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Tango: Added texture to meshes #57

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matlabbe
2016-03-21 15:45:26 -04:00
parent 1b4539a0df
commit bc78f789eb
6 changed files with 381 additions and 133 deletions
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54
app/android/jni/point_cloud_drawable.h
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@@ -1,18 +1,29 @@
/*
* Copyright 2014 Google Inc. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef TANGO_POINT_CLOUD_POINT_CLOUD_DRAWABLE_H_
#define TANGO_POINT_CLOUD_POINT_CLOUD_DRAWABLE_H_
@@ -31,13 +42,17 @@
class PointCloudDrawable {
public:
PointCloudDrawable(
GLuint shaderProgram,
GLuint cloudShaderProgram,
GLuint textureShaderProgram,
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
const std::vector<pcl::Vertices> & indices = std::vector<pcl::Vertices>());
const std::vector<pcl::Vertices> & polygons = std::vector<pcl::Vertices>(),
const cv::Mat & image = cv::Mat());
PointCloudDrawable(
GLuint shaderProgram,
GLuint cloudShaderProgram,
GLuint textureShaderProgram,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const std::vector<pcl::Vertices> & indices = std::vector<pcl::Vertices>());
const std::vector<pcl::Vertices> & polygons = std::vector<pcl::Vertices>(),
const cv::Mat & image = cv::Mat());
virtual ~PointCloudDrawable();
void setPose(const rtabmap::Transform & pose);
@@ -56,7 +71,8 @@ class PointCloudDrawable {
private:
// Vertex buffer of the point cloud geometry.
GLuint vertex_buffers_;
std::vector<GLushort> indices_;
GLuint textures_;
std::vector<GLushort> polygons_;
int nPoints_;
glm::mat4 pose_;
bool visible_;