i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-12 22:40:19 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
matlabbe
2016-09-07 17:19:21 -04:00
parent ce1acd9d44
commit 4a072b3dfc
18 changed files with 501 additions and 351 deletions
Download Patch File Download Diff File Expand all files Collapse all files
app/android/jni/point_cloud_drawable.cpp
+70 -44
View File
@@ -48,8 +48,74 @@ PointCloudDrawable::PointCloudDrawable(
visible_(true),
cloud_shader_program_(cloudShaderProgram),
texture_shader_program_(textureShaderProgram)
{
updateCloud(cloud, image);
updatePolygons(polygons);
}
PointCloudDrawable::~PointCloudDrawable()
{
LOGI("Freeing cloud buffer %d", vertex_buffers_);
if (vertex_buffers_)
{
glDeleteBuffers(1, &vertex_buffers_);
tango_gl::util::CheckGlError("PointCloudDrawable::~PointCloudDrawable()");
vertex_buffers_ = 0;
}
if (textures_)
{
glDeleteTextures(1, &textures_);
tango_gl::util::CheckGlError("PointCloudDrawable::~PointCloudDrawable()");
textures_ = 0;
}
}
void PointCloudDrawable::updatePolygons(const std::vector<pcl::Vertices> & polygons)
{
polygons_.clear();
if(polygons.size())
{
int polygonSize = polygons[0].vertices.size();
UASSERT(polygonSize == 3);
polygons_.resize(polygons.size() * polygonSize);
int oi = 0;
for(unsigned int i=0; i<polygons.size(); ++i)
{
UASSERT((int)polygons[i].vertices.size() == polygonSize);
for(int j=0; j<polygonSize; ++j)
{
polygons_[oi++] = (unsigned short)polygons[i].vertices[j];
}
}
}
}
void PointCloudDrawable::updateCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud, const cv::Mat & image)
{
UASSERT(!cloud->empty());
if(nPoints_)
{
UASSERT((int)cloud->size() == nPoints_);
}
nPoints_ = 0;
if (vertex_buffers_)
{
glDeleteBuffers(1, &vertex_buffers_);
tango_gl::util::CheckGlError("PointCloudDrawable::~PointCloudDrawable()");
vertex_buffers_ = 0;
}
if(!image.empty())
{
if (textures_)
{
glDeleteTextures(1, &textures_);
tango_gl::util::CheckGlError("PointCloudDrawable::~PointCloudDrawable()");
textures_ = 0;
}
}
glGenBuffers(1, &vertex_buffers_);
if(!vertex_buffers_)
@@ -61,7 +127,7 @@ PointCloudDrawable::PointCloudDrawable(
if(!cloud->is_dense && !image.empty())
{
LOGI("cloud=%dx%d image=%dx%d\n", (int)cloud->width, (int)cloud->height, image.cols, image.rows);
UASSERT(polygons.size() && !cloud->is_dense && !image.empty() && image.type() == CV_8UC3);
UASSERT(!cloud->is_dense && !image.empty() && image.type() == CV_8UC3);
glGenTextures(1, &textures_);
if(!textures_)
{
@@ -114,12 +180,12 @@ PointCloudDrawable::PointCloudDrawable(
return;
}
if(textures_)
if(textures_ && !image.empty())
{
// gen texture from image
glBindTexture(GL_TEXTURE_2D, textures_);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
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(image, rgbImage, CV_BGR2RGB);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, rgbImage.cols, rgbImage.rows, 0, GL_RGB, GL_UNSIGNED_BYTE, rgbImage.data);
@@ -137,46 +203,6 @@ PointCloudDrawable::PointCloudDrawable(
}
nPoints_ = cloud->size();
updatePolygons(polygons);
}
PointCloudDrawable::~PointCloudDrawable()
{
LOGI("Freeing cloud buffer %d", vertex_buffers_);
if (vertex_buffers_)
{
glDeleteBuffers(1, &vertex_buffers_);
tango_gl::util::CheckGlError("PointCloudDrawable::~PointCloudDrawable()");
vertex_buffers_ = 0;
}
if (textures_)
{
glDeleteTextures(1, &textures_);
tango_gl::util::CheckGlError("PointCloudDrawable::~PointCloudDrawable()");
textures_ = 0;
}
}
void PointCloudDrawable::updatePolygons(const std::vector<pcl::Vertices> & polygons)
{
polygons_.clear();
if(polygons.size())
{
int polygonSize = polygons[0].vertices.size();
UASSERT(polygonSize == 3);
polygons_.resize(polygons.size() * polygonSize);
int oi = 0;
for(unsigned int i=0; i<polygons.size(); ++i)
{
UASSERT((int)polygons[i].vertices.size() == polygonSize);
for(int j=0; j<polygonSize; ++j)
{
polygons_[oi++] = (unsigned short)polygons[i].vertices[j];
}
}
}
}
void PointCloudDrawable::setPose(const rtabmap::Transform & pose)