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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 253 additions and 151 deletions
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app/android/jni/scene.h
+6 -4
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@@ -100,16 +100,18 @@ class Scene {
void addCloud(
int id,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const std::vector<pcl::Vertices> & polygons,
const rtabmap::Transform & pose,
const cv::Mat & image = cv::Mat());
const rtabmap::Transform & pose);
void addMesh(
int id,
const Mesh & mesh,
const rtabmap::Transform & pose);
void setCloudPose(int id, const rtabmap::Transform & pose);
void setCloudVisible(int id, bool visible);
bool hasCloud(int id) const;
std::set<int> getAddedClouds() const;
void updateCloudPolygons(int id, const std::vector<pcl::Vertices> & polygons);
void updateCloudColors(int id, const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud, const cv::Mat & image = cv::Mat());
void updateMesh(int id, const Mesh & mesh);
void setMapRendering(bool enabled) {mapRendering_ = enabled;}
void setMeshRendering(bool enabled, bool withTexture) {meshRendering_ = enabled; meshRenderingTexture_ = withTexture;}