i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-09 21:10:19 +08:00
Code Issues Packages Projects Releases Wiki Activity

Tango: Added Rendering Options... -> Mesh Rendering -> Mesh Decimation

Browse Source
This commit is contained in:
matlabbe
2016-12-03 21:49:40 -05:00
parent d2287ab9f4
commit 3c17049084
15 changed files with 365 additions and 180 deletions
Download Patch File Download Diff File Expand all files Collapse all files
app/android/jni/point_cloud_drawable.cpp
+56 -51
View File
@@ -38,31 +38,36 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
PointCloudDrawable::PointCloudDrawable(
GLuint cloudShaderProgram,
GLuint textureShaderProgram,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud) :
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const pcl::IndicesPtr & indices,
float gain) :
vertex_buffers_(0),
textures_(0),
nPoints_(0),
pose_(1.0f),
visible_(true),
cloud_shader_program_(cloudShaderProgram),
texture_shader_program_(textureShaderProgram)
texture_shader_program_(textureShaderProgram),
gain_(1.0f)
{
updateCloud(cloud);
updateCloud(cloud, indices, gain);
}
PointCloudDrawable::PointCloudDrawable(
GLuint cloudShaderProgram,
GLuint textureShaderProgram,
const Mesh & mesh) :
const Mesh & mesh,
const cv::Mat & texture) :
vertex_buffers_(0),
textures_(0),
nPoints_(0),
pose_(1.0f),
visible_(true),
cloud_shader_program_(cloudShaderProgram),
texture_shader_program_(textureShaderProgram)
texture_shader_program_(textureShaderProgram),
gain_(1.0f)
{
updateMesh(mesh);
updateMesh(mesh, texture);
}
PointCloudDrawable::~PointCloudDrawable()
@@ -86,7 +91,7 @@ PointCloudDrawable::~PointCloudDrawable()
void PointCloudDrawable::updatePolygons(const std::vector<pcl::Vertices> & polygons)
{
polygons_.clear();
if(polygons.size())
if(polygons.size() && organizedToDenseIndices_.size())
{
int polygonSize = polygons[0].vertices.size();
UASSERT(polygonSize == 3);
@@ -97,21 +102,18 @@ void PointCloudDrawable::updatePolygons(const std::vector<pcl::Vertices> & polyg
UASSERT((int)polygons[i].vertices.size() == polygonSize);
for(int j=0; j<polygonSize; ++j)
{
polygons_[oi++] = (unsigned short)polygons[i].vertices[j];
polygons_[oi++] = organizedToDenseIndices_.at((unsigned short)polygons[i].vertices[j]);
}
}
}
}
void PointCloudDrawable::updateCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud)
void PointCloudDrawable::updateCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud, const pcl::IndicesPtr & indices, float gain)
{
UASSERT(!cloud->empty());
if(nPoints_)
{
UASSERT((int)cloud->size() == nPoints_);
}
UASSERT(cloud.get() && !cloud->empty() && indices.get() && !indices->empty());
nPoints_ = 0;
polygons_.clear();
gain_ = gain;
if (vertex_buffers_)
{
@@ -135,13 +137,13 @@ void PointCloudDrawable::updateCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Pt
}
LOGI("Creating cloud buffer %d", vertex_buffers_);
std::vector<float> vertices(cloud->size()*4);
for(unsigned int i=0; i<cloud->size(); ++i)
std::vector<float> vertices(indices->size()*4);
for(unsigned int i=0; i<indices->size(); ++i)
{
vertices[i*4] = cloud->at(i).x;
vertices[i*4+1] = cloud->at(i).y;
vertices[i*4+2] = cloud->at(i).z;
vertices[i*4+3] = cloud->at(i).rgb;
vertices[i*4] = cloud->at(indices->at(i)).x;
vertices[i*4+1] = cloud->at(indices->at(i)).y;
vertices[i*4+2] = cloud->at(indices->at(i)).z;
vertices[i*4+3] = cloud->at(indices->at(i)).rgb;
}
glBindBuffer(GL_ARRAY_BUFFER, vertex_buffers_);
@@ -156,16 +158,12 @@ void PointCloudDrawable::updateCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Pt
return;
}
nPoints_ = cloud->size();
nPoints_ = indices->size();
}
void PointCloudDrawable::updateMesh(const Mesh & mesh)
void PointCloudDrawable::updateMesh(const Mesh & mesh, const cv::Mat & texture)
{
UASSERT(!mesh.cloud->empty());
if(nPoints_)
{
UASSERT((int)mesh.cloud->size() == nPoints_);
}
UASSERT(mesh.cloud.get() && !mesh.cloud->empty() && mesh.indices.get() && !mesh.indices->empty());
nPoints_ = 0;
if (vertex_buffers_)
@@ -175,8 +173,10 @@ void PointCloudDrawable::updateMesh(const Mesh & mesh)
vertex_buffers_ = 0;
}
gain_ = mesh.gain;
bool textureUpdate = false;
if(!mesh.texture.empty() && mesh.texture.type() == CV_8UC3)
if(!texture.empty() && texture.type() == CV_8UC3)
{
if (textures_)
{
@@ -196,8 +196,7 @@ void PointCloudDrawable::updateMesh(const Mesh & mesh)
if(textureUpdate)
{
UASSERT((!mesh.cloud->is_dense && mesh.cloud->width==mesh.width && mesh.cloud->height==mesh.height) ||
(mesh.cloud->is_dense && mesh.width>1 && mesh.height>1 && mesh.denseToOrganizedIndices.size() == mesh.cloud->size()));
UASSERT(!mesh.cloud->is_dense);
glGenTextures(1, &textures_);
if(!textures_)
{
@@ -209,37 +208,37 @@ void PointCloudDrawable::updateMesh(const Mesh & mesh)
LOGI("Creating cloud buffer %d", vertex_buffers_);
std::vector<float> vertices;
organizedToDenseIndices_ = std::vector<int>(mesh.cloud->width*mesh.cloud->height, -1);
if(textures_)
{
vertices = std::vector<float>(mesh.cloud->size()*6);
for(unsigned int i=0; i<mesh.cloud->size(); ++i)
vertices = std::vector<float>(mesh.indices->size()*6);
for(unsigned int i=0; i<mesh.indices->size(); ++i)
{
vertices[i*6] = mesh.cloud->at(i).x;
vertices[i*6+1] = mesh.cloud->at(i).y;
vertices[i*6+2] = mesh.cloud->at(i).z;
vertices[i*6] = mesh.cloud->at(mesh.indices->at(i)).x;
vertices[i*6+1] = mesh.cloud->at(mesh.indices->at(i)).y;
vertices[i*6+2] = mesh.cloud->at(mesh.indices->at(i)).z;
// rgb
vertices[i*6+3] = mesh.cloud->at(i).rgb;
vertices[i*6+3] = mesh.cloud->at(mesh.indices->at(i)).rgb;
// texture uv
int index = i;
if(mesh.cloud->is_dense)
{
index = mesh.denseToOrganizedIndices[i];
}
vertices[i*6+4] = float(index % mesh.width)/float(mesh.width); //u
vertices[i*6+5] = float(index / mesh.width)/float(mesh.height); //v
int index = mesh.indices->at(i);
vertices[i*6+4] = float(index % mesh.cloud->width)/float(mesh.cloud->width); //u
vertices[i*6+5] = float(index / mesh.cloud->width)/float(mesh.cloud->height); //v
organizedToDenseIndices_[mesh.indices->at(i)] = i;
}
}
else
{
vertices = std::vector<float>(mesh.cloud->size()*4);
for(unsigned int i=0; i<mesh.cloud->size(); ++i)
vertices = std::vector<float>(mesh.indices->size()*4);
for(unsigned int i=0; i<mesh.indices->size(); ++i)
{
vertices[i*4] = mesh.cloud->at(i).x;
vertices[i*4+1] = mesh.cloud->at(i).y;
vertices[i*4+2] = mesh.cloud->at(i).z;
vertices[i*4+3] = mesh.cloud->at(i).rgb;
vertices[i*4] = mesh.cloud->at(mesh.indices->at(i)).x;
vertices[i*4+1] = mesh.cloud->at(mesh.indices->at(i)).y;
vertices[i*4+2] = mesh.cloud->at(mesh.indices->at(i)).z;
vertices[i*4+3] = mesh.cloud->at(mesh.indices->at(i)).rgb;
organizedToDenseIndices_[mesh.indices->at(i)] = i;
}
}
@@ -262,7 +261,7 @@ void PointCloudDrawable::updateMesh(const Mesh & mesh)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
cv::Mat rgbImage;
cv::cvtColor(mesh.texture, rgbImage, CV_BGR2RGB);
cv::cvtColor(texture, rgbImage, CV_BGR2RGB);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, rgbImage.cols, rgbImage.rows, 0, GL_RGB, GL_UNSIGNED_BYTE, rgbImage.data);
GLint error = glGetError();
@@ -277,7 +276,7 @@ void PointCloudDrawable::updateMesh(const Mesh & mesh)
}
}
nPoints_ = mesh.cloud->size();
nPoints_ = mesh.indices->size();
if(polygons_.size() != mesh.polygons.size())
{
@@ -312,6 +311,9 @@ void PointCloudDrawable::Render(const glm::mat4 & projectionMatrix, const glm::m
GLuint texture_handle = glGetUniformLocation(texture_shader_program_, "u_Texture");
glUniform1i(texture_handle, 0);
GLuint gain_handle = glGetUniformLocation(texture_shader_program_, "u_gain");
glUniform1f(gain_handle, gain_);
GLint attribute_vertex = glGetAttribLocation(texture_shader_program_, "vertex");
GLint attribute_texture = glGetAttribLocation(texture_shader_program_, "a_TexCoordinate");
@@ -334,6 +336,9 @@ void PointCloudDrawable::Render(const glm::mat4 & projectionMatrix, const glm::m
GLuint point_size_handle_ = glGetUniformLocation(cloud_shader_program_, "point_size");
glUniform1f(point_size_handle_, pointSize);
GLuint gain_handle = glGetUniformLocation(texture_shader_program_, "u_gain");
glUniform1f(gain_handle, gain_);
GLint attribute_vertex = glGetAttribLocation(cloud_shader_program_, "vertex");
GLint attribute_color = glGetAttribLocation(cloud_shader_program_, "color");