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Tango: Added ICP refining option, mesh vs texture vs point cloud options, show/hide grid option, drift correction option

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matlabbe
2016-09-02 22:37:12 -04:00
parent 4bd9e4f847
commit e5074afdeb
17 changed files with 350 additions and 121 deletions
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app/android/jni/point_cloud_drawable.cpp
+2 -2
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@@ -180,11 +180,11 @@ void PointCloudDrawable::setPose(const rtabmap::Transform & pose)
pose_ = glmFromTransform(pose);
}
void PointCloudDrawable::Render(const glm::mat4 & projectionMatrix, const glm::mat4 & viewMatrix, bool meshRendering, float pointSize) {
void PointCloudDrawable::Render(const glm::mat4 & projectionMatrix, const glm::mat4 & viewMatrix, bool meshRendering, float pointSize, bool textureRendering) {
if(vertex_buffers_ && nPoints_ && visible_)
{
if(meshRendering && textures_)
if(meshRendering && textureRendering && textures_)
{
glUseProgram(texture_shader_program_);