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

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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
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15
app/android/jni/point_cloud_drawable.h
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@@ -44,20 +44,24 @@ class 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);
PointCloudDrawable(
GLuint cloudShaderProgram,
GLuint textureShaderProgram,
const Mesh & mesh);
const Mesh & mesh,
const cv::Mat & texture);
virtual ~PointCloudDrawable();
void updatePolygons(const std::vector<pcl::Vertices> & polygons);
void updateCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud);
void updateMesh(const Mesh & mesh);
void updateCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud, const pcl::IndicesPtr & indices, float gain);
void updateMesh(const Mesh & mesh, const cv::Mat & texture);
void setPose(const rtabmap::Transform & pose);
void setVisible(bool visible) {visible_=visible;}
rtabmap::Transform getPose() const {return glmToTransform(pose_);}
bool isVisible() const {return visible_;}
bool hasTexture() const {return textures_ != 0;}
// Update current point cloud data.
//
@@ -75,9 +79,12 @@ class PointCloudDrawable {
int nPoints_;
glm::mat4 pose_;
bool visible_;
std::vector<int> organizedToDenseIndices_;
GLuint cloud_shader_program_;
GLuint texture_shader_program_;
float gain_;
};
#endif // TANGO_POINT_CLOUD_POINT_CLOUD_DRAWABLE_H_