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Tango: added min texture cluster size option

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This commit is contained in:
matlabbe
2017-03-04 19:34:40 -05:00
parent e003fb8d35
commit d927b82020
11 changed files with 92 additions and 55 deletions
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7
app/android/jni/RTABMapApp.cpp
View File

@@ -1558,7 +1558,6 @@ bool RTABMapApp::exportMesh(
bool meshing,
int textureSize,
int normalK,
float maxTextureDistance,
bool optimized,
float optimizedVoxelSize,
int optimizedDepth,
@@ -1566,6 +1565,8 @@ bool RTABMapApp::exportMesh(
float optimizedColorRadius,
bool optimizedCleanWhitePolygons,
bool optimizedColorWhitePolygons, // not yet used
float optimizedMaxTextureDistance,
int optimizedMinTextureClusterSize,
bool blockRendering)
{
// make sure createdMeshes_ is not modified while exporting! We don't
@@ -1991,8 +1992,8 @@ bool RTABMapApp::exportMesh(
mesh,
cameraPoses,
cameraModels,
maxTextureDistance,
50,
optimizedMaxTextureDistance,
optimizedMinTextureClusterSize,
&progressionStatus_);
LOGI("Texturing... done! %fs", timer.ticks());

3
app/android/jni/RTABMapApp.h
View File

@@ -151,7 +151,6 @@ class RTABMapApp : public UEventsHandler {
bool meshing,
int textureSize,
int normalK,
float maxTextureDistance,
bool optimized,
float optimizedVoxelSize,
int optimizedDepth,
@@ -159,6 +158,8 @@ class RTABMapApp : public UEventsHandler {
float optimizedColorRadius,
bool optimizedCleanWhitePolygons,
bool optimizedColorWhitePolygons,
float optimizedMaxTextureDistance,
int optimizedMinTextureClusterSize,
bool blockRendering);
bool postExportation(bool visualize);
int postProcessing(int approach);

6
app/android/jni/jni_interface.cpp
View File

@@ -312,7 +312,6 @@ Java_com_introlab_rtabmap_RTABMapLib_exportMesh(
bool meshing,
int textureSize,
int normalK,
float maxTextureDistance,
bool optimized,
float optimizedVoxelSize,
int optimizedDepth,
@@ -320,6 +319,8 @@ Java_com_introlab_rtabmap_RTABMapLib_exportMesh(
float optimizedColorRadius,
bool optimizedCleanWhitePolygons,
bool optimizedColorWhitePolygons,
float optimizedMaxTextureDistance,
int optimizedMinTextureClusterSize,
bool blockRendering)
{
std::string filePathC;
@@ -331,7 +332,6 @@ Java_com_introlab_rtabmap_RTABMapLib_exportMesh(
meshing,
textureSize,
normalK,
maxTextureDistance,
optimized,
optimizedVoxelSize,
optimizedDepth,
@@ -339,6 +339,8 @@ Java_com_introlab_rtabmap_RTABMapLib_exportMesh(
optimizedColorRadius,
optimizedCleanWhitePolygons,
optimizedColorWhitePolygons,
optimizedMaxTextureDistance,
optimizedMinTextureClusterSize,
blockRendering);
}

8
app/android/jni/scene.cpp
View File

@@ -65,8 +65,8 @@ const std::string kPointCloudVertexShader =
" vLightWeighting = 1.0;\n"
" } else {\n"
" vec3 transformedNormal = uN * aNormal;\n"
" vLightWeighting = max(dot(transformedNormal, uLightingDirection), 0.0);\n"
" if(vLightWeighting<0.1) vLightWeighting=0.1;\n"
" vLightWeighting = max(dot(transformedNormal, uLightingDirection)*0.5+0.5, 0.0);\n"
" if(vLightWeighting<0.5) vLightWeighting=0.5;\n"
" }\n"
" vColor = aColor;\n"
"}\n";
@@ -111,8 +111,8 @@ const std::string kTextureMeshVertexShader =
" vLightWeighting = 1.0;\n"
" } else {\n"
" vec3 transformedNormal = uN * aNormal;\n"
" vLightWeighting = max(dot(transformedNormal, uLightingDirection), 0.0);\n"
" if(vLightWeighting<0.1) vLightWeighting=0.1;\n"
" vLightWeighting = max(dot(transformedNormal, uLightingDirection)*0.5+0.5, 0.0);\n"
" if(vLightWeighting<0.5) vLightWeighting=0.5;\n"
" }\n"
"}\n";
const std::string kTextureMeshFragmentShader =