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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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11
app/android/jni/point_cloud_drawable.h
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@@ -44,13 +44,16 @@ class PointCloudDrawable {
PointCloudDrawable(
GLuint cloudShaderProgram,
GLuint textureShaderProgram,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const std::vector<pcl::Vertices> & polygons = std::vector<pcl::Vertices>(),
const cv::Mat & image = cv::Mat());
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud);
PointCloudDrawable(
GLuint cloudShaderProgram,
GLuint textureShaderProgram,
const Mesh & mesh);
virtual ~PointCloudDrawable();
void updatePolygons(const std::vector<pcl::Vertices> & polygons);
void updateCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud, const cv::Mat & image = cv::Mat());
void updateCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud);
void updateMesh(const Mesh & mesh);
void setPose(const rtabmap::Transform & pose);
void setVisible(bool visible) {visible_=visible;}
rtabmap::Transform getPose() const {return glmToTransform(pose_);}