Tango: added wireframe button (#191)

app/android/jni/RTABMapApp.cpp

@@ -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)
 {

app/android/jni/RTABMapApp.h

@@ -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);

app/android/jni/jni_interface.cpp

@@ -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)
 {

app/android/jni/point_cloud_drawable.cpp

@@ -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())
 	{
@@ -1021,10 +1042,18 @@ void PointCloudDrawable::Render(
 		{
 			if(distanceToCameraSqr<16.0f || polygonsLowRes_.empty())
 			{
+				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
 			{
+				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());
 			}
 		}
@@ -1032,10 +1061,18 @@ void PointCloudDrawable::Render(
 		{
 			if(distanceToCameraSqr<50.0f || polygonsLowRes_.empty())
 			{
+				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
 			{
+				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());
 			}
 		}

app/android/jni/point_cloud_drawable.h

@@ -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_;

app/android/jni/scene.cpp

@@ -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));
 }

app/android/jni/scene.h

@@ -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_;

app/android/res/layout/activity_rtabmap.xml

@@ -23,6 +23,19 @@
         android:layout_height="fill_parent"
         android:layout_gravity="top" />
     
+    <ToggleButton
+        android:id="@+id/wireframe_button"
+        android:layout_width="100dp"
+        android:layout_height="wrap_content"
+        android:layout_above="@+id/light_button"
+        android:layout_alignLeft="@+id/light_button"
+        android:layout_alignParentRight="true"
+        android:layout_marginBottom="15dp"
+        android:layout_marginRight="5dp"
+        android:paddingRight="5dp"
+        android:textOff="@string/wireframe"
+        android:textOn="@string/wireframe" />
+    
     <ToggleButton
         android:id="@+id/light_button"
         android:layout_width="100dp"

app/android/res/values/strings.xml

@@ -17,6 +17,7 @@
     <string name="backface_off">Backface</string>
     <string name="light_on">Lighting</string>
     <string name="light_off">Lighting</string>
+    <string name="wireframe">Wireframe</string>
     <string name="close_visualization">Close Visualization</string>
     <string name="save_to_file">Export to File&#8230;</string>
     <string name="share_to_sketchfab">Share to Sketchfab&#8230;</string>

app/android/src/com/introlab/rtabmap/RTABMapActivity.java

@@ -127,6 +127,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 	public static final long NOTOUCH_TIMEOUT = 5000; // 5 sec
 	private boolean mHudVisible = true;
 	private boolean mTipOrthoShown_ = false;
+	private int mSavedRenderingType = 0;
 
 	// UI states
 	private static enum State {
@@ -172,6 +173,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 	private ToggleButton mButtonTop;
 	private ToggleButton mButtonPause;
 	private ToggleButton mButtonLighting;
+	private ToggleButton mButtonWireframe;
 	private ToggleButton mButtonBackfaceShown;
 	private Button mButtonCloseVisualization;
 	private Button mButtonSaveOnDevice;
@@ -253,6 +255,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 		mButtonTop = (ToggleButton)findViewById(R.id.top_down_button);
 		mButtonPause = (ToggleButton)findViewById(R.id.pause_button);
 		mButtonLighting = (ToggleButton)findViewById(R.id.light_button);
+		mButtonWireframe = (ToggleButton)findViewById(R.id.wireframe_button);
 		mButtonBackfaceShown = (ToggleButton)findViewById(R.id.backface_button);
 		mButtonCloseVisualization = (Button)findViewById(R.id.close_visualization_button);
 		mButtonSaveOnDevice = (Button)findViewById(R.id.button_saveOnDevice);
@@ -262,6 +265,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 		mButtonTop.setOnClickListener(this);
 		mButtonPause.setOnClickListener(this);
 		mButtonLighting.setOnClickListener(this);
+		mButtonWireframe.setOnClickListener(this);
 		mButtonBackfaceShown.setOnClickListener(this);
 		mButtonCloseVisualization.setOnClickListener(this);
 		mButtonSaveOnDevice.setOnClickListener(this);
@@ -269,6 +273,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 		mButtonFirst.setChecked(true);
 		mButtonLighting.setChecked(false);
 		mButtonLighting.setVisibility(View.INVISIBLE);
+		mButtonWireframe.setChecked(false);
+		mButtonWireframe.setVisibility(View.INVISIBLE);
 		mButtonCloseVisualization.setVisibility(View.INVISIBLE);
 		mButtonSaveOnDevice.setVisibility(View.INVISIBLE);
 		mButtonShareOnSketchfab.setVisibility(View.INVISIBLE);
@@ -289,7 +295,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 				  }
 				  else if(mButtonTop.isChecked())
 				  {
-					  RTABMapLib.setOrthoCropFactor((float)progressValue/20.0f - 3.0f);
+					  RTABMapLib.setOrthoCropFactor((float)(120-progressValue)/20.0f - 3.0f);
 				  }
 				  resetNoTouchTimer();
 			  }
@@ -644,7 +650,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 		if(type==3)
 		{
 			mSeekBarFov.setMax(120);
-			mSeekBarFov.setProgress(40);
+			mSeekBarFov.setProgress(80);
 		}
 		
 		if(type==2 && !mTipOrthoShown_)
@@ -677,7 +683,22 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 		case R.id.backface_button:
 			RTABMapLib.setBackfaceCulling(!mButtonBackfaceShown.isChecked());
 			break;
+		case R.id.wireframe_button:
+			RTABMapLib.setWireframe(mButtonWireframe.isChecked());
+			break;
 		case R.id.close_visualization_button:
+			if(mSavedRenderingType==0)
+			{
+				mItemRenderingPointCloud.setChecked(true);
+			}
+			else if(mSavedRenderingType==1)
+			{
+				mItemRenderingMesh.setChecked(true);
+			}
+			else 
+			{
+				mItemRenderingTextureMesh.setChecked(true);
+			}
 			updateState(State.STATE_IDLE);
 			RTABMapLib.postExportation(false);
 			break;
@@ -1261,6 +1282,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 		{
 		case STATE_PROCESSING:
 			mButtonLighting.setVisibility(View.INVISIBLE);
+			mButtonWireframe.setVisibility(View.INVISIBLE);
 			mButtonCloseVisualization.setVisibility(View.INVISIBLE);
 			mButtonSaveOnDevice.setVisibility(View.INVISIBLE);
 			mButtonShareOnSketchfab.setVisibility(View.INVISIBLE);
@@ -1274,7 +1296,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 			mButtonPause.setVisibility(View.INVISIBLE);
 			break;
 		case STATE_VISUALIZING:
-			mButtonLighting.setVisibility(mHudVisible?View.VISIBLE:View.INVISIBLE);
+			mButtonLighting.setVisibility(mHudVisible && !mItemRenderingPointCloud.isChecked()?View.VISIBLE:View.INVISIBLE);
+			mButtonWireframe.setVisibility(mHudVisible && !mItemRenderingPointCloud.isChecked()?View.VISIBLE:View.INVISIBLE);
 			mButtonCloseVisualization.setVisibility(mHudVisible?View.VISIBLE:View.INVISIBLE);
 			mButtonSaveOnDevice.setVisibility(mHudVisible?View.VISIBLE:View.INVISIBLE);
 			mButtonShareOnSketchfab.setVisibility(mHudVisible?View.VISIBLE:View.INVISIBLE);
@@ -1290,6 +1313,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 			break;
 		default:
 			mButtonLighting.setVisibility(View.INVISIBLE);
+			mButtonWireframe.setVisibility(View.INVISIBLE);
 			mButtonCloseVisualization.setVisibility(View.INVISIBLE);
 			mButtonSaveOnDevice.setVisibility(View.INVISIBLE);
 			mButtonShareOnSketchfab.setVisibility(View.INVISIBLE);
@@ -1500,8 +1524,10 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 					mItemRenderingMesh.isChecked() || mItemRenderingTextureMesh.isChecked(), 
 					mItemRenderingTextureMesh.isChecked());
 			
-			mButtonBackfaceShown.setVisibility(mItemRenderingMesh.isChecked() || mItemRenderingTextureMesh.isChecked()?View.VISIBLE:View.INVISIBLE);
+			resetNoTouchTimer();
 			
+			if(mState != State.STATE_VISUALIZING)
+			{
 				// save preference
 				int type = mItemRenderingPointCloud.isChecked()?0:mItemRenderingMesh.isChecked()?1:2;
 				SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
@@ -1510,6 +1536,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 				// Commit the edits!
 				editor.commit();
 			}
+		}
 		else if(itemId == R.id.map_shown)
 		{
 			item.setChecked(!item.isChecked());
@@ -1920,6 +1947,19 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 									public void onClick(DialogInterface dialog, int which) {
 										mExportedOBJ = isOBJ;
 										resetNoTouchTimer();
+										mSavedRenderingType = !meshing?0:!isOBJ?1:2;
+										if(!meshing)
+										{
+											mItemRenderingPointCloud.setChecked(true);
+										}
+										else if(!isOBJ)
+										{
+											mItemRenderingMesh.setChecked(true);
+										}
+										else // isOBJ
+										{
+											mItemRenderingTextureMesh.setChecked(true);
+										}
 										updateState(State.STATE_VISUALIZING);
 										RTABMapLib.postExportation(true);
 										if(mButtonFirst.isChecked())

app/android/src/com/introlab/rtabmap/RTABMapLib.java

@@ -81,6 +81,7 @@ public class RTABMapLib
     public static native void setOrthoCropFactor(float value);
     public static native void setLighting(boolean enabled);
     public static native void setBackfaceCulling(boolean enabled);
+    public static native void setWireframe(boolean enabled);
     public static native void setCloudDensityLevel(int value);
     public static native void setMeshAngleTolerance(float value);
     public static native void setMeshTriangleSize(int value);