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Tango: Added "Adjust colors" post-processing option. Updated ICP parameters. Added "Mem/LaserScanNormalK" parameter for convenience.

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matlabbe
2016-09-07 17:19:21 -04:00
parent ce1acd9d44
commit 4a072b3dfc
18 changed files with 501 additions and 351 deletions
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3
app/android/jni/RTABMapApp.h
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@@ -161,6 +161,7 @@ class RTABMapApp : public UEventsHandler {
bool clearSceneOnNextRender_;
bool filterPolygonsOnNextRender_;
bool gainCompensationOnNextRender_;
int totalPoints_;
int totalPolygons_;
int lastDrawnCloudsCount_;
@@ -178,10 +179,12 @@ class RTABMapApp : public UEventsHandler {
boost::mutex meshesMutex_;
boost::mutex odomMutex_;
boost::mutex poseMutex_;
boost::mutex renderingMutex_;
struct Mesh
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
pcl::IndicesPtr indices;
std::vector<pcl::Vertices> polygons;
rtabmap::Transform pose;
cv::Mat texture;