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Increased version to 0.12.4, Tango: gain compensation on each channel, added min depth parameter, fixed exporting failing when doing export just after opening a database

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matlabbe
2017-04-01 14:14:36 -04:00
parent d68eeada0e
commit aa37ac6038
19 changed files with 271 additions and 113 deletions
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12
app/android/jni/point_cloud_drawable.h
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@@ -46,7 +46,9 @@ class PointCloudDrawable {
GLuint textureShaderProgram,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const pcl::IndicesPtr & indices,
float gain);
float gainR = 1.0f,
float gainG = 1.0f,
float gainB = 1.0f);
PointCloudDrawable(
GLuint cloudShaderProgram,
GLuint textureShaderProgram,
@@ -54,11 +56,11 @@ class PointCloudDrawable {
virtual ~PointCloudDrawable();
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 updateCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud, const pcl::IndicesPtr & indices);
void updateMesh(const Mesh & mesh);
void setPose(const rtabmap::Transform & pose);
void setVisible(bool visible) {visible_=visible;}
void setGain(float gain) {gain_ = gain;}
void setGains(float gainR, float gainG, float gainB) {gainR_ = gainR; gainG_ = gainG; gainB_ = gainB;}
rtabmap::Transform getPose() const {return pose_;}
const glm::mat4 & getPoseGl() const {return poseGl_;}
bool isVisible() const {return visible_;}
@@ -114,7 +116,9 @@ class PointCloudDrawable {
GLuint cloud_shader_program_;
GLuint texture_shader_program_;
float gain_;
float gainR_;
float gainG_;
float gainB_;
pcl::PointXYZ aabbMinModel_;
pcl::PointXYZ aabbMaxModel_;