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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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app/android/jni/point_cloud_drawable.cpp
+47 -10
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@@ -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())