7.0.1

LICENSE

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+
+    Copyright (C) 2019 Parrot Drones SAS
+
+    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 Parrot 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 OWNER 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.

OpenFlightCore.framework/Headers/LibMoserApiBridge.h

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+//    Copyright (C) 2019 Parrot Drones SAS
+//
+//    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 Parrot Company 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
+//    PARROT COMPANY 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.
+
+#import <Foundation/Foundation.h>
+#import <simd/SIMD.h>
+
+#define MOSER_OG_H 100
+#define MOSER_OG_V 30
+#define MOSER_OG_VSIZE 0.3f
+
+#define MOSER_DM_W 176
+#define MOSER_DM_H 90
+
+#define MOSER_THRESHOLD 80
+
+#define MOSER_DISPARITY_MAX 100
+
+
+@interface LibMoserApiBridge : NSObject {
+
+    /// Disparity frame to process
+    @public float *disparityframe;
+}
+
+-(instancetype)init;
+
+/**
+ update moser occupancy grid using the disparityframe, with love quaternion and droneorigin
+ @param quat love quaternion
+ @param origin drone position
+ @param timestampNs time stamp
+ */
+-(int)updateFromDisparityFrameWithQuaternion:(float *)quat
+                                      origin:(float[3])origin
+                                 timestampNs:(const uint64_t)timestampNs;
+
+/// return the grid's origin
+-(simd_float3)getOrigin;
+
+/// test is a voxel exists at point
+-(BOOL)isVoxel: (simd_int3) point;
+
+@end

OpenFlightCore.framework/Headers/OpenFlightCore.h

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+//
+//  OpenFlightCore.h
+//  OpenFlightCore
+//
+
+#import <Foundation/Foundation.h>
+
+//! Project version number for OpenFlightCore.
+FOUNDATION_EXPORT double OpenFlightCoreVersionNumber;
+
+//! Project version string for OpenFlightCore.
+FOUNDATION_EXPORT const unsigned char OpenFlightCoreVersionString[];
+
+// In this header, you should import all the public headers of your framework using statements like #import <OpenFlightCore/PublicHeader.h>
+#import <OpenFlightCore/LibMoserApiBridge.h>
+#import <OpenFlightCore/PhotoPano.h>
+#import <OpenFlightCore/PhotoPanoView.h>
+

OpenFlightCore.framework/Headers/PhotoPano.h

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+//    Copyright (C) 2018 Parrot Drones SAS
+//
+//    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 Parrot Company 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
+//    PARROT COMPANY 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.
+
+#import <CoreMotion/CoreMotion.h>
+#import <UIKit/UIKit.h>
+
+/** Processing status code */
+typedef NS_ENUM(NSInteger, PhotoPanoPreset) {
+    // Numerical values must be kept in sync with C++ code (enum MakerPreset)
+    /** Spherical panorama. */
+    PhotoPanoPresetSphere = 0,
+    /** Little-planet panorama. */
+    PhotoPanoPresetPlanet = 1,
+    /** Tunnel panorama. */
+    PhotoPanoPresetTunnel = 2,
+    /** Horizontal panorama, 180° spherical 2:1. */
+    PhotoPanoPresetHorizontal = 3,
+    /** Vertical panorama, 70° recti 1:2. */
+    PhotoPanoPresetVertical = 4,
+    /** Spherical panorama optimized for fast rendering. */
+    PhotoPanoPresetFastSphere = 5,
+    /** Superwide panorama. */
+    PhotoPanoPresetSuperWide = 6,
+    /** Custom panorama. */
+    PhotoPanoPresetCustom = 7,
+};
+
+/** Processing status code */
+typedef NS_ENUM(NSInteger, PhotoPanoProcessingStatus) {
+    // Numerical values must be kept in sync with C++ code (enum MakerStatus)
+    /** Waiting */
+    PhotoPanoProcessingStatusWaiting = 0,
+    /** Estimating */
+    PhotoPanoProcessingStatusEstimating = 1,
+    /** Wrapping */
+    PhotoPanoProcessingStatusWrapping = 2,
+    /** Cutting */
+    PhotoPanoProcessingStatusCutting = 3,
+    /** Blending */
+    PhotoPanoProcessingStatusBlending = 4,
+    /** Cancelled */
+    PhotoPanoProcessingStatusCancelled = 5,
+    /** Failed */
+    PhotoPanoProcessingStatusFailed = 6,
+    /** Success */
+    PhotoPanoProcessingStatusSuccess = 7,
+};
+
+/** Completion callback */
+typedef void(^PhotoPanoProcessingStatusUpdate)(PhotoPanoProcessingStatus status);
+
+/** define a PhotoPanoDescription */
+@interface PhotoPanoDescription: NSObject
+@property (nonatomic) CMQuaternion cam_to_world;
+@property (nonatomic) float hfov_deg;
+@property (nonatomic) float planet_factor;
+@property (nonatomic) float planet_width;
+@property (nonatomic) float planet_hcrop_factor;
+@end
+
+/** define a PhotoPano */
+@interface PhotoPano : NSObject
+
+/**
+ * Process to create a panorama.
+ *
+ * Blocking function.
+ *
+ * @param preset presets of the panorama to create.
+ * @param inputs Paths of input pictures
+ * @param width width of the output picture to create
+ * @param height height of the output picture to create
+ * @param output path of the picture to create
+ * @param estimationIn path to input json estimation file
+ * @param estimationOut path to output json estimation file
+ * @param description panorama description
+ * @param statusUpdateBlock completion callback
+ * @return ending status.
+ *         Returns directly PhotoPanoProcessingStatusFailed if a process is already running.
+ *
+ * @see #abort()
+ */
+- (PhotoPanoProcessingStatus) processWithPreset:(PhotoPanoPreset)preset
+                                         inputs:(NSArray*)inputs
+                                          width:(int)width
+                                         height:(int)height
+                                         output:(NSURL*)output
+                                   estimationIn:(NSURL*)estimationIn
+                                  estimationOut:(NSURL*)estimationOut
+                                    description:(PhotoPanoDescription*)description
+                                   statusUpdate:(PhotoPanoProcessingStatusUpdate)statusUpdateBlock
+NS_SWIFT_NAME(process(preset:inputs:width:height:output:estimationIn:estimationOut:description:statusUpdate:));
+
+
+/**
+ * Aborts the process.
+ *
+ * @see process()
+ */
+- (void) abort;
+
+/**
+ * Retrieves the percentage of the process progression.
+ *
+ * @return percentage of the current processing. {@code 0.0} if no process running.
+ */
+- (double) progress;
+
+@end

OpenFlightCore.framework/Headers/PhotoPanoView.h

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+//
+//  PhotoPanoView.h
+//  PhotoPanoView
+//
+
+#import <GLKit/GLKit.h>
+#import <UIKit/UIKit.h>
+#import <CoreMotion/CoreMotion.h>
+
+/** FOV control for a viewer. */
+typedef NS_ENUM(NSInteger, PhotoPanoViewFovControl) {
+    // Numerical values must be kept in sync with C code (ViewerFovControl)
+
+    /** FOV control also affects projection type. */
+    PhotoPanoViewFovControlFull = 0,
+
+    /** FOV control always follows rectilinear projection. */
+    PhotoPanoViewFovControlRectilinear = 1,
+};
+
+/** Aspect ratio */
+typedef NS_ENUM(NSInteger, PhotoPanoViewAspectRatio) {
+    // Numerical values must be kept in sync with C code (ViewerAspectRatio)
+    /**< 1:1 aspect ratio */
+    PhotoPanoViewAspectRatio_1_1 = 0,
+
+    /**< 4:3 aspect ratio */
+    PhotoPanoViewAspectRatio_4_3,
+
+    /**< 3:2 aspect ratio */
+    PhotoPanoViewAspectRatio_3_2,
+
+    /**< 16:9 aspect ratio */
+    PhotoPanoViewAspectRatio_16_9,
+
+    /**< 2:1 aspect ratio */
+    PhotoPanoViewAspectRatio_2_1,
+};
+
+@class PhotoPanoDescription;
+
+NS_ASSUME_NONNULL_BEGIN
+
+@interface PhotoPanoView : GLKView
+- (void)setup:(EAGLContext *) context fovControl:(PhotoPanoViewFovControl)fovControl gridDivisions:(int)gridDivisions;
+- (void)setPanorama:(NSString *)path enableAnimation:(BOOL)enabled triggerAnimation:(BOOL)triggered;
+- (void)triggerStartAnimation;
+- (void)setQuaternion:(CMQuaternion)q orientation:(UIInterfaceOrientation)orientation;
+- (void)touchDown;
+- (void)touchUp;
+- (void)startPan:(NSInteger)touchCount;
+- (void)updatePan:(CGPoint)translation;
+- (void)endPan;
+- (void)startPinch;
+- (void)updatePinch:(CGFloat) scale;
+- (void)endPinch;
+- (void)startRotation;
+- (void)updateRotation:(CGFloat) angle;
+- (void)endRotation;
+- (void)doubleTap;
+- (void)toggleAspectRatio;
+- (void)setAspectRatio:(PhotoPanoViewAspectRatio)aspectRatio;
+- (PhotoPanoDescription*)panoDescription;
+@end
+
+NS_ASSUME_NONNULL_END

OpenFlightCore.framework/Modules/module.modulemap

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+framework module OpenFlightCore {
+  umbrella header "OpenFlightCore.h"
+
+  export *
+  module * { export * }
+}