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Tango: added online blending option, background color option, double tap, fixed meshes jiggering on touch, removed raw mesh option

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This commit is contained in:
matlabbe
2017-04-17 21:42:01 -04:00
parent 6f148c47e2
commit 0ccba3281e
21 changed files with 563 additions and 220 deletions
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38
app/android/jni/RTABMapApp.cpp
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@@ -164,6 +164,7 @@ RTABMapApp::RTABMapApp() :
clusterRatio_(0.1),
maxGainRadius_(0.02f),
renderingTextureDecimation_(4),
backgroundColor_(0.2f),
paused_(false),
dataRecorderMode_(false),
clearSceneOnNextRender_(false),
@@ -237,6 +238,7 @@ void RTABMapApp::onCreate(JNIEnv* env, jobject caller_activity)
processGPUMemoryUsedBytes = 0;
bufferedStatsData_.clear();
progressionStatus_.setJavaObjects(jvm, RTABMapActivity);
main_scene_.setBackgroundColor(backgroundColor_, backgroundColor_, backgroundColor_);
if(camera_)
{
@@ -680,6 +682,9 @@ void RTABMapApp::InitializeGLContent()
{
UINFO("");
main_scene_.InitGLContent();
float v = backgroundColor_ == 0.5f?0.4f:1.0f-backgroundColor_;
main_scene_.setGridColor(v, v, v);
}
// OpenGL thread
@@ -936,21 +941,18 @@ int RTABMapApp::Render()
//backup state
bool isMeshRendering = main_scene_.isMeshRendering();
bool isTextureRendering = main_scene_.isMeshTexturing();
bool isFrustumCulling = main_scene_.isFrustumCulling();
main_scene_.setMeshRendering(main_scene_.hasMesh(g_exportedMeshId), main_scene_.hasTexture(g_exportedMeshId));
main_scene_.setFrustumCulling(false);
fpsTime.restart();
lastDrawnCloudsCount_ = main_scene_.Render();
// revert state
main_scene_.setMeshRendering(isMeshRendering, isTextureRendering);
main_scene_.setFrustumCulling(isFrustumCulling);
if(renderingTime_ < fpsTime.elapsed())
{
renderingTime_ = fpsTime.elapsed();
}
// revert state
main_scene_.setMeshRendering(isMeshRendering, isTextureRendering);
}
else
{
@@ -1143,7 +1145,7 @@ int RTABMapApp::Render()
}
else if(!paused_ && rejected>0)
{
main_scene_.setBackgroundColor(0, 0.1f, 0); // dark green
main_scene_.setBackgroundColor(0, 0.2f, 0); // dark green
}
else if(!paused_ && rehearsalMerged>0)
{
@@ -1151,7 +1153,7 @@ int RTABMapApp::Render()
}
else
{
main_scene_.setBackgroundColor(0, 0, 0);
main_scene_.setBackgroundColor(backgroundColor_, backgroundColor_, backgroundColor_);
}
}
}
@@ -1299,10 +1301,6 @@ int RTABMapApp::Render()
processGPUMemoryUsedBytes += estimateCPUMem + (mesh.texture.empty()?0:mesh.polygons.size()*3*8+mesh.texture.total());
mesh.texture = cv::Mat(); // don't keep textures in memory
}
else if(id == poses.rbegin()->first)
{
UERROR("No mesh could be created for node %d", id);
}
}
}
}
@@ -1426,6 +1424,7 @@ int RTABMapApp::Render()
notifyDataLoaded = true;
}
fpsTime.restart();
lastDrawnCloudsCount_ = main_scene_.Render();
if(renderingTime_ < fpsTime.elapsed())
{
@@ -1533,7 +1532,7 @@ void RTABMapApp::setPausedMapping(bool paused)
{
boost::mutex::scoped_lock lock(renderingMutex_);
visualizingMesh_ = false;
main_scene_.setBackgroundColor(0, 0, 0);
main_scene_.setBackgroundColor(backgroundColor_, backgroundColor_, backgroundColor_);
}
paused_ = paused;
if(camera_)
@@ -1551,6 +1550,10 @@ void RTABMapApp::setPausedMapping(bool paused)
}
}
}
void RTABMapApp::setOnlineBlending(bool enabled)
{
main_scene_.setBlending(enabled);
}
void RTABMapApp::setMapCloudShown(bool shown)
{
main_scene_.setMapRendering(shown);
@@ -1745,6 +1748,13 @@ void RTABMapApp::setRenderingTextureDecimation(int value)
renderingTextureDecimation_ = value;
}
void RTABMapApp::setBackgroundColor(float gray)
{
backgroundColor_ = gray;
float v = backgroundColor_ == 0.5f?0.4f:1.0f-backgroundColor_;
main_scene_.setGridColor(v, v, v);
}
int RTABMapApp::setMappingParameter(const std::string & key, const std::string & value)
{
std::string compatibleKey = key;