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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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app/android/jni/scene.cpp
+20 -5
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@@ -55,9 +55,10 @@ const std::string kPointCloudVertexShader =
const std::string kPointCloudFragmentShader =
"precision mediump float;\n"
"precision mediump int;\n"
"uniform float u_gain;\n"
"varying vec3 v_color;\n"
"void main() {\n"
" gl_FragColor = vec4(v_color.z, v_color.y, v_color.x, 1.0);\n"
" gl_FragColor = vec4(v_color.z*u_gain, v_color.y*u_gain, v_color.x*u_gain, 1.0);\n"
"}\n";
const std::string kTextureMeshVertexShader =
@@ -75,9 +76,13 @@ const std::string kTextureMeshFragmentShader =
"precision mediump float;\n"
"precision mediump int;\n"
"uniform sampler2D u_Texture;\n"
"uniform float u_gain;\n"
"varying vec2 v_TexCoordinate;\n"
"void main() {\n"
" gl_FragColor = texture2D(u_Texture, v_TexCoordinate);\n"
" gl_FragColor.x *= u_gain;\n"
" gl_FragColor.y *= u_gain;\n"
" gl_FragColor.z *= u_gain;\n"
"}\n";
const std::string kGraphVertexShader =
@@ -418,6 +423,7 @@ void Scene::setTraceVisible(bool visible)
void Scene::addCloud(
int id,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const pcl::IndicesPtr & indices,
const rtabmap::Transform & pose)
{
LOGI("add cloud %d", id);
@@ -433,7 +439,9 @@ void Scene::addCloud(
PointCloudDrawable * drawable = new PointCloudDrawable(
cloud_shader_program_,
texture_mesh_shader_program_,
cloud);
cloud,
indices,
1.0f);
drawable->setPose(pose);
pointClouds_.insert(std::make_pair(id, drawable));
}
@@ -441,6 +449,7 @@ void Scene::addCloud(
void Scene::addMesh(
int id,
const Mesh & mesh,
const cv::Mat & texture,
const rtabmap::Transform & pose)
{
LOGI("add mesh %d", id);
@@ -456,7 +465,8 @@ void Scene::addMesh(
PointCloudDrawable * drawable = new PointCloudDrawable(
cloud_shader_program_,
texture_mesh_shader_program_,
mesh);
mesh,
texture);
drawable->setPose(pose);
pointClouds_.insert(std::make_pair(id, drawable));
}
@@ -486,6 +496,11 @@ bool Scene::hasCloud(int id) const
return pointClouds_.find(id) != pointClouds_.end();
}
bool Scene::hasTexture(int id) const
{
return pointClouds_.find(id) != pointClouds_.end() && pointClouds_.at(id)->hasTexture();
}
std::set<int> Scene::getAddedClouds() const
{
return uKeysSet(pointClouds_);
@@ -500,11 +515,11 @@ void Scene::updateCloudPolygons(int id, const std::vector<pcl::Vertices> & polyg
}
}
void Scene::updateMesh(int id, const Mesh & mesh)
void Scene::updateMesh(int id, const Mesh & mesh, const cv::Mat & texture)
{
std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
if(iter != pointClouds_.end())
{
iter->second->updateMesh(mesh);
iter->second->updateMesh(mesh, texture);
}
}