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Tango: added wireframe button (#191)

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This commit is contained in:
matlabbe
2017-06-12 19:08:51 -04:00
parent c00119989e
commit 29a48aba66
11 changed files with 143 additions and 31 deletions
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6
app/android/jni/RTABMapApp.cpp
View File

@@ -954,7 +954,7 @@ int RTABMapApp::Render()
mesh.texture = exportedTexture_;
}
main_scene_.addMesh(g_exportedMeshId, mesh, opengl_world_T_rtabmap_world);
main_scene_.addMesh(g_exportedMeshId, mesh, opengl_world_T_rtabmap_world, true);
}
else
{
@@ -1614,6 +1614,10 @@ void RTABMapApp::setBackfaceCulling(bool enabled)
{
main_scene_.setBackfaceCulling(enabled);
}
void RTABMapApp::setWireframe(bool enabled)
{
main_scene_.setWireframe(enabled);
}
void RTABMapApp::setLocalizationMode(bool enabled)
{

1
app/android/jni/RTABMapApp.h
View File

@@ -123,6 +123,7 @@ class RTABMapApp : public UEventsHandler {
void setOrthoCropFactor(float value);
void setLighting(bool enabled);
void setBackfaceCulling(bool enabled);
void setWireframe(bool enabled);
void setLocalizationMode(bool enabled);
void setTrajectoryMode(bool enabled);
void setGraphOptimization(bool enabled);

6
app/android/jni/jni_interface.cpp
View File

@@ -181,6 +181,12 @@ Java_com_introlab_rtabmap_RTABMapLib_setBackfaceCulling(
return app.setBackfaceCulling(enabled);
}
JNIEXPORT void JNICALL
Java_com_introlab_rtabmap_RTABMapLib_setWireframe(
JNIEnv*, jobject, bool enabled)
{
return app.setWireframe(enabled);
}
JNIEXPORT void JNICALL
Java_com_introlab_rtabmap_RTABMapLib_setLocalizationMode(
JNIEnv*, jobject, bool enabled)
{

57
app/android/jni/point_cloud_drawable.cpp
View File

@@ -318,7 +318,8 @@ PointCloudDrawable::PointCloudDrawable(
}
PointCloudDrawable::PointCloudDrawable(
const Mesh & mesh) :
const Mesh & mesh,
bool createWireframe) :
vertex_buffers_(0),
textures_(0),
nPoints_(0),
@@ -330,7 +331,7 @@ PointCloudDrawable::PointCloudDrawable(
gainG_(1.0f),
gainB_(1.0f)
{
updateMesh(mesh);
updateMesh(mesh, createWireframe);
}
PointCloudDrawable::~PointCloudDrawable()
@@ -351,22 +352,33 @@ PointCloudDrawable::~PointCloudDrawable()
}
}
void PointCloudDrawable::updatePolygons(const std::vector<pcl::Vertices> & polygons, const std::vector<pcl::Vertices> & polygonsLowRes)
void PointCloudDrawable::updatePolygons(const std::vector<pcl::Vertices> & polygons, const std::vector<pcl::Vertices> & polygonsLowRes, bool createWireframe)
{
LOGD("Update polygons");
polygons_.clear();
polygonLines_.clear();
polygonsLowRes_.clear();
polygonLinesLowRes_.clear();
if(polygons.size() && organizedToDenseIndices_.size())
{
unsigned int polygonSize = polygons[0].vertices.size();
UASSERT(polygonSize == 3);
polygons_.resize(polygons.size() * polygonSize);
if(createWireframe)
polygonLines_.resize(polygons_.size()*2);
int oi = 0;
int li = 0;
for(unsigned int i=0; i<polygons.size(); ++i)
{
UASSERT(polygons[i].vertices.size() == polygonSize);
for(unsigned int j=0; j<polygonSize; ++j)
{
polygons_[oi++] = organizedToDenseIndices_.at(polygons[i].vertices[j]);
if(createWireframe)
{
polygonLines_[li++] = organizedToDenseIndices_.at(polygons[i].vertices[j]);
polygonLines_[li++] = organizedToDenseIndices_.at(polygons[i].vertices[(j+1) % polygonSize]);
}
}
}
@@ -375,13 +387,21 @@ void PointCloudDrawable::updatePolygons(const std::vector<pcl::Vertices> & polyg
unsigned int polygonSize = polygonsLowRes[0].vertices.size();
UASSERT(polygonSize == 3);
polygonsLowRes_.resize(polygonsLowRes.size() * polygonSize);
if(createWireframe)
polygonLinesLowRes_.resize(polygonsLowRes_.size()*2);
int oi = 0;
int li = 0;
for(unsigned int i=0; i<polygonsLowRes.size(); ++i)
{
UASSERT(polygonsLowRes[i].vertices.size() == polygonSize);
for(unsigned int j=0; j<polygonSize; ++j)
{
polygonsLowRes_[oi++] = organizedToDenseIndices_.at(polygonsLowRes[i].vertices[j]);
if(createWireframe)
{
polygonLinesLowRes_[li++] = organizedToDenseIndices_.at(polygonsLowRes[i].vertices[j]);
polygonLinesLowRes_[li++] = organizedToDenseIndices_.at(polygonsLowRes[i].vertices[(j+1)%polygonSize]);
}
}
}
}
@@ -505,7 +525,7 @@ void PointCloudDrawable::updateCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Pt
nPoints_ = totalPoints;
}
void PointCloudDrawable::updateMesh(const Mesh & mesh)
void PointCloudDrawable::updateMesh(const Mesh & mesh, bool createWireframe)
{
UASSERT(mesh.cloud.get() && !mesh.cloud->empty());
nPoints_ = 0;
@@ -797,7 +817,7 @@ void PointCloudDrawable::updateMesh(const Mesh & mesh)
if(polygons_.size() != polygons.size())
{
updatePolygons(polygons, polygonsLowRes);
updatePolygons(polygons, polygonsLowRes, createWireframe);
}
if(!pose_.isNull())
@@ -857,7 +877,8 @@ void PointCloudDrawable::Render(
int screenHeight,
float nearClipPlane,
float farClipPlane,
bool packDepthToColorChannel) const
bool packDepthToColorChannel,
bool wireFrame) const
{
if(vertex_buffers_ && nPoints_ && visible_ && !shaderPrograms_.empty())
{
@@ -1021,22 +1042,38 @@ void PointCloudDrawable::Render(
{
if(distanceToCameraSqr<16.0f || polygonsLowRes_.empty())
{
glDrawElements(GL_TRIANGLES, polygons_.size(), GL_UNSIGNED_INT, polygons_.data());
wireFrame = wireFrame && polygonLines_.size();
if(wireFrame)
glDrawElements(GL_LINES, polygonLines_.size(), GL_UNSIGNED_INT, polygonLines_.data());
else
glDrawElements(GL_TRIANGLES, polygons_.size(), GL_UNSIGNED_INT, polygons_.data());
}
else
{
glDrawElements(GL_TRIANGLES, polygonsLowRes_.size(), GL_UNSIGNED_INT, polygonsLowRes_.data());
wireFrame = wireFrame && polygonLinesLowRes_.size();
if(wireFrame)
glDrawElements(GL_LINES, polygonLinesLowRes_.size(), GL_UNSIGNED_INT, polygonLinesLowRes_.data());
else
glDrawElements(GL_TRIANGLES, polygonsLowRes_.size(), GL_UNSIGNED_INT, polygonsLowRes_.data());
}
}
else if(meshRendering && polygons_.size())
{
if(distanceToCameraSqr<50.0f || polygonsLowRes_.empty())
{
glDrawElements(GL_TRIANGLES, polygons_.size(), GL_UNSIGNED_INT, polygons_.data());
wireFrame = wireFrame && polygonLines_.size();
if(wireFrame)
glDrawElements(GL_LINES, polygonLines_.size(), GL_UNSIGNED_INT, polygonLines_.data());
else
glDrawElements(GL_TRIANGLES, polygons_.size(), GL_UNSIGNED_INT, polygons_.data());
}
else
{
glDrawElements(GL_TRIANGLES, polygonsLowRes_.size(), GL_UNSIGNED_INT, polygonsLowRes_.data());
wireFrame = wireFrame && polygonLinesLowRes_.size();
if(wireFrame)
glDrawElements(GL_LINES, polygonLinesLowRes_.size(), GL_UNSIGNED_INT, polygonLinesLowRes_.data());
else
glDrawElements(GL_TRIANGLES, polygonsLowRes_.size(), GL_UNSIGNED_INT, polygonsLowRes_.data());
}
}
else if(!verticesLowRes_.empty())

12
app/android/jni/point_cloud_drawable.h
View File

@@ -55,12 +55,13 @@ private:
float gainG = 1.0f,
float gainB = 1.0f);
PointCloudDrawable(
const Mesh & mesh);
const Mesh & mesh,
bool createWireframe = false);
virtual ~PointCloudDrawable();
void updatePolygons(const std::vector<pcl::Vertices> & polygons, const std::vector<pcl::Vertices> & polygonsLowRes = std::vector<pcl::Vertices>());
void updatePolygons(const std::vector<pcl::Vertices> & polygons, const std::vector<pcl::Vertices> & polygonsLowRes = std::vector<pcl::Vertices>(), bool createWireframe = false);
void updateCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud, const pcl::IndicesPtr & indices);
void updateMesh(const Mesh & mesh);
void updateMesh(const Mesh & mesh, bool createWireframe = false);
void setPose(const rtabmap::Transform & pose);
void setVisible(bool visible) {visible_=visible;}
void setGains(float gainR, float gainG, float gainB) {gainR_ = gainR; gainG_ = gainG; gainB_ = gainB;}
@@ -93,7 +94,8 @@ private:
int screenHeight = 0, // nonnull if depthTexture>0
float nearClipPlane = 0, // nonnull if depthTexture>0
float farClipPlane = 0, // nonnull if depthTexture>0
bool packDepthToColorChannel = false) const;
bool packDepthToColorChannel = false,
bool wireFrame = false) const;
private:
template<class PointT>
@@ -114,6 +116,8 @@ private:
GLuint textures_;
std::vector<GLuint> polygons_;
std::vector<GLuint> polygonsLowRes_;
std::vector<GLuint> polygonLines_;
std::vector<GLuint> polygonLinesLowRes_;
std::vector<GLuint> verticesLowRes_;
std::vector<GLuint> verticesLowLowRes_;
int nPoints_;

8
app/android/jni/scene.cpp
View File

@@ -86,6 +86,7 @@ Scene::Scene() :
boundingBoxRendering_(false),
lighting_(false),
backfaceCulling_(true),
wireFrame_(false),
r_(0.0f),
g_(0.0f),
b_(0.0f),
@@ -533,7 +534,7 @@ int Scene::Render() {
cloud->getPose().z() - openglCamera.z());
float distanceToCameraSqr = cloudToCamera[0]*cloudToCamera[0] + cloudToCamera[1]*cloudToCamera[1] + cloudToCamera[2]*cloudToCamera[2];
cloud->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_, meshRenderingTexture_, lighting_, distanceToCameraSqr, onlineBlending?depthTexture_:0, screenWidth_, screenHeight_, gesture_camera_->getNearClipPlane(), gesture_camera_->getFarClipPlane());
cloud->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_, meshRenderingTexture_, lighting_, distanceToCameraSqr, onlineBlending?depthTexture_:0, screenWidth_, screenHeight_, gesture_camera_->getNearClipPlane(), gesture_camera_->getFarClipPlane(), false, wireFrame_);
}
if(onlineBlending)
@@ -653,7 +654,8 @@ void Scene::addCloud(
void Scene::addMesh(
int id,
const Mesh & mesh,
const rtabmap::Transform & pose)
const rtabmap::Transform & pose,
bool createWireframe)
{
LOGI("add mesh %d", id);
std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
@@ -664,7 +666,7 @@ void Scene::addMesh(
}
//create
PointCloudDrawable * drawable = new PointCloudDrawable(mesh);
PointCloudDrawable * drawable = new PointCloudDrawable(mesh, createWireframe);
drawable->setPose(pose);
pointClouds_.insert(std::make_pair(id, drawable));
}

5
app/android/jni/scene.h
View File

@@ -108,7 +108,8 @@ class Scene {
void addMesh(
int id,
const Mesh & mesh,
const rtabmap::Transform & pose);
const rtabmap::Transform & pose,
bool createWireframe = false);
void setCloudPose(int id, const rtabmap::Transform & pose);
void setCloudVisible(int id, bool visible);
@@ -128,6 +129,7 @@ class Scene {
void setOrthoCropFactor(float value);
void setLighting(bool enabled) {lighting_ = enabled;}
void setBackfaceCulling(bool enabled) {backfaceCulling_ = enabled;}
void setWireframe(bool enabled) {wireFrame_ = enabled;}
void setBackgroundColor(float r, float g, float b) {r_=r; g_=g; b_=b;} // 0.0f <> 1.0f
void setGridColor(float r, float g, float b);
@@ -179,6 +181,7 @@ class Scene {
bool boundingBoxRendering_;
bool lighting_;
bool backfaceCulling_;
bool wireFrame_;
float r_;
float g_;
float b_;