15B81700715157 /* Structure.framework in Frameworks */ = {isa = PBXBuildFile; fileRef = 8B2EB8811C15B81700715157 /* Structure.framework */; };
+		8B2EB8841C15CBB100715157 /* libz.tbd in Frameworks */ = {isa = PBXBuildFile; fileRef = 8B2EB8831C15CBB100715157 /* libz.tbd */; };
 		A6ABFC1F18C8FF5000BF0851 /* Foundation.framework in Frameworks */ = {isa = PBXBuildFile; fileRef = A6ABFC1E18C8FF5000BF0851 /* Foundation.framework */; };
 		A6ABFC2118C8FF5000BF0851 /* CoreGraphics.framework in Frameworks */ = {isa = PBXBuildFile; fileRef = A6ABFC2018C8FF5000BF0851 /* CoreGraphics.framework */; };
 		A6ABFC2318C8FF5000BF0851 /* UIKit.framework in Frameworks */ = {isa = PBXBuildFile; fileRef = A6ABFC2218C8FF5000BF0851 /* UIKit.framework */; };
@@ -37,8 +39,6 @@
 		A6ABFC7318CA470200BF0851 /* SDRPointCloudRenderer.m in Sources */ = {isa = PBXBuildFile; fileRef = A6ABFC7218CA470200BF0851 /* SDRPointCloudRenderer.m */; };
 		A6ABFC7A18CA511200BF0851 /* PointCloudShader.vsh in Resources */ = {isa = PBXBuildFile; fileRef = A6ABFC7418CA4DE600BF0851 /* PointCloudShader.vsh */; };
 		A6ABFC7B18CA511200BF0851 /* PointCloudShader.fsh in Resources */ = {isa = PBXBuildFile; fileRef = A6ABFC7518CA4DE600BF0851 /* PointCloudShader.fsh */; };
-		A6D60CD7196B0954008C0A0F /* Structure.framework in Frameworks */ = {isa = PBXBuildFile; fileRef = A6D60CD6196B0954008C0A0F /* Structure.framework */; };
-		A6D60CD8196B0954008C0A0F /* Structure.framework in Frameworks */ = {isa = PBXBuildFile; fileRef = A6D60CD6196B0954008C0A0F /* Structure.framework */; };
 		A6D60CDA196B0AEE008C0A0F /* QuartzCore.framework in Frameworks */ = {isa = PBXBuildFile; fileRef = A6D60CD9196B0AEE008C0A0F /* QuartzCore.framework */; };
 /* End PBXBuildFile section */
 
@@ -53,6 +53,8 @@
 /* End PBXContainerItemProxy section */
 
 /* Begin PBXFileReference section */
+		8B2EB8811C15B81700715157 /* Structure.framework */ = {isa = PBXFileReference; lastKnownFileType = wrapper.framework; path = Structure.framework; sourceTree = "<group>"; };
+		8B2EB8831C15CBB100715157 /* libz.tbd */ = {isa = PBXFileReference; lastKnownFileType = "sourcecode.text-based-dylib-definition"; name = libz.tbd; path = usr/lib/libz.tbd; sourceTree = SDKROOT; };
 		A68D07DB18CBBF430050B9D7 /* AnimationControl.h */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.c.h; path = AnimationControl.h; sourceTree = "<group>"; };
 		A6ABFC1B18C8FF5000BF0851 /* ScanDepthRender.app */ = {isa = PBXFileReference; explicitFileType = wrapper.application; includeInIndex = 0; path = ScanDepthRender.app; sourceTree = BUILT_PRODUCTS_DIR; };
 		A6ABFC1E18C8FF5000BF0851 /* Foundation.framework */ = {isa = PBXFileReference; lastKnownFileType = wrapper.framework; name = Foundation.framework; path = System/Library/Frameworks/Foundation.framework; sourceTree = SDKROOT; };
@@ -91,7 +93,6 @@
 		A6ABFC7218CA470200BF0851 /* SDRPointCloudRenderer.m */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.objc; path = SDRPointCloudRenderer.m; sourceTree = "<group>"; };
 		A6ABFC7418CA4DE600BF0851 /* PointCloudShader.vsh */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.glsl; name = PointCloudShader.vsh; path = Shaders/PointCloudShader.vsh; sourceTree = "<group>"; };
 		A6ABFC7518CA4DE600BF0851 /* PointCloudShader.fsh */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.glsl; name = PointCloudShader.fsh; path = Shaders/PointCloudShader.fsh; sourceTree = "<group>"; };
-		A6D60CD6196B0954008C0A0F /* Structure.framework */ = {isa = PBXFileReference; lastKnownFileType = wrapper.framework; path = Structure.framework; sourceTree = "<group>"; };
 		A6D60CD9196B0AEE008C0A0F /* QuartzCore.framework */ = {isa = PBXFileReference; lastKnownFileType = wrapper.framework; name = QuartzCore.framework; path = System/Library/Frameworks/QuartzCore.framework; sourceTree = SDKROOT; };
 /* End PBXFileReference section */
 
@@ -100,14 +101,15 @@
 			isa = PBXFrameworksBuildPhase;
 			buildActionMask = 2147483647;
 			files = (
+				8B2EB8841C15CBB100715157 /* libz.tbd in Frameworks */,
+				8B2EB8821C15B81700715157 /* Structure.framework in Frameworks */,
 				A6D60CDA196B0AEE008C0A0F /* QuartzCore.framework in Frameworks */,
 				A6ABFC6D18C93F3F00BF0851 /* AVFoundation.framework in Frameworks */,
 				A6ABFC1F18C8FF5000BF0851 /* Foundation.framework in Frameworks */,
 				A6ABFC6C18C902AE00BF0851 /* Accelerate.framework in Frameworks */,
 				A6ABFC2718C8FF5000BF0851 /* OpenGLES.framework in Frameworks */,
 				A6ABFC6818C9027B00BF0851 /* ImageIO.framework in Frameworks */,
 				A6ABFC6618C9024E00BF0851 /* CoreMedia.framework in Frameworks */,
-				A6D60CD7196B0954008C0A0F /* Structure.framework in Frameworks */,
 				A6ABFC6418C9023E00BF0851 /* CoreImage.framework in Frameworks */,
 				A6ABFC6218C9023100BF0851 /* ExternalAccessory.framework in Frameworks */,
 				A6ABFC5F18C9022000BF0851 /* CoreMotion.framework in Frameworks */,
@@ -122,7 +124,6 @@
 			isa = PBXFrameworksBuildPhase;
 			buildActionMask = 2147483647;
 			files = (
-				A6D60CD8196B0954008C0A0F /* Structure.framework in Frameworks */,
 				A6ABFC4618C8FF5000BF0851 /* XCTest.framework in Frameworks */,
 				A6ABFC4818C8FF5000BF0851 /* UIKit.framework in Frameworks */,
 				A6ABFC4718C8FF5000BF0851 /* Foundation.framework in Frameworks */,
@@ -154,8 +155,9 @@
 		A6ABFC1D18C8FF5000BF0851 /* Frameworks */ = {
 			isa = PBXGroup;
 			children = (
+				8B2EB8831C15CBB100715157 /* libz.tbd */,
+				8B2EB8811C15B81700715157 /* Structure.framework */,
 				A6D60CD9196B0AEE008C0A0F /* QuartzCore.framework */,
-				A6D60CD6196B0954008C0A0F /* Structure.framework */,
 				A6ABFC6B18C902AE00BF0851 /* Accelerate.framework */,
 				A6ABFC6918C9029100BF0851 /* AVFoundation.framework */,
 				A6ABFC2018C8FF5000BF0851 /* CoreGraphics.framework */,
@@ -271,7 +273,7 @@
 			isa = PBXProject;
 			attributes = {
 				CLASSPREFIX = SDR;
-				LastUpgradeCheck = 0510;
+				LastUpgradeCheck = 0710;
 				ORGANIZATIONNAME = "Nigel Choi";
 				TargetAttributes = {
 					A6ABFC4318C8FF5000BF0851 = {
@@ -400,6 +402,8 @@
 				CLANG_WARN__DUPLICATE_METHOD_MATCH = YES;
 				"CODE_SIGN_IDENTITY[sdk=iphoneos*]" = "iPhone Developer";
 				COPY_PHASE_STRIP = NO;
+				ENABLE_BITCODE = NO;
+				ENABLE_TESTABILITY = YES;
 				GCC_C_LANGUAGE_STANDARD = gnu99;
 				GCC_DYNAMIC_NO_PIC = NO;
 				GCC_OPTIMIZATION_LEVEL = 0;
@@ -439,6 +443,7 @@
 				CLANG_WARN__DUPLICATE_METHOD_MATCH = YES;
 				"CODE_SIGN_IDENTITY[sdk=iphoneos*]" = "iPhone Developer";
 				COPY_PHASE_STRIP = YES;
+				ENABLE_BITCODE = NO;
 				ENABLE_NS_ASSERTIONS = NO;
 				GCC_C_LANGUAGE_STANDARD = gnu99;
 				GCC_WARN_64_TO_32_BIT_CONVERSION = YES;
@@ -467,6 +472,7 @@
 				GCC_PRECOMPILE_PREFIX_HEADER = YES;
 				GCC_PREFIX_HEADER = "ScanDepthRender/ScanDepthRender-Prefix.pch";
 				INFOPLIST_FILE = "ScanDepthRender/ScanDepthRender-Info.plist";
+				PRODUCT_BUNDLE_IDENTIFIER = "com.9gel.${PRODUCT_NAME:rfc1034identifier}";
 				PRODUCT_NAME = "$(TARGET_NAME)";
 				WRAPPER_EXTENSION = app;
 			};
@@ -485,6 +491,7 @@
 				GCC_PRECOMPILE_PREFIX_HEADER = YES;
 				GCC_PREFIX_HEADER = "ScanDepthRender/ScanDepthRender-Prefix.pch";
 				INFOPLIST_FILE = "ScanDepthRender/ScanDepthRender-Info.plist";
+				PRODUCT_BUNDLE_IDENTIFIER = "com.9gel.${PRODUCT_NAME:rfc1034identifier}";
 				PRODUCT_NAME = "$(TARGET_NAME)";
 				WRAPPER_EXTENSION = app;
 			};
@@ -507,6 +514,7 @@
 					"$(inherited)",
 				);
 				INFOPLIST_FILE = "ScanDepthRenderTests/ScanDepthRenderTests-Info.plist";
+				PRODUCT_BUNDLE_IDENTIFIER = "com.9gel.${PRODUCT_NAME:rfc1034identifier}";
 				PRODUCT_NAME = "$(TARGET_NAME)";
 				TEST_HOST = "$(BUNDLE_LOADER)";
 				WRAPPER_EXTENSION = xctest;
@@ -526,6 +534,7 @@
 				GCC_PRECOMPILE_PREFIX_HEADER = YES;
 				GCC_PREFIX_HEADER = "ScanDepthRender/ScanDepthRender-Prefix.pch";
 				INFOPLIST_FILE = "ScanDepthRenderTests/ScanDepthRenderTests-Info.plist";
+				PRODUCT_BUNDLE_IDENTIFIER = "com.9gel.${PRODUCT_NAME:rfc1034identifier}";
 				PRODUCT_NAME = "$(TARGET_NAME)";
 				TEST_HOST = "$(BUNDLE_LOADER)";
 				WRAPPER_EXTENSION = xctest;

diff --git a/ScanDepthRender/SDRExampleRenderer.h b/ScanDepthRender/SDRExampleRenderer.h
@@ -7,6 +7,8 @@
 //
 
 #import <GLKit/GLKit.h>
+#include <OpenGLES/ES2/gl.h>
+#include <OpenGLES/ES2/glext.h>
 
 @interface SDRExampleRenderer : NSObject
 

diff --git a/ScanDepthRender/SDRExampleRenderer.m b/ScanDepthRender/SDRExampleRenderer.m
@@ -161,7 +161,7 @@ - (GLKViewDrawableDepthFormat)drawableDepthFormat
 
 - (void)updateWithBounds:(CGRect)bounds timeSinceLastUpdate:(NSTimeInterval)timeSinceLastUpdate
 {
-    float aspect = fabsf(bounds.size.width / bounds.size.height);
+    float aspect = std::abs(bounds.size.width / bounds.size.height);
     GLKMatrix4 projectionMatrix = GLKMatrix4MakePerspective(GLKMathDegreesToRadians(65.0f), aspect, 0.1f, 100.0f);
 
     self.effect.transform.projectionMatrix = projectionMatrix;

diff --git a/ScanDepthRender/SDRPointCloudRenderer.h b/ScanDepthRender/SDRPointCloudRenderer.h
@@ -7,6 +7,8 @@
 //
 
 #import <GLKit/GLKit.h>
+#include <OpenGLES/ES2/gl.h>
+#include <OpenGLES/ES2/glext.h>
 #import <Structure/StructureSLAM.h>
 
 @interface SDRPointCloudRenderer : NSObject
@@ -22,6 +24,6 @@
                modelView:(GLKMatrix4)modelView
                 invScale:(float)invScale;
 - (void)glkView:(GLKView *)view drawInRect:(CGRect)rect;
-- (void)updatePointsWithDepth:(STFloatDepthFrame*)depthFrame image:(CGImageRef)image;
+- (void)updatePointsWithDepth:(STDepthFrame*)depthFrame image:(CGImageRef)image;
 
 @end
diff --git a/ScanDepthRender/SDRPointCloudRenderer.m b/ScanDepthRender/SDRPointCloudRenderer.m
@@ -181,7 +181,7 @@ - (void)glkView:(GLKView *)view drawInRect:(CGRect)rect
     glDrawArrays(GL_POINTS, NUM_TEST_POINTS, (GLsizei)(_cols*_rows));
 }
 
-- (void)updatePointsWithDepth:(STFloatDepthFrame*)depthFrame image:(CGImageRef)imageRef;
+- (void)updatePointsWithDepth:(STDepthFrame*)depthFrame image:(CGImageRef)imageRef;
 {
     if (imageRef)
     {
@@ -203,7 +203,7 @@ - (void)updatePointsWithDepth:(STFloatDepthFrame*)depthFrame image:(CGImageRef)i
     if (depthFrame)
     {
         float *data = (GLfloat *)_pointsData.mutableBytes;
-        const float *depths = [depthFrame depthAsMillimeters];
+        const float *depths = [depthFrame depthInMillimeters];
 
         for (int r = 0; r < _rows; r++)
         {

diff --git a/ScanDepthRender/SDRViewController.h b/ScanDepthRender/SDRViewController.h
@@ -15,5 +15,5 @@
 @property (weak,nonatomic) IBOutlet UILabel* statusLabel;
 @property (weak,nonatomic) IBOutlet UIImageView* depthImageView;
 @property (weak,nonatomic) IBOutlet UIImageView* cameraImageView;
-
+@property (nonatomic, retain) AVCaptureDevice *videoDevice;
 @end