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Tango #57: Added 720p option, Export PLY or OBJ, Added Rendering and Mapping menus, RtabmapThread: Fixed large covariance (9999) detection

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matlabbe
2016-04-02 15:17:40 -04:00
parent d489cd48e9
commit 30e52b785a
15 changed files with 339 additions and 333 deletions
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12
app/android/jni/RTABMapApp.h
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@@ -121,6 +121,9 @@ class RTABMapApp : public UEventsHandler {
void setGraphOptimization(bool enabled);
void setGraphVisible(bool visible);
void setAutoExposure(bool enabled);
void setFullResolution(bool enabled);
void setMaxCloudDepth(float value);
int setMappingParameter(const std::string & key, const std::string & value);
void resetMapping();
void save();
@@ -139,11 +142,15 @@ class RTABMapApp : public UEventsHandler {
bool mapCloudShown_;
bool odomCloudShown_;
bool loopClosureDetection_;
bool graphOptimization_;
bool localizationMode_;
bool trajectoryMode_;
bool autoExposure_;
bool fullResolution_;
float maxCloudDepth_;
rtabmap::ParametersMap mappingParameters_;
bool clearSceneOnNextRender_;
int totalPoints_;
@@ -165,7 +172,7 @@ class RTABMapApp : public UEventsHandler {
struct Mesh
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
std::vector<pcl::Vertices> polygons;
rtabmap::Transform pose;
cv::Mat texture;
@@ -173,7 +180,6 @@ class RTABMapApp : public UEventsHandler {
std::map<int, Mesh> createdMeshes_;
std::map<int, rtabmap::Transform> rawPoses_;
std::pair<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > previousCloud_;
std::pair<rtabmap::RtabmapEventInit::Status, std::string> status_;
};