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Tango: Added OBJ export (with texture)

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matlabbe
2016-03-21 20:03:03 -04:00
parent bc78f789eb
commit 9385aa2332
5 changed files with 208 additions and 56 deletions
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10
app/android/jni/RTABMapApp.h
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@@ -163,7 +163,15 @@ class RTABMapApp : public UEventsHandler {
boost::mutex odomMutex_;
boost::mutex poseMutex_;
std::map<int, std::pair<std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, std::vector<pcl::Vertices> >, rtabmap::Transform > > createdMeshes_;
struct Mesh
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud;
std::vector<pcl::Vertices> polygons;
rtabmap::Transform pose;
cv::Mat texture;
};
std::map<int, Mesh> createdMeshes_;
std::map<int, rtabmap::Transform> rawPoses_;
std::pair<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > previousCloud_;