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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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28
app/android/jni/point_cloud_drawable.h
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@@ -59,10 +59,15 @@ class PointCloudDrawable {
void setPose(const rtabmap::Transform & pose);
void setVisible(bool visible) {visible_=visible;}
void setGain(float gain) {gain_ = gain;}
rtabmap::Transform getPose() const {return glmToTransform(pose_);}
rtabmap::Transform getPose() const {return pose_;}
const glm::mat4 & getPoseGl() const {return poseGl_;}
bool isVisible() const {return visible_;}
bool hasMesh() const {return polygons_.size()!=0;}
bool hasTexture() const {return textures_ != 0;}
const pcl::PointXYZ & aabbMinModel() const {return aabbMinModel_;}
const pcl::PointXYZ & aabbMaxModel() const {return aabbMaxModel_;}
const pcl::PointXYZ & aabbMinWorld() const {return aabbMinWorld_;}
const pcl::PointXYZ & aabbMaxWorld() const {return aabbMaxWorld_;}
// Update current point cloud data.
//
@@ -78,6 +83,19 @@ class PointCloudDrawable {
bool lighting = true,
float distanceToCamSqr = 0.0f);
private:
template<class PointT>
void updateAABBMinMax(const PointT & pt, pcl::PointXYZ & min, pcl::PointXYZ & max)
{
if(pt.x<min.x) min.x = pt.x;
if(pt.y<min.y) min.y = pt.y;
if(pt.z<min.z) min.z = pt.z;
if(pt.x>max.x) max.x = pt.x;
if(pt.y>max.y) max.y = pt.y;
if(pt.z>max.z) max.z = pt.z;
}
void updateAABBWorld(const rtabmap::Transform & pose);
private:
// Vertex buffer of the point cloud geometry.
GLuint vertex_buffers_;
@@ -87,7 +105,8 @@ class PointCloudDrawable {
std::vector<GLuint> verticesLowRes_;
std::vector<GLuint> verticesLowLowRes_;
int nPoints_;
glm::mat4 pose_;
rtabmap::Transform pose_;
glm::mat4 poseGl_;
bool visible_;
bool hasNormals_;
std::vector<unsigned int> organizedToDenseIndices_;
@@ -96,6 +115,11 @@ class PointCloudDrawable {
GLuint texture_shader_program_;
float gain_;
pcl::PointXYZ aabbMinModel_;
pcl::PointXYZ aabbMaxModel_;
pcl::PointXYZ aabbMinWorld_;
pcl::PointXYZ aabbMaxWorld_;
};
#endif // TANGO_POINT_CLOUD_POINT_CLOUD_DRAWABLE_H_