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0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)

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matlabbe
2017-03-12 21:21:09 -04:00
parent c12980ee91
commit d21ae76fff
56 changed files with 1869 additions and 662 deletions
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20
app/android/jni/RTABMapApp.h
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@@ -136,8 +136,9 @@ class RTABMapApp : public UEventsHandler {
void setMeshDecimation(int value);
void setMeshAngleTolerance(float value);
void setMeshTriangleSize(int value);
void setMinClusterSize(int value);
void setClusterRatio(float value);
void setMaxGainRadius(float value);
void setRenderingTextureDecimation(int value);
int setMappingParameter(const std::string & key, const std::string & value);
void resetMapping();
@@ -165,11 +166,14 @@ class RTABMapApp : public UEventsHandler {
int postProcessing(int approach);
protected:
virtual void handleEvent(UEvent * event);
virtual bool handleEvent(UEvent * event);
private:
rtabmap::ParametersMap getRtabmapParameters();
bool smoothMesh(int id, Mesh & mesh);
void gainCompensation(bool full = false);
std::vector<pcl::Vertices> filterOrganizedPolygons(const std::vector<pcl::Vertices> & polygons, int cloudSize) const;
std::vector<pcl::Vertices> filterPolygons(const std::vector<pcl::Vertices> & polygons, int cloudSize) const;
private:
rtabmap::CameraTango * camera_;
@@ -191,15 +195,18 @@ class RTABMapApp : public UEventsHandler {
int meshDecimation_;
int meshTrianglePix_;
float meshAngleToleranceDeg_;
int minClusterSize_;
float clusterRatio_;
float maxGainRadius_;
int renderingTextureDecimation_;
rtabmap::ParametersMap mappingParameters_;
bool paused_;
bool dataRecorderMode_;
bool clearSceneOnNextRender_;
bool optimizeOpenedDatabase_;
bool openingDatabase_;
bool exporting_;
bool postProcessing_;
bool filterPolygonsOnNextRender_;
int gainCompensationOnNextRender_;
bool bilateralFilteringOnNextRender_;
@@ -208,9 +215,10 @@ class RTABMapApp : public UEventsHandler {
int totalPolygons_;
int lastDrawnCloudsCount_;
float renderingTime_;
float previousRenderingTime_;
double lastPostRenderEventTime_;
long processMemoryUsedBytes;
long processGPUMemoryUsedBytes;
std::map<std::string, float> bufferedStatsData_;
bool visualizingMesh_;
bool exportedMeshUpdated_;
@@ -221,7 +229,7 @@ class RTABMapApp : public UEventsHandler {
// movement and point cloud.
Scene main_scene_;
std::list<rtabmap::Statistics> rtabmapEvents_;
std::list<rtabmap::RtabmapEvent*> rtabmapEvents_;
std::list<rtabmap::OdometryEvent> odomEvents_;
std::list<rtabmap::Transform> poseEvents_;