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Tango: 0.12.0 (performance optimization, time and memory)

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This commit is contained in:
matlabbe
2017-02-22 09:48:45 -05:00
parent 595ac49552
commit a9b03bb39e
19 changed files with 1238 additions and 625 deletions
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app/android/jni/point_cloud_drawable.cpp
+17 -9
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@@ -226,7 +226,7 @@ void PointCloudDrawable::updateMesh(const Mesh & mesh, const cv::Mat & texture)
}
}
LOGD("Creating cloud buffer %d", vertex_buffers_);
//LOGD("Creating cloud buffer %d", vertex_buffers_);
std::vector<float> vertices;
int totalPoints = 0;
std::vector<pcl::Vertices> polygons = mesh.polygons;
@@ -238,7 +238,7 @@ void PointCloudDrawable::updateMesh(const Mesh & mesh, const cv::Mat & texture)
totalPoints = mesh.indices->size();
if(textures_ && polygons.size())
{
LOGD("Organized mesh with texture");
//LOGD("Organized mesh with texture");
int items = hasNormals_?9:6;
vertices = std::vector<float>(mesh.indices->size()*9);
for(unsigned int i=0; i<mesh.indices->size(); ++i)
@@ -268,7 +268,7 @@ void PointCloudDrawable::updateMesh(const Mesh & mesh, const cv::Mat & texture)
}
else
{
LOGD("Organized mesh");
//LOGD("Organized mesh");
int items = hasNormals_?7:4;
vertices = std::vector<float>(mesh.indices->size()*items);
for(unsigned int i=0; i<mesh.indices->size(); ++i)
@@ -295,8 +295,8 @@ void PointCloudDrawable::updateMesh(const Mesh & mesh, const cv::Mat & texture)
totalPoints = mesh.cloud->size();
if(textures_ && polygons.size() && mesh.normals->size())
{
LOGD("Dense mesh with texture (%d texCoords %d points %d polygons %dx%d)",
(int)mesh.texCoords.size(), (int)mesh.cloud->size(), (int)mesh.polygons.size(), texture.cols, texture.rows);
//LOGD("Dense mesh with texture (%d texCoords %d points %d polygons %dx%d)",
// (int)mesh.texCoords.size(), (int)mesh.cloud->size(), (int)mesh.polygons.size(), texture.cols, texture.rows);
// Texturing issue:
// tex_coordinates should be linked to points, not
@@ -355,7 +355,7 @@ void PointCloudDrawable::updateMesh(const Mesh & mesh, const cv::Mat & texture)
}
else
{
LOGD("Dense mesh");
//LOGD("Dense mesh");
int items = hasNormals_?7:4;
organizedToDenseIndices_ = std::vector<unsigned int>(mesh.cloud->size(), -1);
vertices = std::vector<float>(mesh.cloud->size()*items);
@@ -392,9 +392,12 @@ void PointCloudDrawable::updateMesh(const Mesh & mesh, const cv::Mat & texture)
if(textures_ && textureUpdate)
{
GLint maxTextureSize = 0;
glGetIntegerv(GL_MAX_TEXTURE_SIZE, &maxTextureSize);
LOGI("maxTextureSize=%d", maxTextureSize);
//GLint maxTextureSize = 0;
//glGetIntegerv(GL_MAX_TEXTURE_SIZE, &maxTextureSize);
//LOGI("maxTextureSize=%d", maxTextureSize);
//GLint maxTextureUnits = 0;
//glGetIntegerv(GL_MAX_TEXTURE_IMAGE_UNITS, &maxTextureUnits);
//LOGW("maxTextureUnits=%d", maxTextureUnits);
// gen texture from image
glBindTexture(GL_TEXTURE_2D, textures_);
@@ -402,6 +405,11 @@ void PointCloudDrawable::updateMesh(const Mesh & mesh, const cv::Mat & texture)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
cv::Mat rgbImage;
cv::cvtColor(texture, rgbImage, CV_BGR2RGB);
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
//glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
//glPixelStorei(GL_UNPACK_SKIP_PIXELS, 0);
//glPixelStorei(GL_UNPACK_SKIP_ROWS, 0);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, rgbImage.cols, rgbImage.rows, 0, GL_RGB, GL_UNSIGNED_BYTE, rgbImage.data);
GLint error = glGetError();