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

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This commit is contained in:
matlabbe
2016-09-07 19:59:25 -04:00
parent 4a072b3dfc
commit d3173d8533
13 changed files with 253 additions and 151 deletions
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app/android/jni/scene.cpp
+28 -9
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@@ -418,11 +418,9 @@ void Scene::setTraceVisible(bool visible)
void Scene::addCloud(
int id,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const std::vector<pcl::Vertices> & polygons,
const rtabmap::Transform & pose,
const cv::Mat & image)
const rtabmap::Transform & pose)
{
LOGI("addOrUpdateCloud cloud %d", id);
LOGI("add cloud %d", id);
std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
if(iter != pointClouds_.end())
{
@@ -435,9 +433,30 @@ void Scene::addCloud(
PointCloudDrawable * drawable = new PointCloudDrawable(
cloud_shader_program_,
texture_mesh_shader_program_,
cloud,
polygons,
image);
cloud);
drawable->setPose(pose);
pointClouds_.insert(std::make_pair(id, drawable));
}
void Scene::addMesh(
int id,
const Mesh & mesh,
const rtabmap::Transform & pose)
{
LOGI("add mesh %d", id);
std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
if(iter != pointClouds_.end())
{
delete iter->second;
pointClouds_.erase(iter);
}
//create
UASSERT(cloud_shader_program_ != 0 && texture_mesh_shader_program_!=0);
PointCloudDrawable * drawable = new PointCloudDrawable(
cloud_shader_program_,
texture_mesh_shader_program_,
mesh);
drawable->setPose(pose);
pointClouds_.insert(std::make_pair(id, drawable));
}
@@ -481,11 +500,11 @@ void Scene::updateCloudPolygons(int id, const std::vector<pcl::Vertices> & polyg
}
}
void Scene::updateCloudColors(int id, const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud, const cv::Mat & image)
void Scene::updateMesh(int id, const Mesh & mesh)
{
std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
if(iter != pointClouds_.end())
{
iter->second->updateCloud(cloud, image);
iter->second->updateMesh(mesh);
}
}