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Tango: Optimized memory for created meshes (keeping dense clouds instead of organized clouds)

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matlabbe
2016-09-07 19:59:25 -04:00
parent 4a072b3dfc
commit d3173d8533
13 changed files with 255 additions and 153 deletions
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9
app/android/jni/RTABMapApp.h
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@@ -181,15 +181,6 @@ class RTABMapApp : public UEventsHandler {
boost::mutex poseMutex_;
boost::mutex renderingMutex_;
struct Mesh
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
pcl::IndicesPtr indices;
std::vector<pcl::Vertices> polygons;
rtabmap::Transform pose;
cv::Mat texture;
};
std::map<int, Mesh> createdMeshes_;
std::map<int, rtabmap::Transform> rawPoses_;