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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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8
app/android/jni/point_cloud_drawable.h
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@@ -53,7 +53,7 @@ class PointCloudDrawable {
const Mesh & mesh);
virtual ~PointCloudDrawable();
void updatePolygons(const std::vector<pcl::Vertices> & polygons);
void updatePolygons(const std::vector<pcl::Vertices> & polygons, const std::vector<pcl::Vertices> & polygonsLowRes = std::vector<pcl::Vertices>());
void updateCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud, const pcl::IndicesPtr & indices, float gain);
void updateMesh(const Mesh & mesh);
void setPose(const rtabmap::Transform & pose);
@@ -75,13 +75,17 @@ class PointCloudDrawable {
bool meshRendering = true,
float pointSize = 3.0f,
bool textureRendering = false,
bool lighting = true);
bool lighting = true,
float distanceToCamSqr = 0.0f);
private:
// Vertex buffer of the point cloud geometry.
GLuint vertex_buffers_;
GLuint textures_;
std::vector<GLuint> polygons_;
std::vector<GLuint> polygonsLowRes_;
std::vector<GLuint> verticesLowRes_;
std::vector<GLuint> verticesLowLowRes_;
int nPoints_;
glm::mat4 pose_;
bool visible_;