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Tango: Added Level of detail rendering depending on the distance from the camera

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This commit is contained in:
matlabbe
2017-03-05 21:48:18 -05:00
parent fed9d4ef3b
commit 9f65ef199b
10 changed files with 192 additions and 26 deletions
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34
app/android/jni/RTABMapApp.cpp
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@@ -56,6 +56,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/surface/poisson.h>
#include <pcl/surface/vtk_smoothing/vtk_mesh_quadric_decimation.h>
#define LOW_RES_PIX 1
const int g_exportedMeshId = -100;
@@ -169,6 +170,7 @@ RTABMapApp::RTABMapApp() :
totalPolygons_(0),
lastDrawnCloudsCount_(0),
renderingTime_(0.0f),
previousRenderingTime_(0.0f),
processMemoryUsedBytes(0),
processGPUMemoryUsedBytes(0),
visualizingMesh_(false),
@@ -209,6 +211,7 @@ void RTABMapApp::onCreate(JNIEnv* env, jobject caller_activity)
totalPolygons_ = 0;
lastDrawnCloudsCount_ = 0;
renderingTime_ = 0.0f;
previousRenderingTime_ = 0.0f;
processMemoryUsedBytes = 0;
processGPUMemoryUsedBytes = 0;
progressionStatus_.setJavaObjects(jvm, RTABMapActivity);
@@ -622,6 +625,7 @@ int RTABMapApp::Render()
totalPolygons_ = 0;
lastDrawnCloudsCount_ = 0;
renderingTime_ = 0.0f;
previousRenderingTime_ = 0.0f;
processMemoryUsedBytes = 0;
processGPUMemoryUsedBytes = 0;
}
@@ -638,15 +642,17 @@ int RTABMapApp::Render()
}
if(added.size() != meshes)
{
LOGD("added (%d) != meshes (%d)", (int)added.size(), meshes);
processGPUMemoryUsedBytes = 0;
for(std::map<int, Mesh>::iterator iter=createdMeshes_.begin(); iter!=createdMeshes_.end(); ++iter)
{
if(!main_scene_.hasCloud(iter->first))
if(!main_scene_.hasCloud(iter->first) && !iter->second.pose.isNull())
{
LOGI("Re-add mesh %d to OpenGL context", iter->first);
if(main_scene_.isMeshRendering() && iter->second.polygons.size() == 0)
{
iter->second.polygons = rtabmap::util3d::organizedFastMesh(iter->second.cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_);
iter->second.polygonsLowRes = rtabmap::util3d::organizedFastMesh(iter->second.cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_+LOW_RES_PIX);
}
if(main_scene_.isMeshTexturing())
@@ -667,6 +673,7 @@ int RTABMapApp::Render()
estimateGPUMem += iter->second.cloud->size()*16; // 3*float + 1 float rgb
estimateGPUMem += iter->second.indices->size()*4; // int
estimateGPUMem += iter->second.polygons.size()*4*3; // 3 indices per polygon
estimateGPUMem += iter->second.polygonsLowRes.size()*4*3; // 3 indices per polygon
processGPUMemoryUsedBytes += estimateGPUMem + (iter->second.texture.empty()?0:iter->second.polygons.size()*3*8+iter->second.texture.total());
@@ -821,10 +828,13 @@ int RTABMapApp::Render()
{
UTimer time;
std::vector<pcl::Vertices> polygons;
std::vector<pcl::Vertices> polygonsLowRes;
if(main_scene_.isMeshRendering())
{
polygons = rtabmap::util3d::organizedFastMesh(cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_);
LOGI("Creating mesh, %d polygons (%fs)", (int)polygons.size(), time.ticks());
polygonsLowRes = rtabmap::util3d::organizedFastMesh(cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_+LOW_RES_PIX);
LOGI("Creating mesh, %d polygons (%fs)", (int)polygons.size(), time.ticks());
}
if((main_scene_.isMeshRendering() && polygons.size()) || !main_scene_.isMeshRendering())
@@ -834,6 +844,7 @@ int RTABMapApp::Render()
inserted.first->second.cloud = cloud;
inserted.first->second.indices = indices;
inserted.first->second.polygons = polygons;
inserted.first->second.polygonsLowRes = polygonsLowRes;
inserted.first->second.visible = true;
inserted.first->second.cameraModel = data.cameraModels()[0];
inserted.first->second.gain = 1.0f;
@@ -911,10 +922,10 @@ int RTABMapApp::Render()
}
else
{
main_scene_.setCloudVisible(-1, odomCloudShown_ && !trajectoryMode_ && !paused_);
main_scene_.setCloudVisible(-1, !(renderingTime_ > 0.05 || previousRenderingTime_>0.05) && odomCloudShown_ && !trajectoryMode_ && !paused_);
//just process the last one
if(!odomEvent.pose().isNull())
if(!odomEvent.pose().isNull() && !(renderingTime_ > 0.05 || previousRenderingTime_>0.05))
{
if(odomCloudShown_ && !trajectoryMode_)
{
@@ -1076,6 +1087,11 @@ int RTABMapApp::Render()
return notifyDataLoaded||notifyCameraStarted?1:0;
}
}
catch(const UException & e)
{
UERROR("Exception! msg=\"%s\"", e.what());
return -2;
}
catch(const std::exception & e)
{
UERROR("Exception! msg=\"%s\"", e.what());
@@ -1382,7 +1398,7 @@ int RTABMapApp::setMappingParameter(const std::string & key, const std::string &
resetMapping();
}
uInsert(mappingParameters_, rtabmap::ParametersPair(compatibleKey, value));
UEventsManager::post(new rtabmap::ParamEvent(mappingParameters_));
UEventsManager::post(new rtabmap::ParamEvent(this->getRtabmapParameters()));
return 0;
}
else
@@ -2647,7 +2663,7 @@ void RTABMapApp::handleEvent(UEvent * event)
if(status_.first == rtabmap::RtabmapEventInit::kInitialized &&
event->getClassName().compare("RtabmapEvent") == 0)
{
LOGI("Received RtabmapEvent initialized event!");
LOGI("Received RtabmapEvent event!");
if(camera_->isRunning())
{
rtabmap::RtabmapEvent * rtabmapEvent = (rtabmap::RtabmapEvent*)event;
@@ -2660,7 +2676,8 @@ void RTABMapApp::handleEvent(UEvent * event)
smallMovement == 0 &&
rehearsalMerged == 0 &&
!rtabmapEvent->getStats().getSignatures().rbegin()->second.sensorData().imageRaw().empty() &&
!rtabmapEvent->getStats().getSignatures().rbegin()->second.sensorData().depthRaw().empty())
!rtabmapEvent->getStats().getSignatures().rbegin()->second.sensorData().depthRaw().empty() &&
rtabmapEvent->getStats().poses().find(rtabmapEvent->getStats().getSignatures().rbegin()->first) != rtabmapEvent->getStats().poses().end())
{
int id = rtabmapEvent->getStats().getSignatures().rbegin()->first;
const rtabmap::SensorData & data = rtabmapEvent->getStats().getSignatures().rbegin()->second.sensorData();
@@ -2675,10 +2692,13 @@ void RTABMapApp::handleEvent(UEvent * event)
{
UTimer time;
std::vector<pcl::Vertices> polygons;
std::vector<pcl::Vertices> polygonsLowRes;
if(main_scene_.isMeshRendering())
{
polygons = rtabmap::util3d::organizedFastMesh(cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_);
LOGI("(EVENT) Creating mesh, %d polygons (%fs)", (int)polygons.size(), time.ticks());
polygonsLowRes = rtabmap::util3d::organizedFastMesh(cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_+LOW_RES_PIX);
LOGI("(EVENT) Creating mesh low res, %d polygons (%fs)", (int)polygonsLowRes.size(), time.ticks());
}
if((main_scene_.isMeshRendering() && polygons.size()) || !main_scene_.isMeshRendering())
@@ -2697,6 +2717,7 @@ void RTABMapApp::handleEvent(UEvent * event)
inserted.first->second.cloud = cloud;
inserted.first->second.indices = indices;
inserted.first->second.polygons = polygons;
inserted.first->second.polygonsLowRes = polygonsLowRes;
inserted.first->second.visible = true;
inserted.first->second.cameraModel = data.cameraModels()[0];
inserted.first->second.gain = 1.0f;
@@ -2853,6 +2874,7 @@ void RTABMapApp::handleEvent(UEvent * event)
{
UERROR("Failed to call RTABMapActivity::updateStatsCallback");
}
previousRenderingTime_ = renderingTime_;
renderingTime_ = 0.0f;
}
}